Series motor control method, device, computer equipment and storage medium

Abstract

The present invention discloses a series motor control method, apparatus, computer equipment, and storage medium. The method includes: determining whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and an acceleration threshold; adjusting the desired motor speed of the current control cycle based on a comparison between the motor setting speed and the desired motor speed of the current control cycle; obtaining the motor operating speed; retrieving set PID parameters corresponding to the preset speed range of the motor operating speed; performing an incremental PID operation using the motor operating speed, the desired motor speed of the current control cycle, and the set PID parameters to obtain an operation result; and using the operation result as the driving voltage of the series motor to control the series motor. The present invention can ensure stable startup and smooth operation of the series motor during the soft start process.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a series motor control method, device, computer equipment and storage medium. Background Art

[0002] Series motors are widely used in the power tool industry due to their advantages such as high speed, small size, light weight, and easy speed regulation. Effective control of series motors is a prerequisite for ensuring the smooth operation of power tools.

[0003] The existing series-excited motor control method has the following problems: It uses incremental PID control and manually adjusts PID parameters. When the desired speed is low, the motor is prone to overshoot after reaching the desired speed. When the desired speed is high, the motor is prone to loud startup noise during the startup process.

[0004] There is no effective solution in the prior art for better controlling the stable starting and smooth operation of the series-excited motor during the soft starting process. Summary of the Invention

[0005] In view of the above problems, the present invention provides a series motor control method and device that can ensure stable startup and smooth operation during the soft start process, and also provides a computer device and storage medium that can implement the above method.

[0006] A technical means adopted by the present invention is to provide a series motor control method, comprising:

[0007] Determining whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, where different control cycles correspond to different acceleration setting values;

[0008] When the acceleration setting value of the current control cycle increases or the current control cycle is the last control cycle, adjusting the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle;

[0009] Get the motor running speed;

[0010] According to the preset speed range of the motor operating speed, the set PID parameters corresponding to the preset speed range are retrieved, wherein different preset speed ranges correspond to different set PID parameters;

[0011] Performing an incremental PID operation using the motor operating speed, the desired motor speed in the current control cycle, and the set PID parameters to obtain an operation result;

[0012] The series motor is controlled according to the calculation result.

[0013] Another technical means adopted by the present invention is to provide a series motor control device, comprising:

[0014] a first processing module, configured to determine whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, wherein different control cycles correspond to different acceleration setting values;

[0015] a second processing module, configured to adjust the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle when the acceleration set value of the current control cycle increases or the current control cycle is the last control cycle;

[0016] Detection module, used to obtain the motor running speed;

[0017] a third processing module, configured to retrieve, according to a preset speed range in which the motor operating speed is located, set PID parameters corresponding to the preset speed range, wherein different preset speed ranges correspond to different set PID parameters;

[0018] an operation module, configured to perform an incremental PID operation using the motor operating speed, the desired motor speed in the current control cycle, and the set PID parameters to obtain an operation result; and

[0019] A control module is used to use the calculation result as the driving voltage of the series-excited motor to control the series-excited motor.

[0020] Another technical means adopted by the present invention is to provide a computer device, comprising:

[0021] A memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the series motor control method.

[0022] Another technical means adopted by the present invention is: providing a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the series motor control method.

[0023] Due to the adoption of the above-mentioned technical scheme, the present invention provides a series-excited motor control method, device, computer equipment and storage medium. The method can perform segmented adjustment of the acceleration setting value for multiple control cycles, and at the same time can determine the speed range of the motor operating speed and set the corresponding set PID parameters to realize PID segmented control, thereby providing a smaller driving voltage for the series-excited motor when the motor operating speed is low, and providing a larger driving voltage for the series-excited motor when the motor operating speed is high, thereby controlling the series-excited motor to achieve stable starting and smooth operation during the soft start process, avoiding sudden sound changes and jitters of the series-excited motor, and achieving a good control effect of the series-excited motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] in:

[0026] Figure 1 is a flow chart of a method for controlling a series motor in an embodiment;

[0027] Figure 2 is a flow chart of step 10 in one embodiment;

[0028] Figure 3 is a flow chart of step 20 in one embodiment;

[0029] Figure 4 is a flowchart of a series motor control method according to an embodiment;

[0030] Figure 5 is a structural block diagram of a series motor control device in one embodiment;

[0031] Figure 6 The figure is a diagram of the internal structure of a computer device in an embodiment. DETAILED DESCRIPTION

[0032] In order to make the invention objectives, technical solutions and technical effects of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for the purpose of explaining the present invention and are not intended to limit the present invention. In the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0033] The present invention provides a series motor control method. In one embodiment, Figure 1 As shown, the series motor control method may include:

[0034] Step 10: Determine whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, where different control cycles correspond to different acceleration setting values.

[0035] Furthermore, for each control cycle, if the acceleration setting value in that control cycle is less than the acceleration threshold, the acceleration setting value is increased, and then step 20 is executed. If the acceleration setting value in that control cycle is not less than the acceleration threshold, the acceleration setting value of the next control cycle is compared with the acceleration threshold. If the acceleration setting value in the last control cycle is still not less than the acceleration threshold, step 20 is executed.

[0036] Step 20 , when the acceleration setting value of the current control cycle increases or the current control cycle is the last control cycle, adjust the motor desired speed of the current control cycle based on a comparison between the motor set speed and the motor desired speed of the current control cycle.

[0037] Step 30: Acquire the motor running speed. Specifically, the current running speed of the series motor can be detected.

[0038] Step 40: According to the preset speed range of the motor operating speed, the set PID parameters corresponding to the preset speed range are retrieved.

[0039] Different preset speed ranges correspond to different set PID parameters. The set PID parameters corresponding to the preset speed range are called accordingly depending on the preset speed range in which the motor operating speed is. The present invention adopts a PID control method for the series-excited motor, which is a control method that combines the three links of proportional, integral and differential. The set PID parameters generally include KP parameters, KI parameters and KD parameters, wherein the KP parameter represents the proportional coefficient, the KI parameter represents the integral coefficient, and the KD parameter represents the differential coefficient. PID is the abbreviation of Proportional, Integral and Differential.

[0040] Step 50 : performing an incremental PID operation using the motor operating speed, the desired motor speed in the current control cycle, and the set PID parameters to obtain an operation result.

[0041] Specifically, the motor operating speed, the motor desired speed of the current control cycle, and the retrieved set PID parameters can be substituted into the incremental PID operation formula to obtain the incremental PID operation result. The incremental PID operation formula can be Δu[n]=KP{e[n]-e[n-1]}+KIe[n]+KD{e[n]-2en-1+en-2, wherein Δun represents the operation result obtained by performing the incremental PID operation, which can be used as the driving voltage of the series-excited motor, KP represents the proportional coefficient, KI represents the integral coefficient, KD represents the differential coefficient, e[n] represents the deviation between the motor desired speed of the current control cycle and the motor operating speed, e[n-1] represents the deviation between the motor desired speed of the previous control cycle and the motor operating speed, e[n-2] represents the deviation between the motor desired speed of the previous two control cycles and the motor operating speed, and n represents the control cycle.

[0042] Step 60 : Using the calculation result as the driving voltage of the series motor to control the series motor.

[0043] This embodiment can pre-divide the soft start time into multiple control cycles according to the motor set speed, and set the motor expected speed for different control cycles. The motor set speed is set by the user, and is the speed that the series-excited motor is expected to reach after being processed by the series-excited motor control method. The soft start time refers to the time between the series-excited motor being stationary and reaching the stable motor set speed. A motor expected speed is set for each control cycle. The motor expected speed of each control cycle refers to the speed that the series-excited motor is expected to reach within the control cycle. The series-excited motor increases its operating speed according to a certain acceleration within the control cycle. The acceleration of the series-excited motor can be adjusted by the acceleration set value. The acceleration set value within each control cycle can be adjusted or not. The increase in the acceleration set value refers to how much the acceleration set value is increased. Each control cycle is configured with an acceleration threshold, which serves as the basis and reference for judging whether the acceleration setting value of the current control cycle needs to be increased. If the acceleration setting value of the current control cycle is less than the acceleration threshold of the current control cycle, the acceleration setting value of the current control cycle is increased. If the acceleration setting value of the current control cycle is not less than the acceleration threshold, the acceleration setting value of the current control cycle is not increased.

[0044] The method described in this embodiment can perform segmented adjustment of the acceleration setting value for multiple control cycles, and at the same time can determine the speed range of the motor operating speed and set the corresponding setting PID parameters to realize PID segmented control, thereby providing a smaller driving voltage for the series-excited motor when the motor operating speed is low, and providing a larger driving voltage for the series-excited motor when the motor operating speed is high, thereby controlling the series-excited motor to achieve stable starting and smooth operation during the soft start process, avoiding sudden sound changes and jitters of the series-excited motor, and achieving good control effect of the series-excited motor.

[0045] The series motor described in this embodiment can be used in the power tool industry. For example, the series motor is powered by AC power, with a drive voltage of 220V and 50Hz. It uses stepless speed regulation within a speed range of 5000 to 25000 RPM. For example, if the power tool is a bench drill, the soft-start time of the series motor can be 2-3 seconds.

[0046] Compared with the uniform acceleration method, it is easy to have problems such as sudden changes in starting sound and overshoot caused by excessive acceleration at low speed starting, and too long soft start time caused by too small acceleration at high speed starting. This embodiment can set different acceleration thresholds based on the expected speed of the motor in different control cycles, and perform segmented control on the motor acceleration of each control cycle, which can effectively reduce the jitter of the motor operation and the sudden change in the motor sound at startup.

[0047] In one embodiment, before the step of comparing the acceleration setting value of the current control cycle with the acceleration threshold, the method may further include:

[0048] The soft start time is pre-divided into a preset number of control cycles based on the motor set speed, and the desired motor speed is set for each of the control cycles. The preset number may be two or more. The number of control cycles is preset based on the motor set speed and the soft start time so that the series motor can achieve a stable motor set speed within the soft start time.

[0049] Different acceleration thresholds are set based on the motor desired speeds in different control cycles. The acceleration thresholds for each control cycle are set according to the motor desired speed in each control cycle. The acceleration thresholds for each control cycle are different, and the number of acceleration thresholds is determined by the number of control cycles.

[0050] In one embodiment, Figure 2 As shown, the step of determining whether to increase the acceleration setting value of the current control cycle based on the comparison between the acceleration setting value of the current control cycle and the acceleration threshold, and determining the increase value of the acceleration setting value, that is, step 10, may include:

[0051] Step 10A: Determine whether the acceleration setting value of the current control cycle is less than the acceleration threshold of the current control cycle. The current control cycle can be any control cycle from the first control cycle to the last control cycle.

[0052] In step 10B, if the acceleration setting value of the current control cycle is less than the acceleration threshold value of the current control cycle, the acceleration setting value of the current control cycle is increased by the acceleration increase value corresponding to the current control cycle, and then step 20 is executed. The increase value of the acceleration setting value for different control cycles can be different and pre-set.

[0053] Step 10C, when the acceleration setting value of the current control cycle is not less than the acceleration threshold of the current control cycle and the current control cycle is not the last control cycle, take the next control cycle of the current control cycle as the current control cycle, and return to execute the step of determining whether the acceleration setting value of the current control cycle is less than the acceleration threshold of the current control cycle, that is, return to step 10A to continue execution.

[0054] When the acceleration setting value of the current control cycle is not less than the acceleration threshold of the current control cycle and the current control cycle is the last control cycle, step 20 is executed.

[0055] That is, when the acceleration setting value of any control cycle is increased or the current control cycle is the last control cycle, step 20 is executed.

[0056] This embodiment can adjust the acceleration change of each control cycle according to the control requirements of the series-excited motor, such as the motor set speed and soft start time, and thus provide a smaller driving voltage for the series-excited motor when the motor running speed is low, and provide a larger driving voltage for the series-excited motor when the motor running speed is high, thereby avoiding the uneven speed change during the operation of the motor, and the resulting motor jitter and sound mutation problems.

[0057] In one embodiment, a step of determining whether to increase the acceleration set value of the current control cycle is performed based on a comparison between the acceleration set value of the current control cycle and the acceleration threshold. Specifically, when step 10 is performed, the acceleration threshold of the control cycle following the current control cycle is greater than the acceleration threshold of the current control cycle, and the acceleration increase corresponding to the control cycle following the current control cycle is greater than the acceleration increase corresponding to the current control cycle. As the current control cycle changes from the first control cycle to the last control cycle, the acceleration thresholds of different control cycles gradually increase, and the increase in the acceleration set values ​​of different control cycles gradually increases, thereby achieving a controlled, step-by-step increase in the motor speed without causing a sudden change in the sound generated by the motor operation. Specifically, in one embodiment, the acceleration threshold of the control cycle following the current control cycle is 2 to 3 times the acceleration threshold of the current control cycle. For example, assuming that the acceleration threshold of the Nth control cycle is the Nth acceleration threshold and the acceleration threshold of the N+1th control cycle is the N+1th acceleration threshold, then the N+1th acceleration threshold is 2 to 3 times the Nth acceleration threshold. In one embodiment, the acceleration increase value corresponding to the next control cycle of the current control cycle is 1 to 2 times the acceleration increase value of the current control cycle. For example, assuming that the increase value of the acceleration setting value in the Nth control cycle is the Nth increase value, and the increase value of the acceleration setting value in the N+1th control cycle is the N+1th increase value, then the N+1th increase value is 1 to 2 times the Nth increase value.

[0058] In one embodiment, Figure 3 As shown, the step of adjusting the desired motor speed of the current control cycle based on the comparison between the motor set speed and the desired motor speed of the current control cycle may include:

[0059] Step 20A: Compare the motor set speed with the motor expected speed in the current control cycle.

[0060] In step 20B, if the desired motor speed for the current control cycle is less than the set motor speed, the desired motor speed for the current control cycle is adjusted based on a comparison result of a target difference value with the desired motor speed for the current control cycle, where the target difference value is the difference between the set motor speed and the acceleration set value. Step 30 is then executed.

[0061] In step 20C, if the desired motor speed for the current control cycle is greater than the set motor speed, the desired motor speed for the current control cycle is adjusted based on a comparison result between a target sum value and the desired motor speed for the current control cycle, where the target sum value is the sum of the set motor speed and the acceleration set value. Step 30 is then executed.

[0062] Step 20D: If the motor expected speed in the current control cycle is equal to the motor set speed, configure the motor expected speed in the current control cycle to be equal to the motor running speed. Then, execute step 30.

[0063] In one embodiment, the step of adjusting the desired motor speed of the current control cycle according to the comparison result between the target difference and the desired motor speed of the current control cycle may include:

[0064] If the target difference is less than the motor desired speed in the current control cycle, the motor desired speed in the current control cycle is configured to be equal to the motor operating speed. In this case, the adjusted motor desired speed in the current control cycle is equal to the motor operating speed.

[0065] If the target difference is not less than the desired motor speed of the current control cycle, the desired motor speed of the current control cycle is increased by the acceleration setting value. In this case, the adjusted desired motor speed of the current control cycle is equal to the original desired motor speed plus the acceleration setting value.

[0066] In one embodiment, the step of adjusting the desired motor speed of the current control cycle according to the comparison result between the target sum value and the desired motor speed of the current control cycle may include:

[0067] If the target sum is greater than the motor desired speed in the current control cycle, the motor desired speed in the current control cycle is configured to be equal to the motor operating speed.

[0068] If the target sum is not greater than the desired motor speed for the current control cycle, the desired motor speed for the current control cycle is reduced by the acceleration setting value. In this case, the adjusted desired motor speed for the current control cycle is equal to the original desired motor speed minus the acceleration setting value.

[0069] Through the above-mentioned motor expected speed adjustment process of the current control cycle, it can be achieved that when the motor operating speed of the series-excited motor is low, the motor expected speed increases smoothly, and after the motor operating speed of the series-excited motor increases, the speed regulation response of the motor expected speed is faster.

[0070] In one embodiment, before the step of retrieving corresponding set PID parameters according to the different preset speed ranges of the motor operating speed, i.e., step 40, the method may further include: pre-storing a correspondence between the preset speed ranges and the set PID parameters. The step of retrieving corresponding set PID parameters according to the different preset speed ranges of the motor operating speed, i.e., step 40, may include: confirming the preset speed range in which the motor operating speed is located, and retrieving the set PID parameters corresponding to the preset speed range.

[0071] The preset speed range and the set PID parameters can be obtained by debugging the controlled series-excited motor in advance. For example, the motor operating speed is within a certain preset speed range as a debugging condition, and then the KP parameter, KI parameter and KD parameter in the PID parameters are adjusted respectively. The adjustment of the KP parameter, KI parameter and KD parameter is performed separately, that is, when the KP parameter is adjusted, the KI parameter and KD parameter remain unchanged, when the KI parameter is adjusted, the KP parameter and KD parameter remain unchanged, and when the KD parameter is adjusted, the KP parameter and KD parameter remain unchanged. When adjusting the KP parameter, KI parameter and KD parameter, until the sound change of the series-excited motor meets the requirements, the currently determined KI parameter, KP parameter and KD parameter are used as the set PID parameters corresponding to the certain preset speed range.

[0072] This embodiment can adjust the PID parameters according to the current operating speed of the series-excited motor, and then change the driving voltage of the series-excited motor, so that the change of the driving voltage is more adapted to the operation process of the series-excited motor, which is conducive to ensuring the control effect of the motor and the uniform change of the motor operation sound.

[0073] In one embodiment, Figure 4 FIG. 1 shows an example flow chart of a series motor control method in an embodiment. For example, Figure 4 ACC in the figure represents the acceleration setting value of the series motor. The preset number of control cycles is 5, namely the first control cycle, the second control cycle, the third control cycle, the fourth control cycle and the fifth control cycle. The acceleration thresholds of the first to fifth control cycles are 10r / s respectively. 2 、20r / s 2 、50r / s 2 、100r / s 2 、300r / s 2 The increase in the acceleration setting value from the first control cycle to the fifth control cycle is 5r / s 2 、10r / s 2 、15r / s 2 、20r / s 2 、30r / s 2. TV represents the desired speed of the motor in the current control cycle, and the current control cycle can be any control cycle from the first control cycle to the fifth control cycle. DV represents the set speed of the motor. AV represents the motor operating speed. (0, SP1), [SP1, SP2), [SP2, SP3) all represent preset speed ranges, which are the first preset speed range, the second preset speed range and the third preset speed range respectively. The first set PID parameter, the second set PID parameter and the third set PID parameter all represent set PID parameters. When the motor operating speed AV is in the first preset speed range (0, SP1), the first set PID parameter is called, when the motor operating speed AV is in the second preset speed range [SP1, SP2), the second set PID parameter is called, and when the motor operating speed AV is in the third preset speed range [SP2, SP3), the third set PID parameter is called, and then PID operation is performed based on the called set PID parameters, and the series-excited motor is driven according to the PID operation results. The preset number of control cycles, the number of preset speed ranges, and the number of set PID parameters can all be adjusted according to the actual control requirements of the series-excited motor. Figure 4 The ones shown are examples only.

[0074] The present invention also provides a series motor control device. In one embodiment, Figure 5 As shown, the control device may include: a first processing module 300 , a second processing module 400 , a detection module 500 , a third processing module 600 , a calculation module 100 and a control module 200 .

[0075] The first processing module 300 can be configured to determine whether to increase the acceleration setting value for the current control cycle based on a comparison between the acceleration setting value for the current control cycle and the acceleration threshold, with different acceleration setting values ​​corresponding to different control cycles. The second processing module 400 can be configured to adjust the desired motor speed for the current control cycle based on a comparison between the motor setting speed and the desired motor speed for the current control cycle, if the acceleration setting value for the current control cycle increases or if the current control cycle is the last control cycle. The detection module 500 can be configured to obtain the motor operating speed. Furthermore, the detection module 500 can be a Hall effect sensor. The third processing module 600 can be configured to retrieve the set PID parameters corresponding to the preset speed range within which the motor operating speed falls, where different preset speed ranges correspond to different set PID parameters. The calculation module 100 can be configured to perform an incremental PID calculation using the motor operating speed, the desired motor speed for the current control cycle, and the set PID parameters to obtain a calculation result. The control module 200 can be configured to use the calculation result as the driving voltage for the series-excited motor to control the series-excited motor.

[0076] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the series motor control method as described in any of the above embodiments.

[0077] The present invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the series motor control method as described in any of the above embodiments.

[0078] Figure 6 FIG. 1 shows an internal structure diagram of a computer device in one embodiment. Figure 6 As shown, the computer device includes a processor, a memory, a detection module and a network interface connected via a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the series motor control method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the series motor control method. The detection module is used to obtain the motor running speed. Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0079] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0080] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent replacement or modification made by a person skilled in the art within the technical scope disclosed in the present invention and in accordance with the technical solution and inventive concept of the present invention shall be covered by the scope of protection of the present invention. In addition, although certain specific terms are used in this specification, these terms are for convenience of description only and do not constitute any limitation to the present invention.

Claims

1. A series motor control method, characterized in that: The method comprises: Determining whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, where different control cycles correspond to different acceleration setting values; When the acceleration setting value of the current control cycle increases or the current control cycle is the last control cycle, adjusting the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle; Get the motor running speed; According to the preset speed range of the motor operating speed, the set PID parameters corresponding to the preset speed range are retrieved, wherein different preset speed ranges correspond to different set PID parameters; Performing an incremental PID operation using the motor operating speed, the desired motor speed in the current control cycle, and the set PID parameters to obtain an operation result; Using the calculation result as the driving voltage of the series motor to control the series motor; The step of adjusting the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle includes: If the motor expected speed of the current control cycle is less than the motor set speed, adjusting the motor expected speed of the current control cycle according to a comparison result of a target difference value and the motor expected speed of the current control cycle, wherein the target difference value is the difference between the motor set speed and the acceleration set value; If the motor expected speed of the current control cycle is greater than the motor set speed, adjusting the motor expected speed of the current control cycle according to a comparison result of a target sum value and the motor expected speed of the current control cycle, wherein the target sum value is the sum of the motor set speed and the acceleration set value; If the motor expected speed in the current control cycle is equal to the motor set speed, the motor expected speed in the current control cycle is configured to be equal to the motor running speed.

2. The series motor control method according to claim 1, characterized in that: The steps of determining whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, and determining the increase value of the acceleration setting value include: Determining whether the acceleration setting value of the current control cycle is less than the acceleration threshold of the current control cycle; In the case where the acceleration setting value of the current control cycle is less than the acceleration threshold value of the current control cycle, the acceleration setting value of the current control cycle is increased according to the acceleration increase value corresponding to the current control cycle; When the acceleration setting value of the current control cycle is not less than the acceleration threshold of the current control cycle and the current control cycle is not the last control cycle, the next control cycle of the current control cycle is taken as the current control cycle, and the step of determining whether the acceleration setting value of the current control cycle is less than the acceleration threshold of the current control cycle is returned to.

3. The series motor control method according to claim 2, characterized in that: The acceleration threshold of the next control cycle of the current control cycle is greater than the acceleration threshold of the current control cycle, and the acceleration increase value corresponding to the next control cycle of the current control cycle is greater than the acceleration increase value corresponding to the current control cycle.

4. The series motor control method according to claim 3, characterized in that: The acceleration threshold of the next control cycle of the current control cycle is 2 to 3 times the acceleration threshold of the current control cycle; The acceleration increase value corresponding to the next control cycle of the current control cycle is 1 to 2 times the acceleration increase value of the current control cycle.

5. The series motor control method according to claim 1, wherein: The adjusting the expected speed of the motor in the current control cycle according to the comparison result between the target difference and the expected speed of the motor in the current control cycle includes: If the target difference is less than the desired motor speed of the current control cycle, configuring the desired motor speed of the current control cycle to be equal to the motor operating speed; If the target difference is not less than the expected speed of the motor in the current control cycle, the expected speed of the motor in the current control cycle is increased by the acceleration setting value.

6. The series motor control method according to claim 1, characterized in that: The adjusting the desired motor speed of the current control cycle according to the comparison result between the target sum value and the desired motor speed of the current control cycle includes: If the target sum value is greater than the desired motor speed of the current control cycle, configuring the desired motor speed of the current control cycle to be equal to the motor operating speed; If the target sum value is not greater than the expected motor speed in the current control cycle, the expected motor speed in the current control cycle is reduced by the acceleration setting value.

7. A series motor control device, characterized in that: The control device comprises: a first processing module, configured to determine whether to increase the acceleration setting value of the current control cycle based on a comparison between the acceleration setting value of the current control cycle and the acceleration threshold, wherein different control cycles correspond to different acceleration setting values; a second processing module, configured to adjust the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle when the acceleration set value of the current control cycle increases or the current control cycle is the last control cycle; Detection module, used to obtain the motor running speed; a third processing module, configured to retrieve, according to a preset speed range in which the motor operating speed is located, set PID parameters corresponding to the preset speed range, wherein different preset speed ranges correspond to different set PID parameters; an operation module, configured to perform an incremental PID operation using the motor operating speed, the desired motor speed in the current control cycle, and the set PID parameters to obtain an operation result; and a control module, configured to use the calculation result as a driving voltage of the series-excited motor to control the series-excited motor; The step of adjusting the desired motor speed of the current control cycle based on a comparison between the motor set speed and the desired motor speed of the current control cycle includes: If the motor expected speed of the current control cycle is less than the motor set speed, adjusting the motor expected speed of the current control cycle according to a comparison result of a target difference value and the motor expected speed of the current control cycle, wherein the target difference value is the difference between the motor set speed and the acceleration set value; If the motor expected speed of the current control cycle is greater than the motor set speed, adjusting the motor expected speed of the current control cycle according to a comparison result of a target sum value and the motor expected speed of the current control cycle, wherein the target sum value is the sum of the motor set speed and the acceleration set value; If the motor expected speed in the current control cycle is equal to the motor set speed, the motor expected speed in the current control cycle is configured to be equal to the motor running speed.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the series motor control method according to any one of claims 1 to 6. 9 . A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to execute the steps of the series motor control method according to claim 1 .

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