A method, apparatus, and medium for controlling a rotational speed of a motor

Abstract

The application relates to the motor driving field, and discloses a method for controlling the rotating speed of a motor, which can solve the problem of energy waste caused by using current to control the motor to ensure the stability of the motor running at high speed in the prior art, adopts the technical scheme, changes the frequency of a shielding input step signal to reduce the speed of the motor, thereby increasing the torque and ensuring the stable operation of the motor. Moreover, in response to the problem that shielding the step signal can cause the motor to lose step, the application also counts the step loss count of the step signal after shielding and carries out compensation to avoid the motor losing step. The application also discloses a device for controlling the rotating speed of a motor and a medium, which correspond to the above method for controlling the rotating speed of a motor and have the same effect.

Description

Technical Field

[0001] This application relates to the field of electric motor drive technology, and in particular to a method, apparatus and medium for controlling the speed of an electric motor. Background Technology

[0002] A stepper motor is a type of electric motor that converts electrical pulse signals into corresponding angular or linear displacement. For each input pulse signal, the rotor rotates by an angle or moves forward one step. The output angular or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency. Therefore, stepper motors are also called pulse motors. Stepper motors are widely used in modern society, in industrial automation, medical applications, and anywhere feedback rotation is required. Furthermore, due to the significant differences in these applications, the feedback requirements for stepper motors are numerous and varied.

[0003] In practice, when the motor is under excessive load and running at high speed, current technology ensures stable operation by changing the current. However, this method requires changing the current, increasing energy consumption.

[0004] Therefore, how to reduce energy consumption while ensuring the stable operation of a high-speed motor is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, and medium for controlling the speed of a motor, thereby reducing energy loss while ensuring stable operation of a high-speed motor.

[0006] To solve the above-mentioned technical problems, this application provides a method for controlling the speed of a motor, the method comprising:

[0007] Obtain load measurement values;

[0008] Determine whether the measured load value is less than the configured value. If it is less, block the stepper signal to change the frequency of the stepper signal to reduce the speed of the motor.

[0009] Count the steps lost by the step signal after shielding;

[0010] The actual step signal is obtained by compensating the masked step signal based on the lost step count;

[0011] The actual step signal is output to drive the motor.

[0012] Preferred options also include:

[0013] Determine whether the lost step count is 0. If it is not 0, proceed to the step of compensating the shielded step signal according to the lost step count to obtain the actual step signal. If it is 0, output the shielded step signal to drive the motor.

[0014] Preferably, the step of compensating the masked step signal based on the step loss count to obtain the actual step signal includes:

[0015] Determine whether the period of the input step signal is greater than the period of the shielded step signal. If so, maintain the period of the actual step signal as the period of the shielded step signal.

[0016] Insert a step signal into the shielded step signal to obtain the actual step signal.

[0017] Preferred options also include:

[0018] The counts of the input step signals and the counts of the actual step signals are statistically analyzed.

[0019] Determine whether the difference between the count of the actual step signal and the count of the input step signal is not less than 1. If it is not less than 1, then decrement the step loss count by 1 and return to the step of determining whether the step loss count is 0. If it is not less than 1, then return to the step of determining whether the period of the input step signal is greater than the period of the masked step signal.

[0020] Preferably, determining whether the difference between the count of the actual step signal and the count of the input step signal is not less than 1 is:

[0021] Determine whether the difference between the count of the actual step signal and the count of the input step signal is greater than 1.

[0022] Preferably, the step of determining whether the load measurement value is less than the configured value is:

[0023] Determine whether the load measurement value is always less than the configured value within a threshold time period; if so, confirm that the load measurement value is less than the configured value.

[0024] To address the aforementioned technical problems, this application also provides a device for controlling the speed of a motor, the device comprising:

[0025] The acquisition module is used to acquire load measurement values;

[0026] The judgment module is used to determine whether the load measurement value is less than the configured value. If it is less, the stepper signal is blocked to change the frequency of the stepper signal to reduce the speed of the motor.

[0027] The statistics module is used to count the number of steps lost by the step signal after shielding.

[0028] The compensation module is used to compensate the masked step signal according to the lost step count to obtain the actual step signal;

[0029] The drive module is used to output the actual stepping signal to drive the motor.

[0030] To solve the above-mentioned technical problems, this application also provides another device for controlling the speed of a motor, the device including a memory for storing a computer program;

[0031] A processor is used to execute the computer program to implement the steps of the method for controlling the motor speed as described above.

[0032] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for controlling motor speed as described above.

[0033] The method for controlling motor speed provided in this application, compared to the current-controlled motor method used in the prior art to ensure the stability of high-speed motors, which leads to energy waste, adopts this technical solution to reduce the motor speed and increase torque by changing the frequency of the input stepper signal, thereby ensuring stable motor operation. Furthermore, to address the problem of motor step loss caused by stepper signal shielding, this application also counts the number of lost steps after shielding and performs compensation to prevent motor step loss.

[0034] Furthermore, the device and medium for controlling motor speed provided in this application correspond to the above-mentioned method for controlling motor speed and have the same effect. Attached Figure Description

[0035] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A flowchart illustrating a method for controlling motor speed, provided in an embodiment of this application;

[0037] Figure 2 This application diagram illustrates the effect of a method for controlling motor speed provided in an embodiment of this application.

[0038] Figure 3 A structural diagram of a device for controlling motor speed provided in an embodiment of this application;

[0039] Figure 4 This is a structural diagram of another device for controlling motor speed provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0041] The core of this application is to provide a method, device, and medium for controlling the speed of a motor, which reduces energy loss while ensuring stable operation of a high-speed motor.

[0042] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Figure 1 A flowchart of a method for controlling motor speed provided in an embodiment of this application is shown below. Figure 1 As shown, the method includes:

[0044] S10: Obtain load measurement values.

[0045] In practical implementation, the motor drive chip drives the motor to rotate by outputting current through a chopper. Specifically, the current is controlled by adjusting the on-time, off-time, and slow decay time. When the load increases, the energy consumption required by the motor increases, causing the forward on-time to increase and the reverse on-time to decrease. Conversely, when the load is small, the energy consumption required by the motor decreases, the forward on-time decreases, the reverse on-time increases, while the slow decay time usually remains unchanged. It can be seen that the on-time and off-time are related to the load size. In practical implementation, in addition to outputting a chopper signal to drive the motor to rotate, the chip also receives feedback information from the motor. This information contains load-related information and affects the chopper signal. In step S10, the chip acquires a load measurement value, which represents the magnitude of the motor load. Specifically, the load measurement value can be calculated based on the chopper signal fed back by the motor.

[0046] S11: Determine if the load measurement value is less than the configured value. If it is less, disable the stepper signal to change the frequency of the stepper signal and reduce the speed of the motor.

[0047] In this embodiment, the configuration value is a value pre-set by technicians based on the motor's operating environment and type. This value represents the threshold for safe motor operation. By comparing the load measurement value with the configuration value, when the load measurement value is less than the configuration value, it is considered that the motor needs to reduce its speed to ensure stable operation and avoid stalling. In current technology, the motor speed is usually changed by altering the current. According to the motor's driving principle, for the motor to rotate faster, the frequency of the corresponding sinusoidal current must be higher, thus causing the rotor to rotate faster. The sinusoidal current is controlled by several switching signals, which are controlled by a chopper and finally by the stepper signal frequency input to the chip. Therefore, the faster the stepper signal frequency, the higher the sinusoidal current frequency, and the faster the motor rotates. Therefore, in this application, controlling the frequency of the stepper signal can control the motor speed. In step S11, when the load measurement value is less than the configuration value, the chip will shield the frequency of the stepper signal to reduce the speed and increase torque to cope with high-speed load conditions.

[0048] S12: Count the number of steps lost after the step signal is masked.

[0049] S13: Compensate the masked step signal based on the lost step count to obtain the actual step signal.

[0050] S14: Outputs the actual stepper signal to drive the motor.

[0051] It is understandable that using the method of masking step signals to reduce speed and improve stability can lead to missing step signals and causing step loss. Therefore, this embodiment also needs to count the masked step signals and compensate for them before finally driving the motor to avoid step loss. Finally, the actual step signal after speed reduction and compensation is output to drive the motor.

[0052] The method for controlling motor speed provided in this application, compared to the current-controlled motor method used in the prior art to ensure the stability of a high-speed motor, which leads to energy waste, adopts this technical solution. By shielding the input step signal and changing the frequency of the step signal, the motor speed is reduced, thereby increasing torque and ensuring stable motor operation. Furthermore, to address the problem of motor step loss caused by shielding the step signal, this embodiment also counts the number of steps lost after shielding and performs compensation to prevent motor step loss.

[0053] It is understandable that the operation of the motor is a continuous process, and the shielding and compensation of the step signal are also continuous processes. When the lost step count is 0, it means that the compensation for the shielded step signal has been completed, and there is no need to insert a new step signal. Alternatively, the step signal may not have been shielded, and no compensation is required.

[0054] Therefore, based on the above embodiments, this embodiment further includes:

[0055] Determine if the step count is 0. If it is not 0, proceed to the step step signal compensation after masking based on the step count to obtain the actual step signal. If it is 0, output the masked step signal to drive the motor.

[0056] Before compensating the step signal, this embodiment needs to determine whether the step signal needs to be compensated. Specifically, it determines whether the step signal has been compensated or has not been masked at all by checking whether the count of missing steps is 0, so as to ensure the accuracy of the compensation.

[0057] In practice, when inserting a compensated step signal into the shielded step signal, it is necessary to ensure that the frequency of the final output actual step signal is the same as the frequency of the shielded step signal, so as to achieve the purpose of deceleration.

[0058] Therefore, in this embodiment, obtaining the actual step signal based on the step loss count compensation masked step signal includes:

[0059] Determine whether the period of the input step signal is greater than the period of the masked step signal. If so, keep the period of the actual step signal the same as the period of the masked step signal.

[0060] Insert the step signal into the shielded step signal to obtain the actual step signal.

[0061] In this embodiment, by determining whether the period of the input step signal is greater than the period of the shielded step signal, it can be determined whether the shielded step signal has been shielded, that is, whether the step signal has decelerated. When it is determined that the deceleration has occurred, the period of the final output actual step signal is controlled to be the same as the period of the shielded step signal to ensure that the actual step signal is a decelerated signal, and a step signal is inserted in this process to achieve compensation.

[0062] The above embodiments described determining whether step signal compensation is needed by judging whether the step count is 0. Based on the above embodiments, this embodiment also provides a method for determining whether step signal compensation is successful. This embodiment further includes:

[0063] Count the input step signals and the actual step signals.

[0064] Determine if the difference between the count of the actual step signal and the count of the input step signal is not less than 1. If it is not less, decrement the step count by 1 and return to the step of determining if the step count is 0. If it is less, return to the step of determining if the period of the input step signal is greater than the period of the masked step signal.

[0065] In this embodiment, the success of the compensation for the final output step signal is determined by comparing the count of the actual step signal with the count of the input step signal. It is understood that if the difference between the count of the actual step signal and the count of the input step signal is not less than 1, it indicates successful compensation of the step signal. In this case, the missed step count is decremented by 1, and a reassessment is made regarding whether further compensation is needed. If the difference is less than 1, it may indicate that the input step signal has accelerated again, and a reassessment should be made regarding whether the signal has been blocked or slowed down.

[0066] In the above embodiments, the case where the actual step signal count minus the input step signal count is not less than 1 includes two cases: greater than 1 and equal to 1. However, in specific implementations, the case of equal to 1 is more extreme. Due to signal fluctuations or inaccurate measurements, it is easy for the actual step signal count minus the input step signal count to equal 1. In this case, if the step count is decremented by 1 and the process returns to the step of judging whether the step count is 0, it will affect the stability of motor control.

[0067] Therefore, based on the above embodiments, in this embodiment, determining whether the count of the actual step signal minus the count of the input step signal is not less than 1 is:

[0068] Determine if the difference between the count of the actual step signal and the count of the input step signal is greater than 1. If it is, decrement the lost step count by 1 and return to the step of determining if the lost step count is 0. If it is less than 1, return to the step of determining if the period of the input step signal is greater than the period of the masked step signal.

[0069] This embodiment checks whether the difference between the actual step signal count and the input step signal count is greater than 1, in order to avoid the accidental occurrence of a count difference equal to 1, which could affect the stability of motor operation.

[0070] As described in the above embodiments, the configuration value is set by technicians based on the motor's usage scenario and type. In practice, technicians typically leave a relatively safe range to avoid addressing the motor only when it's on the verge of damage. Therefore, this configuration value should allow the motor to be below the configuration value for a short period at a certain moment. Thus, in this embodiment, it is determined whether the load measurement value is less than the configuration value:

[0071] Determine whether the load measurement value is consistently lower than the configured value within the threshold time period; if so, confirm that the load measurement value is lower than the configured value.

[0072] This embodiment determines whether the stepper signal needs to be shielded by judging whether the load measurement value is always less than the configured value within a threshold time, so as to avoid affecting the stable operation of the motor due to accidental circumstances.

[0073] Figure 2An application effect diagram of a method for controlling motor speed provided in an embodiment of this application is shown, such as... Figure 2 As shown, when the load increases, the detection result changes accordingly. When it falls below the set configuration value, a shielding signal is output, blocking the current stepper signal. Macroscopically, this is equivalent to reducing the frequency of the stepper signal, significantly increasing the periodicity of the chopping current, reducing the motor speed, and improving the stability of motor operation. The shielded stepper signals are counted and inserted during deceleration to compensate for motor step loss, thus improving motor reliability.

[0074] In the above embodiments, the method for controlling the motor speed has been described in detail. This application also provides embodiments of a device for controlling the motor speed. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0075] Figure 3 A structural diagram of a device for controlling motor speed provided in an embodiment of this application is shown below. Figure 3 As shown, the device includes:

[0076] Module 10 is used to acquire load measurement values;

[0077] The judgment module 11 is used to determine whether the load measurement value is less than the configuration value. If it is less, the stepper signal is blocked to change the frequency of the stepper signal to reduce the speed of the motor.

[0078] Statistical module 12 is used to count the number of steps lost in the step signal after shielding;

[0079] Compensation module 13 is used to compensate the masked step signal according to the step loss count to obtain the actual step signal;

[0080] The drive module 14 is used to output actual stepping signals to drive the motor.

[0081] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0082] The motor speed control device provided in this application, compared to the prior art which uses current to control the motor to ensure the stability of a high-speed motor, resulting in wasted energy, adopts this technical solution. By shielding the input step signal and changing the frequency of the step signal, the motor speed is reduced, thereby increasing torque and ensuring stable motor operation. Furthermore, to address the problem of motor step loss caused by shielding the step signal, this embodiment also counts the number of steps lost after shielding and performs compensation to prevent motor step loss.

[0083] Figure 4 A structural diagram of another device for controlling motor speed provided in an embodiment of this application is shown below. Figure 4 As shown, the device includes: a memory 20 for storing computer programs;

[0084] The processor 21 is used to execute a computer program to implement the steps of the method for controlling the motor speed as described in the above embodiment.

[0085] The device for controlling motor speed provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0086] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0087] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the method for controlling the motor speed disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, load measurement values, configuration values, and step loss counts.

[0088] In some embodiments, the device for controlling the motor speed may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0089] Those skilled in the art will understand Figure 4 The structure shown does not constitute a limitation on the device for controlling the motor speed and may include more or fewer components than shown.

[0090] The device for controlling motor speed provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can perform the following methods: obtain a load measurement value; determine whether the load measurement value is less than a configured value; if it is less, block the step signal to change the frequency of the step signal to reduce the speed of the motor; count the number of steps lost after blocking the step signal; compensate the blocked step signal according to the number of steps lost to obtain the actual step signal; and output the actual step signal to drive the motor.

[0091] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0092] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0093] The method, apparatus, and medium for controlling motor speed provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0094] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling the speed of a motor, characterized in that, include: Obtain load measurement values; Determine whether the measured load value is less than the configured value. If it is less, block the stepper signal to change the frequency of the stepper signal to reduce the speed of the motor. The step of determining whether the load measurement value is less than the configuration value includes: determining whether the load measurement value is always less than the configuration value within a threshold time; if so, confirming that the load measurement value is less than the configuration value. Count the steps lost by the step signal after shielding; Determine whether the out-of-step count is 0; If it is not 0, then determine whether the period of the input step signal is greater than the period of the shielded step signal. If so, then keep the period of the actual step signal the same as the period of the shielded step signal; insert the step signal into the shielded step signal to obtain the actual step signal, and the frequency of the actual step signal is the same as the frequency of the shielded step signal. If the value is 0, then the actual step signal is output to drive the motor; The counts of the input step signals and the counts of the actual step signals are statistically analyzed. Determine whether the difference between the count of the actual step signal and the count of the input step signal is not less than 1. If it is not less than 1, then decrement the step loss count by 1 and return to the step of determining whether the step loss count is 0. If it is less than 0, then return to the step of determining whether the period of the input step signal is greater than the period of the masked step signal.

2. The method for controlling motor speed according to claim 1, characterized in that, The determination of whether the count of the actual step signal minus the count of the input step signal is not less than 1 is as follows: Determine whether the difference between the count of the actual step signal and the count of the input step signal is greater than 1. If it is greater, decrement the step loss count by 1 and return to the step of determining whether the step loss count is 0. If it is less than 0, return to the step of determining whether the period of the input step signal is greater than the period of the masked step signal.

3. A device for controlling the speed of a motor, characterized in that, include: The acquisition module is used to acquire load measurement values; The judgment module is used to determine whether the load measurement value is less than the configured value. If it is less, the stepper signal is blocked to change the frequency of the stepper signal to reduce the speed of the motor. Specifically, the judgment module is used to: determine whether the load measurement value is always less than the configuration value within a threshold time; if so, confirm that the load measurement value is less than the configuration value. The statistics module is used to count the number of steps lost by the step signal after shielding. The judgment module is also used to determine whether the step loss count is 0; The compensation module is used to determine whether the period of the input step signal is greater than the period of the shielded step signal if the value is not 0; if so, the period of the actual step signal is kept the same as the period of the shielded step signal; and the step signal is inserted into the shielded step signal to obtain the actual step signal, wherein the frequency of the actual step signal is the same as the frequency of the shielded step signal. A drive module is used to output the actual step signal to drive the motor if the value is 0. The statistics module is also used to count the input step signal and the actual step signal. The judgment module is further configured to determine whether the difference between the count of the actual step signal and the count of the input step signal is not less than 1. If it is not less than 1, the step loss count is reduced by 1, and the process returns to the step of determining whether the step loss count is 0. If it is less than 0, the process returns to the step of determining whether the period of the input step signal is greater than the period of the masked step signal.

4. A device for controlling the speed of a motor, characterized in that, Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the method for controlling motor speed as described in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for controlling the speed of a motor as described in any one of claims 1 to 2.

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