Motor control method, system, medium, and working machine

Abstract

The application relates to the field of work machine control, and provides a motor control method, system, medium and work machine. The method comprises the following steps: acquiring a required rotating speed of a motor and a supply power corresponding to a battery abnormal state; determining a supply rotating speed corresponding to the supply power based on a preset corresponding relationship, the corresponding relationship being used for indicating the relationship between power and rotating speed; when it is determined that the required rotating speed is greater than the supply rotating speed, sending the supply rotating speed to a motor controller of the work machine; and when it is determined that the required rotating speed is less than or equal to the supply rotating speed, sending the required rotating speed to the motor controller. The application is used to solve the defect that the work machine stops when the work machine appears a battery abnormal condition in the prior art, and realizes the continuous work of the work machine when the work machine appears the battery abnormal condition.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work machine control, and in particular to a motor control method, system, medium and work machine. BACKGROUND

[0002] The work machine takes three-electricity as a power source, including a battery, a motor and an electric control. The battery may have abnormal conditions such as low battery power, large single cell voltage deviation and high battery temperature during work. These abnormal conditions of the battery will limit the supply power of the battery. However, in the actual work process, the operator does not know these abnormal conditions of the battery, and still inputs the demand speed to the work machine based on the actual working condition, which may eventually cause the work machine to stop due to insufficient supply power. SUMMARY

[0003] The present application provides a motor control method, system, medium and work machine to solve the defect that the work machine stops when the abnormal condition of the battery occurs in the prior art, and to realize the continuous work of the work machine when the abnormal condition of the battery occurs.

[0004] The present application provides a motor control method, comprising:

[0005] obtaining a demand speed of a motor and a supply power corresponding to an abnormal state of a battery;

[0006] determining a supply speed corresponding to the supply power based on a pre-set correspondence relationship, the correspondence relationship being used to indicate the relationship between power and speed;

[0007] when it is determined that the demand speed is greater than the supply speed, sending the supply speed to a motor controller of the work machine;

[0008] when it is determined that the demand speed is less than or equal to the supply speed, sending the demand speed to the motor controller.

[0009] According to the motor control method provided by the present application, before determining the supply speed corresponding to the supply power based on the pre-set correspondence relationship, the method further comprises:

[0010] obtaining a time period;

[0011] the sending of the supply speed to the motor controller of the work machine comprises:

[0012] sending the supply speed to the motor controller within the time period;

[0013] the sending of the demand speed to the motor controller comprises:

[0014] sending the demand rotating speed to the motor controller within the time period.

[0015] The motor control method further comprises, before the step of obtaining the demand rotating speed of the motor and the supply power corresponding to the abnormal battery state:

[0016] obtaining a battery state identifier;

[0017] determining whether the battery module of the working machine is in the abnormal battery state based on the battery state identifier;

[0018] when it is determined that the battery module is in the abnormal battery state, performing the step of obtaining the demand rotating speed of the motor and the supply power corresponding to the abnormal battery state;

[0019] when it is determined that the battery module is not in the abnormal battery state, obtaining the demand rotating speed and sending the demand rotating speed to the motor controller.

[0020] The motor control method further comprises a step of setting the corresponding relationship, which comprises:

[0021] when it is determined that the battery module is not in the abnormal battery state, controlling the working machine to work based on at least one demand rotating speed;

[0022] when the working machine is working, obtaining an actual rotating speed and an actual torque corresponding to the motor of the working machine from the motor controller;

[0023] determining an actual power corresponding to each demand rotating speed based on the actual rotating speed and the actual torque;

[0024] creating the corresponding relationship based on the demand rotating speed and the actual power.

[0025] The motor control system further comprises a vehicle controller, an operation panel, a battery module, a motor controller and a motor, wherein the vehicle controller is electrically connected with the operation panel, the battery module and the motor controller respectively, and the motor controller is electrically connected with the motor.

[0026] The operation panel is configured to generate a demand rotating speed of the motor and send the demand rotating speed to the vehicle controller.

[0027] The whole vehicle controller is configured to acquire the demand rotating speed and the supply power corresponding to the battery abnormal state of the battery module, determine the supply rotating speed corresponding to the supply power based on a preset corresponding relationship, and send the supply rotating speed to a motor controller of the working machine when it is determined that the demand rotating speed is greater than the supply rotating speed, wherein the corresponding relationship is used to indicate the relationship between power and rotating speed.

[0028] The motor controller is configured to control the motor to operate based on the supply rotating speed.

[0029] The whole vehicle controller is further configured to send the demand rotating speed to the motor controller when it is determined that the demand rotating speed is less than or equal to the supply rotating speed.

[0030] The motor controller is further configured to control the motor to operate based on the demand rotating speed.

[0031] According to the motor control system provided by the application, the battery module is further configured to generate a time period and send the time period to the whole vehicle controller.

[0032] The whole vehicle controller is further configured to send the supply rotating speed to the motor controller within the time period.

[0033] The whole vehicle controller is further configured to send the demand rotating speed to the motor controller within the time period.

[0034] According to the motor control system provided by the application, the battery module is configured to generate a battery state identifier and send the battery state identifier to the whole vehicle controller.

[0035] The whole vehicle controller is further configured to acquire the battery state identifier, determine whether the battery module of the working machine is in the battery abnormal state based on the battery state identifier, execute the step of acquiring the demand rotating speed and the supply power corresponding to the battery abnormal state of the battery module when it is determined that the battery module is in the battery abnormal state, and acquire the demand rotating speed and send the demand rotating speed to the motor controller when it is determined that the battery module is not in the battery abnormal state.

[0036] The motor controller is further configured to control the motor to operate based on the demand rotating speed.

[0037] According to the motor control system provided by the application, the vehicle controller is further configured to: when it is determined that the battery module is not in the abnormal state, control the working machine to work based on at least one required rotating speed; when the working machine is working, acquire an actual rotating speed and an actual torque corresponding to the motor of the working machine from the motor controller; determine an actual power corresponding to each required rotating speed based on the actual rotating speed and the actual torque; and create the corresponding relationship based on the required rotating speed and the actual power.

[0038] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the motor control method according to any one of the above.

[0039] The application further provides a working machine, which comprises the motor control system according to any one of the above.

[0040] The motor control method, system, medium and working machine provided by the application can acquire a required rotating speed of a motor and a supply power corresponding to a battery abnormal state; determine a supply rotating speed corresponding to the supply power based on a pre-set power-rotating speed corresponding relationship, so that, when the battery abnormal state occurs, the supply rotating speed corresponding to the supply power is determined, which provides an effective data basis for continuous operation of the working machine; when the required rotating speed is greater than the supply rotating speed, the supply rotating speed is sent to a motor controller of the working machine, so that the motor controller controls the motor to continuously operate; and when the required rotating speed is less than or equal to the supply rotating speed, the required rotating speed is sent to the motor controller, so that the motor controller controls the motor to continuously operate. Therefore, the application solves the problem of shutdown of the working machine in the battery abnormal state, and achieves the purpose that the working machine can continuously work when the battery abnormal state occurs. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0042] Figure 1 is one of the flowcharts of the motor control method provided by the application;

[0043] Figure 2 is the second flowchart of the motor control method provided by the application;

[0044] Figure 3 is the third flowchart of the motor control method provided by the application;

[0045] Figure 4 is a structural schematic diagram of a motor control system provided by the present application;

[0046] Figure 5 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0048] The motor control method of the present application will be described below in connection with Figures 1 to 3

[0049] The method can be applied in a remote server or in a vehicle controller of a working machine. Hereinafter, the method applied in the vehicle controller will be described by way of example. It should be noted that the example is only for illustration and does not limit the protection scope. Of course, the illustration in each specific embodiment of the present disclosure does not limit the protection scope, and the following will not be described one by one.

[0050] The working machine includes excavators, cranes, road rollers, pump trucks and mixing trucks, etc. Hereinafter, the working machine will be described by way of example of an excavator.

[0051] The demand speed of the excavator is adjusted and set by the operator through the knob of the operation panel, and the vehicle controller (VCU) issues the demand speed to the motor controller (MCU), and the MCU controls the motor to the demand speed. The demand speed of the excavator and the output power of the motor are in a proportional relationship. The output power may be limited in the abnormal state of the battery, and if the motor is not limited in the high gear, the excavator will stop due to insufficient power.

[0052] Based on the actual working process of the excavator, the method will be described in detail, as shown in Figure 1

[0053] In step 101, the demand speed of the motor and the supply power corresponding to the abnormal state of the battery are obtained.

[0054] Specifically, the demand speed is one-to-one corresponding to the gear. The operation panel includes a plurality of gears, and each gear corresponds to a demand speed. The operator selects the required gear through the knob in the operation panel, and the operation panel generates the demand speed corresponding to the target gear at this time. ​​

[0055] Specifically, the battery module of the excavator comprises a battery and a battery manager, the actual condition of the battery is determined by the battery manager, and the actual condition of the battery is sent to the vehicle controller. Wherein, the actual condition of the battery comprises a battery state identifier and a supply power.

[0056] In one embodiment, the battery state identifier is obtained; based on the battery state identifier, it is determined whether the battery module of the working machine is in a battery abnormal state; when it is determined that the battery module is in the battery abnormal state, the steps of obtaining the demand speed of the motor and the supply power corresponding to the battery abnormal state are executed; when it is determined that the battery module is not in the battery abnormal state, the demand speed is obtained, and the demand speed is sent to the motor controller.

[0057] Specifically, the battery state identifier can be yes or no, and yes corresponds to the battery abnormal state and no corresponds to the battery abnormal state. Of course, this is only one setting method, and the user can set it based on the actual needs.

[0058] In one embodiment, when the battery manager sends the battery state identifier and the supply power, the time period sent by the battery manager is also obtained, and then the supply speed or the demand speed is sent based on the time period. That is, the actual condition of the battery also includes the time period.

[0059] The present application determines the execution strategy corresponding to the battery module by pre-judging whether the battery module is in the battery abnormal state, thereby providing an effective data basis for maintaining the continuous operation of the excavator in the battery abnormal state.

[0060] Step 102, based on the pre-set corresponding relationship, the supply speed corresponding to the supply power is determined.

[0061] Wherein, the corresponding relationship is used to indicate the relationship between power and speed.

[0062] In one embodiment, the setting process of the corresponding relationship is specifically as shown in the following table: Figure 2

[0063] Step 201, in the case where it is determined that the battery module is not in the battery abnormal state, based on at least one demand speed, the working machine is controlled to work;

[0064] Step 202, when the working machine is working, the actual speed and actual torque corresponding to the motor of the working machine are obtained from the motor controller;

[0065] Step 203, based on the actual speed and the actual torque, the actual power corresponding to each demand speed is determined;

[0066] Step 204, based on the demand speed and the actual power, the corresponding relationship is created. ​

[0067] The supplied power falls within the range corresponding to the actual power. For example, if the actual power range is 0W-100W, the supplied power falls within the range of 0-100W.

[0068] This invention obtains the correspondence between speed and power by calibrating the excavator in advance, and can quickly and accurately determine the supply speed corresponding to the supply power.

[0069] The following explanation uses a correspondence table to illustrate the relationships:

[0070] Specifically, during the calibration process, each gear is calibrated, and each working condition corresponding to each gear is calibrated to determine the power corresponding to each working condition of each gear, thereby obtaining the correspondence between one gear and multiple power levels, and thus obtaining a correspondence table.

[0071] The gear and the speed are matched one-to-one.

[0072] When using the mapping table later, simply look up the supplied power in the table to obtain the corresponding gear, and then you can get the speed based on the gear. Of course, the table also includes speed, so you can directly look up the speed corresponding to the supplied power.

[0073] Specifically, during the calibration process, each gear is calibrated, and the corresponding operating conditions for each gear are also calibrated to determine the maximum power for each gear, ultimately resulting in a correspondence table between gears and maximum power. In this table, there is a one-to-one correspondence between gears and engine speeds.

[0074] The maximum power is the highest value of the actual power corresponding to each operating condition in the same gear range.

[0075] The following is an illustration using a specific example:

[0076] For example, the relationship correspondence table includes three parameters: gear, maximum power, and speed, as shown in Table 1.

[0077]

[0078]

[0079] Table 1 Relationship Correspondence Table

[0080] For example, if the required rotational speed at the current moment is 20 r / s, and the supply power at this moment is 100W, then the supply rotational speed corresponding to the supply power is 10 r / s.

[0081] For example, if the required rotational speed at the current moment is 20 r / s, and the supply power at this moment is 150W, then the supply rotational speed corresponding to the supply power is 10 r / s.

[0082] Specifically, when determining the rotation speed corresponding to the supply power based on the relationship correspondence table, first, the target power range of the supply power in the relationship correspondence table is determined, and the rotation speed corresponding to the maximum power corresponding to the left extreme value in the target power range is taken as the supply rotation speed.

[0083] For example, when the supply power is determined to be 150W, the target power range in the relationship correspondence table is greater than or equal to 100W and less than 200W, and the rotation speed corresponding to 100W is taken as the supply rotation speed.

[0084] Specifically, before calibration, the battery module needs to be determined not to be in the battery abnormal state according to the battery state identification.

[0085] Step 103, when the demand rotation speed is greater than the supply rotation speed, the supply rotation speed is sent to the motor controller of the working machine.

[0086] In one specific embodiment, when the demand rotation speed is greater than the supply rotation speed, the supply rotation speed is sent to the motor controller within a time period, so that the motor controller controls the motor to operate according to the supply rotation speed.

[0087] The present application reduces the output power of the excavator when the supply power of the battery is less than the demand power, preventing the excavator from stopping.

[0088] The present application sends the supply rotation speed to the motor controller within a time period, and requires the motor controller to be able to control the motor to operate at the supply rotation speed within the time period, providing enhanced protection against the excavator stopping.

[0089] Step 104, when the demand rotation speed is less than or equal to the supply rotation speed, the demand rotation speed is sent to the motor controller.

[0090] In one specific embodiment, when the demand rotation speed is less than or equal to the supply rotation speed, the demand rotation speed is sent to the motor controller within a time period, so that the motor controller controls the motor to operate according to the demand rotation speed.

[0091] The present application sends the demand rotation speed to the motor controller within a time period, and requires the motor controller to be able to control the motor to operate at the demand rotation speed within the time period, saving energy and improving work efficiency.

[0092] Next, the method will be described in detail. Figure 3 The method will be described in detail.

[0093] Step 301, obtaining the demand rotation speed sent by the operation panel.

[0094] Step 302, determining whether the battery module is in a battery abnormal state at the current time, if yes, executing step 303, otherwise, executing step 307.

[0095] Step 303, receiving the supply power sent by the battery module.

[0096] Step 304, determining the supply speed corresponding to the supply power based on the pre-set corresponding relationship table.

[0097] Step 305, judging whether the demand speed is greater than the supply speed, if yes, executing step 306, otherwise executing step 307.

[0098] Step 306, sending the supply speed to the motor controller.

[0099] Step 307, sending the demand speed to the motor controller.

[0100] The motor control method provided by the application obtains the demand speed of the motor and the supply power corresponding to the abnormal state of the battery, determines the supply speed corresponding to the supply power based on the pre-set corresponding relationship between the power and the speed, and can be seen that the application determines the supply speed corresponding to the supply power when the abnormal state of the battery occurs, and provides an effective data basis for the continuous operation of the working machine; when it is determined that the demand speed is greater than the supply speed, the supply speed is sent to the motor controller of the working machine, so that the motor controller controls the continuous operation of the motor; when it is determined that the demand speed is less than or equal to the supply speed, the demand speed is sent to the motor controller, so that the motor controller controls the continuous operation of the motor, and it can be seen that the application solves the problem of stopping the working machine in the abnormal state of the battery, and realizes the purpose that the working machine can continuously work when the abnormal state of the battery occurs.

[0101] The motor control system provided by the application is described below, and the motor control system described below can be correspondingly referred to the motor control method described above, and the repeated parts will not be described in detail, such as Figure 4 As shown in the figure, the system comprises a vehicle controller 401, an operation panel 402, a battery module 403, a motor controller 404 and a motor 405, the vehicle controller 401 is electrically connected with the operation panel 402, the battery module 403 and the motor controller 404 respectively, and the motor controller 404 and the motor 405 are electrically connected;

[0102] The operation panel 402 is used for generating and displaying the demand speed of the motor, and sending the demand speed to the vehicle controller 401.

[0103] The vehicle controller 401 is used for obtaining the demand speed and the supply power corresponding to the abnormal state of the battery module 403, determining the supply speed corresponding to the supply power based on the pre-set corresponding relationship, and sending the supply speed to the motor controller 404 of the working machine when it is determined that the demand speed is greater than the supply speed, the corresponding relationship is used for indicating the relationship between the power and the speed.

[0104] The motor controller 404 is configured to control the motor 405 to operate based on the supply rotating speed.

[0105] The vehicle controller 401 is further configured to send the demand rotating speed to the motor controller 404 when determining that the demand rotating speed is less than or equal to the supply rotating speed.

[0106] The motor controller 404 is further configured to control the motor 405 to operate based on the demand rotating speed.

[0107] In one embodiment, the battery module 403 is further configured to generate a time period, and send the time period to the vehicle controller 401.

[0108] The vehicle controller 401 is further configured to send the supply rotating speed to the motor controller 404 within the time period.

[0109] The vehicle controller 401 is further configured to send the demand rotating speed to the motor controller 404 within the time period.

[0110] In one embodiment, the battery module 403 is configured to generate a battery state identifier, and send the battery state identifier to the vehicle controller 401.

[0111] The vehicle controller 401 is further configured to acquire the battery state identifier, determine whether the battery module 403 of the working machine is in a battery abnormal state based on the battery state identifier, execute the steps of acquiring the demand rotating speed and the supply power corresponding to the battery abnormal state of the battery module 403 when determining that the battery module 403 is in the battery abnormal state, and acquire the demand rotating speed and send the demand rotating speed to the motor controller 404 when determining that the battery module 403 is not in the battery abnormal state.

[0112] The motor controller 404 is further configured to control the motor 405 to operate based on the demand rotating speed.

[0113] In one embodiment, the vehicle controller 401 is further configured to control the working machine to work based on at least one demand rotating speed when determining that the battery module 403 is not in the battery abnormal state, acquire an actual rotating speed and an actual torque of the motor 405 of the working machine from the motor controller 404 when the working machine is working, determine an actual power corresponding to each demand rotating speed based on the actual rotating speed and the actual torque, and create a corresponding relationship based on the demand rotating speed and the actual power.

[0114] The motor control system provided by the application obtains the required rotating speed and the supply power corresponding to the abnormal state of the battery through the vehicle controller 401; determines the supply rotating speed corresponding to the supply power based on the corresponding relationship between the power and the rotating speed which is set in advance; and it can be seen that the application determines the supply rotating speed corresponding to the supply power when the abnormal state of the battery occurs, and provides an effective data basis for the continuous operation of the working machine; when it is determined that the required rotating speed is greater than the supply rotating speed, the supply rotating speed is sent to the motor controller 404 of the working machine, so that the motor controller 404 controls the motor 405 to continuously operate; when it is determined that the required rotating speed is less than or equal to the supply rotating speed, the required rotating speed is sent to the motor controller 404, so that the motor controller 404 controls the motor 405 to continuously operate; and it can be seen that the application solves the problem of shutdown of the working machine under the abnormal state of the battery, and realizes the purpose that the working machine can continuously work when the abnormal state of the battery occurs.

[0115] Figure 5 An example of a schematic diagram of the physical structure of an electronic device is shown in Figure 5 The electronic device can include a processor 501, a communications interface 502, a memory 503 and a communications bus 504, wherein the processor 501, the communications interface 502 and the memory 503 complete mutual communication through the communications bus 504. The processor 501 can call the logical instructions in the memory 503 to execute the motor control method, which includes: obtaining the required rotating speed of the motor and the supply power corresponding to the abnormal state of the battery; determining the supply rotating speed corresponding to the supply power based on the corresponding relationship which is set in advance, and the corresponding relationship is used to indicate the relationship between the power and the rotating speed; when it is determined that the required rotating speed is greater than the supply rotating speed, the supply rotating speed is sent to the motor controller of the working machine; and when it is determined that the required rotating speed is less than or equal to the supply rotating speed, the required rotating speed is sent to the motor controller.

[0116] In addition, the logic instructions in the memory 503 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0117] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the motor control method provided by the above-mentioned embodiments, and the method comprises: obtaining a required speed of a motor and a supply power corresponding to an abnormal state of a battery; determining a supply speed corresponding to the supply power based on a preset correspondence relationship, the correspondence relationship being used to indicate a relationship between power and speed; when it is determined that the required speed is greater than the supply speed, sending the supply speed to a motor controller of a working machine; and when it is determined that the required speed is less than or equal to the supply speed, sending the required speed to the motor controller.

[0118] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the motor control method provided by the above-mentioned embodiments, and the method comprises: obtaining a required speed of a motor and a supply power corresponding to an abnormal state of a battery; determining a supply speed corresponding to the supply power based on a preset correspondence relationship, the correspondence relationship being used to indicate a relationship between power and speed; when it is determined that the required speed is greater than the supply speed, sending the supply speed to a motor controller of a working machine; and when it is determined that the required speed is less than or equal to the supply speed, sending the required speed to the motor controller.

[0119] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0121] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control method, characterized in that, include: Obtain the required motor speed and the power supply corresponding to abnormal battery conditions; Based on a pre-set correspondence, the supply speed corresponding to the supply power is determined, and the correspondence is used to indicate the relationship between power and speed. When it is determined that the required speed is greater than the supplied speed, the supplied speed is sent to the motor controller of the working machine so that the motor controller controls the motor to operate according to the supplied speed, thereby enabling the motor controller to control the motor to operate continuously. When it is determined that the required speed is less than or equal to the supplied speed, the required speed is sent to the motor controller so that the motor controller controls the motor to operate according to the required speed, thereby enabling the motor controller to control the motor to operate continuously.

2. The motor control method according to claim 1, characterized in that, Before determining the supply speed corresponding to the supply power based on a pre-set correspondence, the method further includes: Get the time period; The motor controller that sends the supply speed to the working machinery includes: The supply speed is sent to the motor controller during the time period; Sending the required rotational speed to the motor controller includes: The required rotational speed is sent to the motor controller during the specified time period.

3. The motor control method according to claim 1, characterized in that, Before obtaining the required motor speed and the power supply corresponding to the abnormal battery state, the method further includes: Get battery status information; Based on the battery status identifier, determine whether the battery module of the operating machinery is in an abnormal battery state; When it is determined that the battery module is in an abnormal battery state, the step of obtaining the required motor speed and the supply power corresponding to the abnormal battery state is executed. When it is determined that the battery module is not in the abnormal state of the battery, the required speed is obtained and sent to the motor controller.

4. The motor control method according to claim 3, characterized in that, The process of setting the correspondence includes: If it is determined that the battery module is not in an abnormal state, the operation of the working machinery is controlled based on at least one required rotational speed; When the machine is in operation, the actual speed and actual torque of the motor of the machine are obtained from the motor controller; Based on the actual rotational speed and the actual torque, determine the actual power corresponding to each required rotational speed; The corresponding relationship is created based on the actual power and the required rotational speed.

5. A motor control system, characterized in that, include: The system includes a vehicle controller, an operation panel, a battery module, a motor controller, and a motor. The vehicle controller is electrically connected to the operation panel, the battery module, and the motor controller, and the motor controller is electrically connected to the motor. The operation panel is used to generate the required speed of the motor and send the required speed to the vehicle controller; The vehicle controller is used to acquire the required rotational speed and the supply power corresponding to the battery module being in an abnormal battery state; based on a pre-set correspondence, it determines the supply rotational speed corresponding to the supply power; when it is determined that the required rotational speed is greater than the supply rotational speed, it sends the supply rotational speed to the motor controller of the working machinery, so that the motor controller controls the motor to operate according to the supply rotational speed, thereby enabling the motor controller to control the motor to operate continuously, and the correspondence is used to indicate the relationship between power and rotational speed; The motor controller is used to control the operation of the motor based on the supplied speed. The vehicle controller is also used to send the required speed to the motor controller when it is determined that the required speed is less than or equal to the supplied speed, so that the motor controller controls the motor to operate according to the required speed, thereby enabling the motor controller to control the motor to operate continuously. The motor controller is also used to control the operation of the motor based on the required speed.

6. The motor control system according to claim 5, characterized in that, The battery module is also used to generate a time period and send the time period to the vehicle controller; The vehicle controller is also used to send the supply speed to the motor controller during the time period; The vehicle controller is also used to send the required rotational speed to the motor controller during the time period.

7. The motor control system according to claim 5, characterized in that, The battery module is used to generate a battery status identifier and send the battery status identifier to the vehicle controller. The vehicle controller is also used to acquire a battery status identifier; based on the battery status identifier, determine whether the battery module of the working machinery is in the abnormal battery state; when it is determined that the battery module is in the abnormal battery state, execute the step of acquiring the required rotational speed and the power supplied when the battery module is in the abnormal battery state; when it is determined that the battery module is not in the abnormal battery state, acquire the required rotational speed and send the required rotational speed to the motor controller. The motor controller is also used to control the operation of the motor based on the required speed.

8. The motor control system according to any one of claims 5-7, characterized in that, The vehicle controller is also used to, when it is determined that the battery module is not in the abnormal state of the battery, control the operation of the working machinery based on at least one required speed; when the working machinery is operating, obtain the actual speed and actual torque corresponding to the motor of the working machinery from the motor controller; and determine the actual power corresponding to each required speed based on the actual speed and the actual torque. The corresponding relationship is created based on the required rotational speed and the actual power.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motor control method as described in any one of claims 1-4.

10. A type of operating machinery, characterized in that, include: The motor control system according to any one of claims 5-8.

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