Motor control method, device, equipment, storage medium and program product

Abstract

The present application discloses a motor control method, device, equipment, storage medium and program product, which belongs to the field of electromechanical technology. The method includes: determining the direct-axis current of the motor based on the bus voltage corresponding to the motor and the current operating voltage of the motor; determining whether the motor is in an unstable speed state based on the characteristic current of the motor and the direct-axis current; when it is determined that the motor is in an unstable speed state, determining the corrected speed corresponding to the current required speed based on the bus voltage, the current required speed of the motor and the maximum speed of the motor, and determining the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor; and controlling the operation of the motor based on the direct-axis current and the quadrature-axis current of the motor. By adopting the present application, the instability of the motor speed caused by the instability of the bus voltage can be effectively compensated, thereby improving the stability of the motor speed.

Description

Technical Field

[0001] The present application relates to the field of electromechanical technology, and in particular to a motor control method, device, equipment, storage medium and program product. Background Art

[0002] Motors are widely used in industrial production and daily life, driving other components to operate machines. To start a motor, the motor is connected to a busbar, which provides AC power to the motor, starting it and making it run.

[0003] The current motor control method is: during the operation of the motor, the direct-axis current of the motor is calculated based on the bus voltage and the current operating voltage of the motor, and the quadrature-axis current of the motor is calculated based on the current required speed and actual output speed of the motor. Finally, the motor is controlled to adjust the current actual speed based on the direct-axis current and quadrature-axis current of the motor.

[0004] However, in the above process, the bus voltage is relatively unstable, resulting in unstable motor speed. For example, when the current required speed of the motor is 5000r / min, the actual speed of the motor will fluctuate, and the fluctuation may be large. Summary of the Invention

[0005] The embodiments of the present application provide a motor control method that can solve the problem of unstable motor speed in the prior art.

[0006] In a first aspect, a motor control method is provided, the method comprising:

[0007] Determining a direct-axis current of the motor based on a bus voltage corresponding to the motor and a current operating voltage of the motor;

[0008] determining whether the motor is in an unstable speed state based on the characteristic current of the motor and the direct-axis current;

[0009] When it is determined that the motor is in an unstable speed state, determining a corrected speed corresponding to the current required speed based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, and determining the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor;

[0010] The operation of the motor is controlled based on the direct-axis current and the quadrature-axis current of the motor.

[0011] In a possible implementation, determining the direct-axis current of the motor based on the bus voltage input to the motor and the current operating voltage of the motor includes:

[0012] The bus voltage and the current operating voltage are input into a first PI (Proportional Integral) algorithm to obtain the direct-axis current of the motor.

[0013] In a possible implementation, determining the direct-axis current of the motor based on the bus voltage input to the motor and the current operating voltage of the motor includes:

[0014] A direct-axis current of the motor is determined based on the bus voltage, the direct-axis operating voltage, and the quadrature-axis operating voltage.

[0015] In a possible implementation, determining whether the motor is in an unstable speed state based on the characteristic current and the direct-axis current of the motor includes:

[0016] multiplying the first parameter by the characteristic current to obtain a comparison current;

[0017] When the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current, determining that the motor is in an unstable speed state;

[0018] When the absolute value of the direct-axis current is smaller than the absolute value of the comparison current, it is determined that the motor is in a speed-stable state.

[0019] In a possible implementation, determining the corrected speed corresponding to the current required speed based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor includes:

[0020] determining a variable speed of the motor based on a second parameter, the current required speed, and the maximum speed;

[0021] determining a current phase angle of the bus voltage;

[0022] A corrected speed corresponding to the current required speed is determined based on the current required speed, the speed variable, and the current phase angle.

[0023] In a possible implementation, determining the corrected speed corresponding to the current required speed based on the current required speed, the speed variable, and the current phase angle includes:

[0024] Determine the product of the square of the sine value of the current phase angle and the speed variable as the current adjusted speed;

[0025] The difference between the current required speed and the current adjusted speed is determined as the corrected speed.

[0026] In a possible implementation, determining the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor includes:

[0027] The corrected rotational speed and the actual output rotational speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0028] In a possible implementation, the method further includes:

[0029] When it is determined that the motor is in a speed-stable state, the quadrature-axis current of the motor is determined based on the current required speed of the motor and the actual output speed.

[0030] In one possible implementation, determining the quadrature-axis current of the motor based on the current required speed of the motor and the actual output speed includes:

[0031] The current required speed of the motor and the actual output speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0032] In a second aspect, a motor control device is provided, the device comprising:

[0033] a direct-axis determination module, configured to determine the direct-axis current of the motor based on a bus voltage corresponding to the motor and a current operating voltage of the motor;

[0034] a state determination module, configured to determine whether the motor is in an unstable speed state based on the characteristic current of the motor and the direct-axis current;

[0035] a quadrature-axis determination module, configured to, when determining that the motor is in an unstable speed state, determine, based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, a corrected speed corresponding to the current required speed, and determine, based on the corrected speed and the actual output speed of the motor, a quadrature-axis current of the motor;

[0036] The control module is used to control the operation of the motor based on the direct-axis current and the quadrature-axis current of the motor.

[0037] In a possible implementation, the direct axis determination module is configured to:

[0038] The bus voltage and the current operating voltage are input into a first PI algorithm to obtain the direct-axis current of the motor.

[0039] In a possible implementation, the direct axis determination module is configured to:

[0040] A direct-axis current of the motor is determined based on the bus voltage, the direct-axis operating voltage, and the quadrature-axis operating voltage.

[0041] In a possible implementation, the state determination module is configured to:

[0042] multiplying the first parameter by the characteristic current to obtain a comparison current;

[0043] When the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current, determining that the motor is in an unstable speed state;

[0044] When the absolute value of the direct-axis current is smaller than the absolute value of the comparison current, it is determined that the motor is in a speed-stable state.

[0045] In a possible implementation, the quadrature axis determination module is configured to:

[0046] determining a variable speed of the motor based on a second parameter, the current required speed, and the maximum speed;

[0047] determining a current phase angle of the bus voltage;

[0048] A corrected speed corresponding to the current required speed is determined based on the current required speed, the speed variable, and the current phase angle.

[0049] In a possible implementation, the quadrature axis determination module is configured to:

[0050] Determine the product of the square of the sine value of the current phase angle and the speed variable as the current adjusted speed;

[0051] The difference between the current required speed and the current adjusted speed is determined as the corrected speed.

[0052] In a possible implementation, the quadrature axis determination module is configured to:

[0053] The corrected rotational speed and the actual output rotational speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0054] In a possible implementation, the quadrature axis determination module is further configured to:

[0055] When it is determined that the motor is in a speed-stable state, the quadrature-axis current of the motor is determined based on the current required speed of the motor and the actual output speed.

[0056] In a possible implementation, the quadrature axis determination module is configured to:

[0057] The current required speed of the motor and the actual output speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0058] In a third aspect, a computer device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement the operation performed by the motor control method.

[0059] In a fourth aspect, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the motor control method.

[0060] In a fifth aspect, a computer program product is provided, wherein the computer program product comprises at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the operations performed by the motor control method.

[0061] The beneficial effects of the technical solution provided by the embodiment of the present application are as follows: the solution mentioned in the embodiment of the present application can determine the direct-axis current of the motor based on the bus voltage and the current operating voltage of the motor, and then determine whether the motor is currently in an unstable speed state through the characteristic current and the direct-axis current of the motor. If it is determined that the motor is in an unstable speed state, the corrected speed corresponding to the current required speed can be determined based on the bus voltage, the current required speed of the motor and the maximum speed of the motor, and then the quadrature-axis current of the motor can be determined based on the corrected speed and the actual output speed, and then the motor operation can be controlled based on the direct-axis current and the quadrature-axis current. Among them, the corrected speed is the speed obtained by correcting the current required speed of the motor based on the current state of the bus voltage and the maximum speed of the motor, and the quadrature-axis current is determined based on the corrected speed, and then the motor operation is controlled based on the quadrature-axis current. This can effectively compensate for the current instability of the motor speed caused by the instability of the bus voltage, thereby improving the stability of the motor speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0063] Figure 1 This is a flow chart of a motor control method provided by an embodiment of the present application;

[0064] Figure 2 This is a flow chart of a method for determining whether a motor is in an unstable speed state provided by an embodiment of the present application;

[0065] Figure 3 is a structural diagram of a motor control device provided in an embodiment of the present application;

[0066] Figure 4 This is a structural block diagram of a terminal provided in an embodiment of the present application;

[0067] Figure 5 This is a structural block diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0069] The present invention provides a motor control method that can be implemented by a computer device, which can be a terminal or a server. The terminal can be a desktop computer, a notebook computer, a tablet computer, a mobile phone, etc.

[0070] A computer device may include a processor, memory, input components, output components, communication components, and the like.

[0071] The processor can be a central processing unit (CPU), which can be used to read instructions and process data, for example, determine the direct-axis current of the motor based on the bus voltage corresponding to the motor and the current operating voltage of the motor, determine whether the motor is in an unstable speed state based on the characteristic current and the direct-axis current of the motor, determine the corrected speed based on the bus voltage, the current required speed and the maximum speed of the motor, determine the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor, control the operation of the motor based on the direct-axis current and the quadrature-axis current, and so on.

[0072] The memory may be any volatile memory or non-volatile memory, such as a solid state disk (SSD) or dynamic random access memory (DRAM). The memory may be used for data storage, for example, data storage of the acquired bus voltage and current operating voltage, data storage of the determined direct-axis current of the motor, data storage of intermediate data generated in the process of determining whether the motor is in an unstable speed state, data storage of the determined corrected speed and quadrature-axis current, data storage of intermediate data generated in the process of controlling the operation of the motor, and the like.

[0073] The communication component may be a wired network connector, a wireless fidelity (WiFi) module, a Bluetooth module, a cellular network communication module, etc. The communication component may be used to perform data transmission with other devices.

[0074] Figure 1This is a flow chart of a motor control method provided by an embodiment of the present application. Figure 1 , the embodiment includes:

[0075] 101. Determine the direct-axis current of the motor based on the bus voltage corresponding to the motor and the current operating voltage of the motor.

[0076] When you want to start the motor, you need to electrically connect the motor to the busbar. The busbar can provide AC power to the motor, so that the motor can start running. Usually, the busbar voltage is 220 volts AC. The above-mentioned current operating voltage can also be called the motor voltage.

[0077] In practice, the bus voltage corresponding to the motor and the current operating voltage of the motor can be obtained first, and then the direct-axis current (also called d-axis current) of the motor can be calculated based on the bus voltage and the current operating voltage. There are many ways to calculate the direct-axis current of the motor, and the following is one of them:

[0078] like Figure 2 As shown in Figure 1, the bus voltage and the current operating voltage are input into the PI algorithm to obtain the direct-axis current of the motor.

[0079] It is understandable that the algorithm for calculating the direct-axis current is not limited to the PI algorithm, but can also be any other reasonable algorithm, for example, it can be a PID (Proportion Integration Differentiation) algorithm, etc., and the embodiments of the present application are not limited to this.

[0080] In one possible implementation, the current operating voltage of the motor may include a direct-axis operating voltage and a quadrature-axis operating voltage. Correspondingly, the method for calculating the direct-axis current of the motor is: determining the direct-axis current of the motor based on the bus voltage, the direct-axis operating voltage and the quadrature-axis operating voltage.

[0081] In implementation, the bus voltage, the direct-axis operating voltage, and the quadrature-axis operating voltage may be input into the PI algorithm as described above, thereby obtaining the output direct-axis current of the motor.

[0082] 102. Determine whether the motor is in an unstable speed state based on the characteristic current and direct-axis current of the motor.

[0083] Among them, the characteristic current of the motor is a characteristic parameter of the motor. The staff can obtain the characteristic current of the motor by consulting the motor seller or reading the motor manual. The characteristic current is used to characterize the absolute value limit of the direct-axis current of the motor.

[0084] When the absolute value of the direct-axis current increases, the inductive potential of the motor's internal windings increases, making it more difficult to increase the speed and causing the motor to become more unstable. Therefore, the motor's characteristic current and direct-axis current can be used to determine whether the motor is experiencing unstable speed.

[0085] 103. When it is determined that the motor is in an unstable speed state, a corrected speed corresponding to the current required speed is determined based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor; and the quadrature-axis current of the motor is determined based on the corrected speed and the actual output speed of the motor.

[0086] In implementation, when it is determined that the motor is in an unstable speed state, the quadrature-axis current of the motor may be adjusted to thereby adjust the speed of the motor to make it stable.

[0087] When determining the quadrature-axis current of the motor, the current required speed of the motor can be adjusted based on the current state of the bus voltage and the maximum speed of the motor to obtain a corrected speed corresponding to the current required speed. The quadrature-axis current of the motor (also called the q-axis current) is then determined based on the corrected speed and the actual output speed of the motor.

[0088] In a possible implementation, the method for determining the quadrature-axis current of the motor may be: inputting the corrected speed and the actual output speed into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0089] It is understandable that the algorithm for calculating the quadrature-axis current is not limited to the PI algorithm, but may be any other reasonable algorithm, for example, a PID algorithm, etc. The embodiment of the present application does not limit this.

[0090] 104. Control the motor operation based on the direct-axis current and quadrature-axis current of the motor.

[0091] In implementation, since the corrected speed is determined based on the current state of the bus voltage, the cross-axis current determined based on the corrected speed is also determined based on the current state of the motor, which can reversely represent the speed of the motor that currently needs to be adjusted. Therefore, controlling the motor operation based on the direct-axis current and the cross-axis current can make the motor speed tend to be stable under the change of the cross-axis current, thereby improving the stability of the motor speed.

[0092] Method for determining whether the motor is in an unstable speed state in step 102

[0093] There are many ways to determine whether the motor is in an unstable speed state. The following is a detailed introduction using one of them as an example:

[0094] like Figure 2As shown, the determination method may be: multiplying the first parameter by the characteristic current to obtain a comparison current. When the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current, it is determined that the motor is in an unstable speed state. When the absolute value of the direct-axis current is less than the absolute value of the comparison current, it is determined that the motor is in a stable speed state.

[0095] In implementation, since the characteristic current is used to characterize the limit of the absolute value of the direct-axis current of the motor, the characteristic current cannot be directly compared with the determined direct-axis current. The first parameter can be determined based on the performance of the motor.

[0096] The first parameter can be any reasonable value between 0 and 1, so as to obtain a comparative current that can reflect the current speed stability state of the motor. For example, the first parameter can be 0.4 or 0.5. The embodiment of the present application does not limit this. The first parameter can be determined based on the size of the thin film capacitor set on the bus, the effective value of the AC voltage, the output power of the motor and other parameters. For example, if the thin film capacitor is large and its stability performance is better, the first parameter can take a smaller value. If the thin film capacitor is small and its stability performance is weak, the first parameter can take a larger value.

[0097] When the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current, the inductance of the winding in the motor is large, making the motor speed relatively unstable. At this time, it can be determined that the motor is in an unstable speed state.

[0098] When the absolute value of the direct-axis current is smaller than the absolute value of the comparison current, the inductance potential of the winding inside the motor is smaller, making the speed of the motor more stable. At this time, it can be determined that the motor is in a stable speed state.

[0099] Method for determining the corrected speed in step 103

[0100] In one possible implementation, a method for determining the corrected speed may include: determining a variable speed of the motor based on the second parameter, the current required speed, and the maximum speed; determining a current phase angle of the bus voltage; and determining a corrected speed corresponding to the current required speed based on the current required speed, the variable speed, and the current phase angle.

[0101] The current phase angle of the bus voltage can be obtained by sampling the current AC voltage of the bus voltage, and then obtaining the phase angle of the current AC voltage, that is, the current phase angle of the bus voltage. Optionally, a PLL (Phase Locked Loop) can be used to obtain the current phase angle. The stability of the motor speed changes with the change of the phase angle of the bus voltage. Therefore, a more real-time corrected speed can be determined based on the current phase angle of the bus voltage.

[0102] In implementation, when determining the corrected speed, the speed variable of the motor can be determined based on the second parameter, the current required speed, and the maximum speed. The speed variable is the amount by which the speed can be changed under the current circumstances. The specific calculation formula can be as follows:

[0103]

[0104] Among them, Δn is the variable of motor speed, n ref is the current required speed, n max is the maximum speed of the motor.

[0105] The value of the second parameter can be any reasonable value, and can be any value between 0 and 1, for example, 0.05 or 0.2, etc., and is not limited in this embodiment of the present application. The value of the second parameter can also be determined based on the size of the film capacitor on the bus voltage, the effective value of the AC voltage, the output power of the motor, etc.

[0106] Of course, the method for determining the variable speed may also be other methods, and the embodiments of the present application are not limited to this.

[0107] After determining the speed variable, the corrected speed corresponding to the current required speed can be determined based on the current required speed, the speed variable, and the current behavior angle. The corresponding method can be as follows:

[0108] The product of the square of the sine value of the current phase angle and the speed variable is determined as the current adjusted speed. The difference between the current required speed and the current adjusted speed is determined as the corrected speed. The corresponding formula can be as follows:

[0109] n new =n ref -Δnsin 2 θ (2)

[0110] Among them, n new is the corrected speed, and θ is the current phase angle of the bus voltage.

[0111] Of course, the method for determining the corrected rotational speed may also be other methods, and the embodiments of the present application are not limited to this.

[0112] In a possible implementation, if it is determined in step 103 that the motor is in a stable speed state, the following processing may be performed:

[0113] When it is determined that the motor is in a stable speed state, the quadrature-axis current of the motor is determined based on the current required speed and the actual output speed of the motor.

[0114] More specifically, a method for determining the quadrature-axis current of the motor may be: inputting the current required speed and the actual output speed of the motor into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0115] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0116] The solution mentioned in the embodiment of the present application can determine the direct-axis current of the motor based on the bus voltage and the current operating voltage of the motor, and then determine whether the motor is currently in an unstable speed state through the characteristic current and the direct-axis current of the motor. If it is determined that the motor is in an unstable speed state, the corrected speed corresponding to the current required speed can be determined based on the bus voltage, the current required speed of the motor and the maximum speed of the motor, and then the quadrature-axis current of the motor can be determined based on the corrected speed and the actual output speed. Then, the operation of the motor is controlled based on the direct-axis current and the quadrature-axis current. Among them, the corrected speed is the speed obtained by correcting the current required speed of the motor based on the current state of the bus voltage and the maximum speed of the motor, and the quadrature-axis current is determined based on the corrected speed. Then, the operation of the motor is controlled based on the quadrature-axis current. This can effectively compensate for the instability of the motor speed caused by the unstable bus voltage, thereby improving the stability of the motor speed.

[0117] The present application embodiment provides a motor control device, which may be the computer device in the above embodiment, such as Figure 3 As shown, the device includes:

[0118] a direct-axis determination module 310, configured to determine a direct-axis current of the motor based on a bus voltage corresponding to the motor and a current operating voltage of the motor;

[0119] a state determination module 320, configured to determine whether the motor is in an unstable speed state based on the characteristic current of the motor and the direct-axis current;

[0120] a quadrature-axis determination module 330 for determining, when it is determined that the motor is in an unstable speed state, a corrected speed corresponding to the current required speed based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, and determining a quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor;

[0121] The control module 340 is configured to control the operation of the motor based on the direct-axis current and the quadrature-axis current of the motor.

[0122] In a possible implementation, the direct axis determination module 310 is configured to:

[0123] The bus voltage and the current operating voltage are input into a first PI algorithm to obtain the direct-axis current of the motor.

[0124] In a possible implementation, the direct axis determination module 310 is configured to:

[0125] A direct-axis current of the motor is determined based on the bus voltage, the direct-axis operating voltage, and the quadrature-axis operating voltage.

[0126] In a possible implementation, the state determination module 320 is configured to:

[0127] multiplying the first parameter by the characteristic current to obtain a comparison current;

[0128] When the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current, determining that the motor is in an unstable speed state;

[0129] When the absolute value of the direct-axis current is smaller than the absolute value of the comparison current, it is determined that the motor is in a speed-stable state.

[0130] In a possible implementation, the quadrature axis determination module 330 is configured to:

[0131] determining a variable speed of the motor based on a second parameter, the current required speed, and the maximum speed;

[0132] determining a current phase angle of the bus voltage;

[0133] A corrected speed corresponding to the current required speed is determined based on the current required speed, the speed variable, and the current phase angle.

[0134] In a possible implementation, the quadrature axis determination module 330 is configured to:

[0135] Determine the product of the square of the sine value of the current phase angle and the speed variable as the current adjusted speed;

[0136] The difference between the current required speed and the current adjusted speed is determined as the corrected speed.

[0137] In a possible implementation, the quadrature axis determination module 330 is configured to:

[0138] The corrected rotational speed and the actual output rotational speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0139] In a possible implementation, the quadrature axis determination module 330 is further configured to:

[0140] When it is determined that the motor is in a speed-stable state, the quadrature-axis current of the motor is determined based on the current required speed of the motor and the actual output speed.

[0141] In a possible implementation, the quadrature axis determination module 330 is configured to:

[0142] The current required speed of the motor and the actual output speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

[0143] It should be noted that the motor control device provided in the above embodiment is merely an example of the division of the functional modules described above when performing motor control. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the motor control device provided in the above embodiment and the motor control method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0144] Figure 4 The following is a block diagram of a terminal 400 according to an exemplary embodiment of the present application. The terminal may be the computer device described in the aforementioned embodiments. The terminal 400 may be a smartphone, a tablet computer, an MP3 player (moving picture experts group audio layer III), an MP4 player (moving picture experts group audio layer IV), a laptop computer, or a desktop computer. The terminal 400 may also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or other similar names.

[0145] Typically, the terminal 400 includes a processor 401 and a memory 402 .

[0146] The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 401 may be implemented in at least one hardware form of DSP (digital signal processing), FPGA (field-programmable gate array), or PLA (programmable logic array). The processor 401 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (central processing unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 401 may be integrated with a GPU (graphics processing unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 401 may also include an AI (artificial intelligence) processor, which is used to process computing operations related to machine learning.

[0147] The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, which is executed by the processor 401 to implement the motor control method provided in the method embodiment of the present application.

[0148] In some embodiments, terminal 400 may optionally include a peripheral device interface 403 and at least one peripheral device. Processor 401, memory 402, and peripheral device interface 403 may be connected via a bus or signal lines. Each peripheral device may be connected to peripheral device interface 403 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 404, a display screen 405, a camera 406, an audio circuit 407, a positioning component 408, and a power supply 409.

[0149] The peripheral device interface 403 can be used to connect at least one I / O (input / output)-related peripheral device to the processor 401 and the memory 402. In some embodiments, the processor 401, the memory 402, and the peripheral device interface 403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 401, the memory 402, and the peripheral device interface 403 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0150] The radio frequency circuit 404 is used to receive and transmit RF (radio frequency) signals, also known as electromagnetic signals. The radio frequency circuit 404 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 404 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 404 can communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (wireless fidelity) networks. In some embodiments, the radio frequency circuit 404 may also include circuits related to NFC (near field communication), which is not limited in this application.

[0151] Display screen 405 is used to display a user interface (UI). This UI may include graphics, text, icons, videos, or any combination thereof. If display screen 405 is a touchscreen display, it is also capable of collecting touch signals on or above the surface of display screen 405. These touch signals can be input as control signals to processor 401 for processing. Display screen 405 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there can be a single display screen 405, located on the front panel of terminal 400. In other embodiments, there can be at least two display screens 405, located on different surfaces of terminal 400 or in a foldable design. In still other embodiments, display screen 405 can be a flexible display, located on a curved or foldable surface of terminal 400. Display screen 405 can also be configured as a non-rectangular, irregular shape, also known as a special-shaped screen. Display screen 405 can be made of materials such as LCD (liquid crystal display) and OLED (organic light-emitting diode).

[0152] The camera assembly 406 is used to capture images or videos. Optionally, the camera assembly 406 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (virtual reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 406 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0153] The audio circuit 407 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals that are input into the processor 401 for processing, or input into the radio frequency circuit 404 to achieve voice communication. For the purpose of stereo sound collection or noise reduction, there may be multiple microphones, each disposed at different locations on the terminal 400. The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert electrical signals from the processor 401 or the radio frequency circuit 404 into sound waves. The speaker may be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible to humans, but also convert electrical signals into sound waves inaudible to humans for purposes such as distance measurement. In some embodiments, the audio circuit 407 may also include a headphone jack.

[0154] The positioning component 408 is used to locate the current geographic location of the terminal 400 to implement navigation or LBS (location-based service). The positioning component 408 can be a positioning component based on the GPS (global positioning system), Beidou system, Greiner system or Galileo system.

[0155] Power supply 409 is used to power various components in terminal 400. Power supply 409 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 409 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0156] In some embodiments, the terminal 400 further includes one or more sensors 410 , including but not limited to: an acceleration sensor 411 , a gyroscope sensor 412 , a pressure sensor 413 , a fingerprint sensor 414 , an optical sensor 415 , and a proximity sensor 416 .

[0157] Accelerometer 411 can detect the magnitude of acceleration along the three coordinate axes of the coordinate system established by terminal 400. For example, accelerometer 411 can be used to detect the components of gravity acceleration along the three coordinate axes. Processor 401 can control display screen 405 to display the user interface in either a landscape or portrait view based on the gravity acceleration signal collected by accelerometer 411. Accelerometer 411 can also be used to collect game or user motion data.

[0158] The gyroscope sensor 412 can detect the orientation and rotation angle of the terminal 400. It can also work with the accelerometer 411 to collect the user's 3D movements of the terminal 400. Based on the data collected by the gyroscope sensor 412, the processor 401 can implement the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0159] The pressure sensor 413 can be provided on the side frame of the terminal 400 and / or below the display screen 405. When the pressure sensor 413 is provided on the side frame of the terminal 400, it can detect the user's gripping signal of the terminal 400, and the processor 401 can perform left-hand or right-hand recognition or shortcut operations based on the gripping signal collected by the pressure sensor 413. When the pressure sensor 413 is provided below the display screen 405, the processor 401 controls the operable controls on the UI interface based on the user's pressure operation on the display screen 405. Operable controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0160] The fingerprint sensor 414 is used to collect the user's fingerprint. The processor 401 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 414, or the fingerprint sensor 414 identifies the user's identity based on the collected fingerprint. When the user's identity is recognized as a trusted identity, the processor 401 authorizes the user to perform relevant sensitive operations, such as unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 414 can be set on the front, back, or side of the terminal 400. When a physical button or manufacturer logo is provided on the terminal 400, the fingerprint sensor 414 can be integrated with the physical button or manufacturer logo.

[0161] Optical sensor 415 is used to detect ambient light intensity. In one embodiment, processor 401 can control the display brightness of display screen 405 based on the ambient light intensity detected by optical sensor 415. Specifically, when the ambient light intensity is high, the display brightness of display screen 405 is increased; when the ambient light intensity is low, the display brightness of display screen 405 is decreased. In another embodiment, processor 401 can also dynamically adjust the shooting parameters of camera assembly 406 based on the ambient light intensity detected by optical sensor 415.

[0162] Proximity sensor 416, also known as a distance sensor, is typically located on the front panel of terminal 400. Proximity sensor 416 is used to detect the distance between the user and the front of terminal 400. In one embodiment, when proximity sensor 416 detects that the distance between the user and the front of terminal 400 is gradually decreasing, processor 401 controls display screen 405 to switch from the screen-on state to the screen-off state. When proximity sensor 416 detects that the distance between the user and the front of terminal 400 is gradually increasing, processor 401 controls display screen 405 to switch from the screen-off state to the screen-on state.

[0163] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the terminal 400, and the terminal 400 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0164] Figure 5 is a schematic diagram of the structure of a server provided in an embodiment of the present application. The server 500 may vary significantly due to different configurations or performance, and may include one or more processors (central processing units, CPUs) 501 and one or more memories 502. The memories 502 store at least one instruction, which is loaded and executed by the processor 501 to implement the methods provided in the above-mentioned various method embodiments. Of course, the server may also have components such as a wired or wireless network interface, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which are not described in detail here.

[0165] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including instructions, which can be executed by a processor in a terminal to perform the motor control method in the above embodiment. The computer-readable storage medium can be non-transitory. For example, the computer-readable storage medium can be a ROM (read-only memory), a RAM (random access memory), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0166] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0167] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals (including but not limited to signals transmitted between user terminals and other devices, etc.) involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the "characteristic current of the motor" involved in this application was obtained with full authorization.

[0168] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A motor control method, characterized in that: The method comprises: Determining a direct-axis current of the motor based on a bus voltage corresponding to the motor and a current operating voltage of the motor; Multiplying a first parameter by a characteristic current of the motor to obtain a comparative current, wherein a value range of the first parameter is (0, 1); when the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparative current, determining that the motor is in an unstable speed state; and when the absolute value of the direct-axis current is less than the absolute value of the comparative current, determining that the motor is in a stable speed state; When it is determined that the motor is in an unstable speed state, determining a corrected speed corresponding to the current required speed based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, and determining the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor; The operation of the motor is controlled based on the direct-axis current and the quadrature-axis current of the motor.

2. The method according to claim 1, characterized in that The determining of the direct-axis current of the motor based on the bus voltage corresponding to the motor and the current operating voltage of the motor includes: The bus voltage and the current operating voltage are input into a first proportional-integral (PI) algorithm to obtain the direct-axis current of the motor.

3. The method according to claim 1, characterized in that The determining of the direct-axis current of the motor based on the bus voltage corresponding to the motor and the current operating voltage of the motor includes: A direct-axis current of the motor is determined based on the bus voltage, the direct-axis operating voltage, and the quadrature-axis operating voltage.

4. The method according to claim 1, wherein The determining, based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, of a corrected speed corresponding to the current required speed includes: determining a variable speed of the motor based on a second parameter, the current required speed, and the maximum speed; determining a current phase angle of the bus voltage; A corrected speed corresponding to the current required speed is determined based on the current required speed, the speed variable, and the current phase angle.

5. The method according to claim 4, characterized in that The determining, based on the current required speed, the speed variable, and the current phase angle, of a corrected speed corresponding to the current required speed includes: Determine the product of the square of the sine value of the current phase angle and the speed variable as the current adjusted speed; The difference between the current required speed and the current adjusted speed is determined as the corrected speed.

6. The method according to claim 1, characterized in that The determining of the quadrature-axis current of the motor based on the corrected speed and the actual output speed of the motor includes: The corrected rotational speed and the actual output rotational speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

7. The method according to claim 1, characterized in that The method further comprises: When it is determined that the motor is in a speed-stable state, the quadrature-axis current of the motor is determined based on the current required speed of the motor and the actual output speed.

8. The method according to claim 7, characterized in that The determining of the quadrature-axis current of the motor based on the current required speed of the motor and the actual output speed includes: The current required speed of the motor and the actual output speed are input into a second PI algorithm to obtain the quadrature-axis current of the motor.

9. A motor control device, characterized in that: The device comprises: a direct-axis determination module, configured to determine the direct-axis current of the motor based on a bus voltage corresponding to the motor and a current operating voltage of the motor; a state determination module, configured to multiply a first parameter by a characteristic current of the motor to obtain a comparison current, wherein a value range of the first parameter is (0, 1); determine that the motor is in an unstable speed state when the absolute value of the direct-axis current is greater than or equal to the absolute value of the comparison current; and determine that the motor is in a stable speed state when the absolute value of the direct-axis current is less than the absolute value of the comparison current; a quadrature-axis determination module, configured to, when determining that the motor is in an unstable speed state, determine, based on the bus voltage, the current required speed of the motor, and the maximum speed of the motor, a corrected speed corresponding to the current required speed, and determine, based on the corrected speed and the actual output speed of the motor, a quadrature-axis current of the motor; The control module is used to control the operation of the motor based on the direct-axis current and the quadrature-axis current of the motor.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the operation performed by the motor control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the operation performed by the motor control method according to any one of claims 1 to 8.

12. A computer program product, characterized in that The computer program product includes at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the operation performed by the motor control method according to any one of claims 1 to 8.

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