Motor control method, electronic device and storage medium

Abstract

The present invention discloses a motor control method, electronic device, and storage medium, wherein the method includes: obtaining a temperature value of a first component of the motor; and, in response to the temperature value of the first component satisfying a target temperature range, maintaining a motion rate value of a drive device of the motor consistent with a motion rate value corresponding to the target temperature range, wherein the target temperature range includes at least a first temperature range and a second temperature range, the motion rate value corresponding to the first temperature range is a preset motion rate value, and the motion rate value corresponding to the second temperature range is a motion rate value obtained by weighting the preset motion rate value according to a first weighting factor. Different from traditional motor overheating protection schemes, the present invention can maximize the long-term continuous operation of the motor while ensuring safe and reliable operation of the motor.

Description

Technical Field

[0001] The present disclosure generally relates to the field of electrical engineering. More specifically, the present disclosure relates to a motor control method, an electronic device, and a storage medium. Background Art

[0002] A continuous miner is a coal mining machine used in the room-and-pillar mining method and can also be used for tunneling. It features multiple functions, including cutting, loading, reloading, maneuvering, and spray dust removal. Equipped with a shuttle car, belt conveyor, and anchor support, it enables fully mechanized mining in the room-and-pillar method.

[0003] The cutter motor is the most powerful motor in a continuous miner and is directly involved in coal mining. Traditional motor overheat or overload protection schemes trigger internal protection circuits when the motor's temperature or load reaches a certain level, disconnecting the motor's main circuit to protect the motor. While traditional motor overload and overheat protection can protect the cutter motor from damage due to overload and overheating to a certain extent, it can cause the entire mining face to shut down for a period of time, resulting in unnecessary economic losses. Summary of the Invention

[0004] According to example embodiments of the present disclosure, a method for controlling a motor, an electronic device, and a storage medium are provided.

[0005] In a first aspect of the present disclosure, a method for controlling a motor is provided, comprising: acquiring a temperature value of a first component of the motor; and in response to the temperature value of the first component satisfying a target temperature range, maintaining a motion rate value of a driving device of the motor consistent with a motion rate value corresponding to the target temperature range, wherein the target temperature range includes at least a first temperature range and a second temperature range, the motion rate value corresponding to the first temperature range is a preset motion rate value, and wherein the motion rate value corresponding to the second temperature range is a motion rate value obtained by weighting the preset motion rate value according to a first weighting factor.

[0006] In one embodiment, the second temperature range is greater than the first temperature range, the first weighting factor is less than 1, and the motion rate value corresponding to the second temperature range is the product of the first weighting factor and the preset motion rate value.

[0007] In one embodiment, the target temperature range further includes a third temperature range, the third temperature range is greater than the second temperature range, and the motion rate value corresponding to the third temperature range is the product of the square of the first weighting factor and the preset motion rate value.

[0008] In one embodiment, the method for obtaining the preset motion rate value includes: obtaining the carrying current value of the second component of the motor; in response to the carrying current value satisfying the target current range, determining the time number corresponding to the target current range, wherein the target current range includes at least one current range; and in response to the sum of the time numbers corresponding to all the target current ranges satisfying the target threshold, weighting the input motion rate value according to a second weighting factor to obtain the preset motion rate value.

[0009] In one embodiment, the target threshold includes a first threshold, the second weighting factor is a preset motion rate value, and the preset motion rate value is greater than 1, wherein weighting the input motion rate value according to the second weighting factor to obtain the preset motion rate value includes: subtracting the preset motion rate value from the input motion rate value to obtain the preset motion rate value.

[0010] In one embodiment, the target threshold also includes a second threshold, which is greater than the first threshold, wherein weighting the input motion rate value according to the second weighting factor to obtain the preset motion rate value includes: subtracting the square of the preset motion rate value from the input motion rate value to obtain the preset motion rate value.

[0011] In one embodiment, the target current range includes a first current range and a second current range, the first current range and the second current range are greater than the rated current value of the second component, and the first current range is smaller than the second current range, wherein determining the time number corresponding to the first current range includes: passing a fixed time period plus a time number, wherein determining the time number corresponding to the second current range includes: passing the fixed time period plus multiple time numbers.

[0012] In one embodiment, the target current range includes a third current range and a fourth current range, the third current range and the fourth current range are smaller than the rated current value of the second component, and the third current range is larger than the fourth current range, wherein determining the time number corresponding to the third current range includes: subtracting a time number from a fixed time period, wherein determining the time number corresponding to the fourth current range includes: subtracting multiple time numbers from the fixed time period.

[0013] In a second aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform various methods and / or processes of the first aspect of the present disclosure.

[0014] In a third aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided. The computer instructions are used to cause a computer to execute the various methods and / or processes of the first aspect of the present disclosure.

[0015] The motor control method, device, and storage medium provided by the embodiments of the present disclosure implement graded control of motor speed by introducing weighting factors after collecting motor temperature and current data. Unlike traditional motor overheat protection schemes, this application maximizes the long-term continuous operation of the motor while ensuring safe and reliable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an illustrative and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0017] Figure 1 is a flow chart of a motor control method provided by an embodiment of the present disclosure;

[0018] Figure 2 is a flow chart of a method for obtaining a preset motion rate value according to an embodiment of the present disclosure;

[0019] Figure 3 is a schematic diagram of an application scenario of a motor control method provided according to an embodiment of the present disclosure; and

[0020] Figure 4 2 is a schematic diagram of an application scenario of a method for obtaining a preset motion rate value according to an embodiment of the present disclosure;

[0021] Figure 5 4 is a block diagram of an electronic device according to the motor control method of an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0023] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0024] Please refer to Figure 1 , Figure 1A flow chart of a motor control method provided in an embodiment of the present disclosure, wherein the process includes the following steps:

[0025] Step 101: Acquire the temperature value of a first component of a motor.

[0026] The current temperature of the motor can be obtained by collecting the temperature value of the first component. The first component can be a component of the motor, such as a coil or bearing of the motor. A temperature sensor can be provided on the first component to collect the temperature value of the first component in real time. The temperature value of the first component can be used as the current temperature value of the motor. Preferably, the motor can be a cutting motor in a continuous miner.

[0027] Step 102 : In response to the temperature value of the first component satisfying the target temperature range, maintaining the motion speed value of the driving device of the motor consistent with the motion speed value corresponding to the target temperature range.

[0028] Among them, the target temperature range includes at least a first temperature range and a second temperature range, the movement rate value corresponding to the first temperature range is a preset movement rate value, and the movement rate value corresponding to the second temperature range is a movement rate value obtained by weighting the preset movement rate value according to the first weighting factor.

[0029] The first temperature range may be a preset safety temperature range. When it is detected that the temperature value of the first component is within the first temperature range, the motion rate of the motor drive device may be loaded to a preset motion rate value. The preset motion rate value may be a preset motion rate value corresponding to the current currently carried by the motor. For example, when the current currently carried by the motor is within the first current range, the preset motion rate value may be set to 100 r / s; when the current currently carried by the motor is within the second current range, the preset motion rate value may be set to 200 r / s.

[0030] The second temperature range may be a preset non-safety temperature range. For example, the second temperature range is greater than the first temperature range. A corresponding motion rate value may be set for the second temperature range. The motion rate value corresponding to the second temperature range is less than the preset motion rate value.

[0031] The motion rate value corresponding to the second temperature range is obtained by weighting the preset motion rate value according to the first weighting factor. The first weighting factor is a pre-set value used to weight the preset motion rate value. The first weighting factor can be set according to specific needs. For example, if the need is to focus on protecting the motor from damage, the motion rate value corresponding to the second temperature range obtained by weighting according to the first weighting factor will be smaller; if the need is to focus on keeping the motor in a continuous working state, the motion rate value corresponding to the second temperature range obtained by weighting according to the first weighting factor will be larger.

[0032] When it is detected that the temperature value of the first component is within the second temperature range, the movement rate of the driving device of the motor may be loaded to the movement rate value corresponding to the second temperature range.

[0033] The motor control method provided in the above embodiment of the present disclosure can ensure the safe and reliable operation of the motor and maximize the long-term continuous operation of the coal mining machine by introducing a weighting factor.

[0034] In some optional implementations of the embodiments of the present disclosure, the second temperature range is greater than the first temperature range, the first weighting factor is less than 1, and the motion rate value corresponding to the second temperature range is the product of the first weighting factor and the preset motion rate value.

[0035] Among them, if the preset motion rate value is V pre , the first weighting factor is k (k < 1), then the motion rate value corresponding to the second temperature range is V2 = k*V pre .

[0036] In some optional implementations of the embodiments of the present disclosure, the target temperature range also includes a third temperature range, the third temperature range is larger than the second temperature range, and the motion rate value corresponding to the third temperature range is the product of the square of the first weighting factor and the preset motion rate value.

[0037] Among them, if the preset motion rate value is V pre , the first weighting factor is k (k < 1), then the motion rate value corresponding to the third temperature range is V2 = k 2 *V pre .

[0038] Continue to refer Figure 2 , which shows a flow chart of a method for obtaining a preset motion rate value according to an embodiment of the present disclosure. The method comprises the following steps:

[0039] Step 201: Obtain the carrying current value of the second component of the motor.

[0040] The current value of the second component can be collected to obtain the current currently carried by the motor. The second component can be a component of the motor itself, such as a motor coil. The current value of the second component can be used as the current currently carried by the motor. Preferably, the motor can be a cutting motor in a continuous miner.

[0041] Step 202 : In response to the carrying current value satisfying a target current range, determining a time number corresponding to the target current range, wherein the target current range includes at least one current range.

[0042] The target current range can be a preset current range value, for example, the target current range is: 1.1*I m <I<1.2*I m , where I m is the rated current value of the motor, and I is the carrying current value.

[0043] The time number corresponding to the target current range refers to the time number calculated according to the calculation method of the time number corresponding to the target current range during the period when the carrying current value is in the target current range. The target current range may include one current range or multiple current ranges. Different current ranges have different calculation methods for the corresponding time numbers. For example, when the carrying current I is in (1.1*I m , 1.2*I m ), the time number in each timing cycle increases by 1; when the carrying current I is at (1.2*I m , 1.3*I m ), the time in each timing cycle is added by J, where J>1.

[0044] Preferably, if the target current range is lower than the rated current value of the motor, the time corresponding to the target current range may be a negative number. For example, when the carrying current I is at (0.8*I m , 0.9*I m ), the time number in each timing cycle is -1; when the carrying current I is at (0.6*I m , 0.8*I m ), the time in each timing cycle is -J.

[0045] Step 203 : In response to the sum of the time periods corresponding to all target current ranges satisfying the target threshold, the input motion rate value is weighted according to a second weighting factor to obtain a preset motion rate value.

[0046] The total time can be obtained by adding up the time corresponding to all target current ranges. For example, assuming that the carrying current is in the first current range during T1 and in the second current range during T2, there are n1 timing cycles during T1 and n2 timing cycles during T2. The time corresponding to the first current range is calculated by adding 1 to the time in each timing cycle, and the time corresponding to the second current range is calculated by adding J to the time in each timing cycle. Then, the total time the carrying current is in during T1 and T2 (i.e., the sum of the time corresponding to the first current range and the second current range) count = n1 + n2 * J.

[0047] The target threshold value may be a pre-set time value. The input motion rate value refers to the initial motion speed rate value of the motor drive device input through the motor control device (such as a remote control). The second weighting factor is used to reduce the input motion rate value, that is, the preset motion rate value obtained after weighting by the second weighting factor is less than the input motion rate value. For example, the second weighting factor may be a coefficient multiplied by the input motion rate value, wherein the coefficient is less than 1; or the second weighting factor may be a fixed motion rate value, and the input motion rate value is subtracted from the fixed motion rate value to obtain the preset motion rate value.

[0048] In some optional implementations of the embodiments of the present disclosure, the target threshold in step 203 includes a first threshold, the second weighting factor is a preset motion rate value, and the preset motion rate value is greater than 1. Weighting the input motion rate value according to the second weighting factor to obtain the preset motion rate value in step 203 includes: subtracting the preset motion rate value from the input motion rate value to obtain the preset motion rate value. The preset motion rate value is a fixed transport rate value.

[0049] In some optional implementations of the embodiments of the present disclosure, the target threshold in the above-mentioned step 203 also includes a second threshold, and the second threshold is greater than the first threshold. The above-mentioned step 203 weights the input motion rate value according to the second weighting factor to obtain the preset motion rate value, including: subtracting the square of the preset motion rate value from the input motion rate value to obtain the preset motion rate value.

[0050] In some optional implementations of the embodiments of the present disclosure, the target threshold in the above-mentioned step 203 also includes a third threshold, and the third threshold is greater than the first threshold or the second threshold. The above-mentioned step 203 weights the input motion rate value according to the second weighting factor to obtain the preset motion rate value, including: subtracting the cube of the preset motion rate value from the input motion rate value to obtain the preset motion rate value.

[0051] In some optional implementations of the embodiments of the present disclosure, the target current range in the above-mentioned step 202 includes a first current range and a second current range, the first current range and the second current range are greater than the rated current value of the second component, the first current range is smaller than the second current range, and the method for calculating the time number corresponding to the first current range includes: adding a time number after a fixed time period; the method for calculating the time number corresponding to the second current range includes: adding multiple time numbers after a fixed time period.

[0052] The calculation method of the time corresponding to the second current range includes any one of the following: when the carrying current I is in the second current range, the time in each timing cycle is added J (J>1); when the carrying current I is in the second current range, the time in each timing cycle is added J 2 (J>1); When the carrying current I is in the second current range, the time in each timing cycle is increased by J 3 (J>1); When the carrying current I is in the second current range, the time in each timing cycle is increased by J 4 (J>1) etc.

[0053] Preferably, the second current range may include multiple current ranges, each current range having a different size. For a larger current range, the corresponding time increment in each timing cycle is larger. For example, the second current range (1.2*I m , 2*I m ) can be divided into four sub-current ranges, namely (1.2*I m , 1.3*I m )、(1.3*I m , 1.4*I m )、(1.4*I m , 1.6*I m )、(1.6*I m , 2*I m ), where: When the carrying current I is at (1.2*I m , 1.3*I m ), the time in each timing cycle is increased by J (J>1); when the carrying current I is at (1.3*I m , 1.4*I m ), the time in each timing cycle is increased by J 2 (J>1); when the carrying current I is (1.4*I m , 1.6*I m ), the time in each timing cycle is increased by J 3 (J>1); when the carrying current I is (1.6*I m , 2*I m ), the time in each timing cycle is increased by J4 (J>1).

[0054] In some optional implementations of the embodiments of the present disclosure, the target current range in the above step 202 includes a third current range and a fourth current range, the third current range and the fourth current range are smaller than the rated current value of the second component, the third current range is larger than the fourth current range, and the method for calculating the time number corresponding to the third current range includes: subtracting a time number from a fixed time period, and the method for calculating the time number corresponding to the fourth current range includes: subtracting multiple time numbers from a fixed time period.

[0055] The calculation method of the time corresponding to the fourth current range includes any one of the following: when the carrying current I is in the fourth current range, the time in each timing cycle is reduced by J (J>1); when the carrying current I is in the fourth current range, the time in each timing cycle is reduced by J 2 (J>1); When the carrying current I is in the fourth current range, the time in each timing cycle is reduced by J 3 (J>1); When the carrying current I is in the fourth current range, the time in each timing cycle is reduced by J 4 (J>1) etc.

[0056] Preferably, the fourth current range may include multiple current ranges, each current range has a different size, and for a smaller current range, the magnitude of the reduction in the time in each corresponding timing cycle is greater. For example, the fourth current range (0, 0.8*I m ) can be divided into two sub-current ranges, namely (0, 0.6*I m )、(0.6*I m , 0.8*I m ), where: When the carrying current I is at (0, 0.6*I m ), the time in each timing cycle is reduced by J 3 (J>1); when the carrying current I is (0.6*I m , 0.8*I m ), the time in each timing cycle is increased by J (J>1).

[0057] Continue to refer Figure 3 , which shows a schematic diagram of an application scenario of a motor control method provided according to an embodiment of the present disclosure.

[0058] like Figure 3As shown, first, the temperature of the cutting motor's coil T_Coil or bearing T_Bear is obtained in any state. If the temperature of the coil T_Coil is less than 110°C or the temperature of the bearing T_Bear is less than 85°C, the rotational speed TraSpeed of the cutting motor's cutting drum is maintained consistent with a preset motion rate value TraSpeedPre. If the temperature of the coil T_Coil is greater than 110°C and less than 130°C or the temperature of the bearing T_Bear is greater than 85°C and less than 95°C, the rotational speed TraSpeed of the cutting motor's cutting drum is maintained consistent with the product of the preset motion rate value TraSpeedPre and a first weighting factor k, where k < 1 and k can be set as required. If the temperature of the coil T_Coil is greater than 130°C and less than 140°C or the temperature of the bearing T_Bear is greater than 95°C and less than 100°C, the rotational speed TraSpeed of the cutting motor's cutting drum is maintained consistent with the product of the preset motion rate value TraSpeedPre and the square of the first weighting factor k, where k < 1 and k can be set as required. If the temperature of the coil T_Coil is greater than 140° C. or the temperature of the bearing T_Bear is greater than 100° C., the cutting motor is in a fault shutdown state, and the traction motor may stop driving the cutting drum of the cutting motor.

[0059] The motor control method provided in the embodiment of the present disclosure realizes advanced protection of the cutting motor by collecting the temperature and current of the cutting motor and controlling the speed of the traction motor, thereby ensuring the long-term continuous operation of the coal mining machine while ensuring the safe operation of the cutting motor.

[0060] Continue to refer Figure 4 , which shows a schematic diagram of an application scenario of the method for obtaining a preset motion rate value according to an embodiment of the present disclosure.

[0061] like Figure 4 As shown in the figure, the shearer has six working states: A, B, C, D, E, and F. The process of determining each working state is as follows:

[0062] Working state A: First, determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is greater than 1.1 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.2 times the rated current value; if the current current TraCurrent is less than 1.2 times the rated current value, the coal shearer is in working state A.

[0063] Working state B: First, determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is greater than 1.1 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.2 times the rated current value; if the current current TraCurrent is greater than 1.2 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.3 times the rated current value; if the current current TraCurrent is less than 1.3 times the rated current value, the coal shearer is in working state B.

[0064] C working state: first determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is greater than 1.1 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.2 times the rated current value; if the current current TraCurrent is greater than 1.2 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.3 times the rated current value; if the current current TraCurrent is greater than 1.3 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.4 times the rated current value; if the current current TraCurrent is less than 1.4 times the rated current value, the coal shearer is in C working state.

[0065] D working state: first determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is greater than 1.1 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.2 times the rated current value; if the current current TraCurrent is greater than 1.2 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.3 times the rated current value; if the current current TraCurrent is greater than 1.3 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.4 times the rated current value; if the current current TraCurrent is greater than 1.4 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.6 times the rated current value; if the current current TraCurrent is less than 1.6 times the rated current value, the coal shearer is in D working state.

[0066] E working state: first determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is greater than 1.1 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.2 times the rated current value; if the current current TraCurrent is greater than 1.2 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.3 times the rated current value; if the current current TraCurrent is greater than 1.3 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.4 times the rated current value; if the current current TraCurrent is greater than 1.4 times the rated current value, continue to determine whether the current current TraCurrent of the coal shearer is greater than 1.6 times the rated current value; if the current current TraCurrent is greater than 1.6 times the rated current value, the coal shearer is in E working state.

[0067] F working state: First, determine whether the coal shearer is running. If the coal shearer is running, determine whether the current current TraCurrent of the coal shearer is greater than 1.1 times the rated current value; if the current current TraCurrent is less than 1.1 times the rated current value, then continue to determine whether the current current TraCurrent of the coal shearer is greater than 1 times the rated current value; if the current current TraCurrent is less than 1 times the rated current value, the coal shearer is in the F working state.

[0068] Set a global variable: time count. When the shearer is in A, B, C, D, or E working states, timer 1 is turned on. When the shearer is in A working state, the time count is incremented by 1 after each timing cycle; when the shearer is in B working state, the time count is incremented by K (K>1) after each timing cycle; when the shearer is in C working state, the time count is incremented by K2 after each timing cycle; when the shearer is in D working state, the time count is incremented by K3 after each timing cycle; when the shearer is in E working state, the time count is incremented by K after each timing cycle. 4 .

[0069] When the coal mining machine is in the F working state, timer 1 is turned off and timer 2 is turned on. If the current current TraCurrent is greater than 0.8 times the rated current value and less than 0.9 times the rated current value and the current time count is greater than 0, then the time count is reduced by 1 after each timing cycle; if the current current TraCurrent is greater than 0.6 times the rated current value and less than 0.8 times the rated current value and the current time count is greater than K (K>1), then the time count is reduced by K (K>1) after each timing cycle; if the current current TraCurrent is less than 0.6 times the rated current value and the current time count is greater than K2 (K>1), then the time count is reduced by K2 (K>1) after each timing cycle.

[0070] Finally, the time corresponding to the coal mining machine being in the six states of A, B, C, D, E, and F is accumulated, and it is determined whether the accumulated time is greater than the set first threshold M (M>0); if the accumulated time is greater than the first threshold M, the timer 3 is turned on, and the value range of the accumulated time is further determined. If the accumulated time is greater than M and less than N (N>M), after each timing cycle, the input motion rate value is subtracted from a fixed motion rate value Sstep (Sstep>0) as the preset motion rate value TraSpeedPre; if the accumulated time is greater than N and less than Z (Z>N), after each timing cycle, the input motion rate value is subtracted from the square of a fixed motion rate value Sstep (Sstep>0) as the preset motion rate value TraSpeedPre; if the accumulated time is greater than Z, the motor overheating shutdown protection is activated, and the machine cannot be turned on within three minutes.

[0071] Reference below Figure 5 ,like Figure 5 , is a block diagram of an electronic device according to a method for controlling a motor according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0072] like Figure 5As shown, the electronic device includes: one or more processors 501, a memory 502, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of a graphical user interface (GUI) on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 501 is taken as an example.

[0073] Memory 502 is the non-transitory computer-readable storage medium provided in this application. The memory stores instructions executable by at least one processor to cause the at least one processor to perform the motor control method provided in this application. The non-transitory computer-readable storage medium provided in this application stores computer instructions for causing a computer to perform the motor control method provided in this application.

[0074] Memory 502, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the motor control method in the embodiments of the present application. Processor 501 executes the non-transitory software programs, instructions, and modules stored in memory 502 to execute various server functional applications and data processing, thereby implementing the motor control method in the above-mentioned method embodiments.

[0075] The memory 502 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the electronic device of the motor control method, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 502 may optionally include a memory remotely located relative to the processor 501, and these remote memories may be connected to the electronic device of the motor control method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0076] The electronic device of the motor control method may further include: an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503 and the output device 504 may be connected via a bus or other means. Figure 4 The bus connection is taken as an example.

[0077] The input device 503 can receive input digital or character information and generate key signal input related to user settings and function control of the electronic device of the motor control method, such as input devices such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, and a joystick. The output device 504 may include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0078] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0079] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., a magnetic disk, an optical disk, a memory, a programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0080] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0081] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0082] Computer systems may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The client and server relationship arises through computer programs running on the respective computers and having a client-server relationship to each other.

[0083] In the above description of this specification, unless otherwise expressly specified or limited, terms such as "fixed," "mounted," "connected," or "connected" should be understood in a broad sense. For example, the term "connected" can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal connection between two elements or the interaction between two elements. Therefore, unless otherwise expressly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in this disclosure based on the specific circumstances.

[0084] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present disclosure and simplifying the description, rather than explicitly or implicitly indicating that the devices or elements involved must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the present disclosure.

[0085] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinal numbers are used for descriptive purposes only and should not be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, "plurality" means at least two, such as two, three or more, etc., unless otherwise clearly specified.

[0086] Although this specification has shown and described a plurality of embodiments of the present disclosure, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes, and alternatives without departing from the ideas and spirit of the present disclosure. It should be understood that in practicing the present disclosure, various alternatives to the embodiments of the present disclosure described herein may be adopted. The appended claims are intended to define the scope of protection of the present disclosure and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A method for controlling a motor, comprising: Acquiring a temperature value of a first component of the motor; as well as In response to the temperature value of the first component satisfying the target temperature range, the movement rate value of the driving device of the motor is kept consistent with the movement rate value corresponding to the target temperature range, The target temperature range includes at least a first temperature range and a second temperature range, and the motion rate value corresponding to the first temperature range is a preset motion rate value. The motion rate value corresponding to the second temperature range is a motion rate value obtained by weighting the preset motion rate value according to the first weighting factor; The method for obtaining the preset motion rate value includes: obtaining a carrying current value of a second component of the motor; In response to the carrying current value satisfying a target current range, determining a number of times corresponding to the target current range, wherein the target current range includes at least one current range; and In response to a sum of the times corresponding to all the target current ranges satisfying a target threshold, weighting the input motion rate value according to a second weighting factor to obtain a preset motion rate value; Wherein, the target current range includes a first current range and a second current range, the first current range and the second current range are greater than the rated current value of the second component, and the first current range is smaller than the second current range, wherein determining the time corresponding to the first current range includes: after a fixed time period plus a time number, wherein determining the time corresponding to the second current range includes: after the fixed time period plus a plurality of time numbers; when the carrying current I is within (1.1*I m , 1.2*I m ), the time number in each timing cycle increases by 1; when the carrying current I is at (1.2*I m , 1.3*I m ), the time in each timing cycle is added J, where J>1, where I m is the rated current value of the motor; Wherein, the target current range includes a third current range and a fourth current range, the third current range and the fourth current range are less than the rated current value of the second component, and the third current range is greater than the fourth current range, wherein determining the time number corresponding to the third current range includes: after a fixed time period minus a time number, wherein determining the time number corresponding to the fourth current range includes: after the fixed time period minus a plurality of time numbers; when the carrying current I is at (0.8*I m , 0.9*I m ), the time number in each timing cycle is -1; when the carrying current I is at (0.6*I m , 0.8*I m ), the time in each timing cycle is -J.

2. The method according to claim 1, wherein The second temperature range is greater than the first temperature range, the first weighting factor is less than 1, and the motion rate value corresponding to the second temperature range is the product of the first weighting factor and the preset motion rate value.

3. The method according to claim 2, wherein: The target temperature range further includes a third temperature range, which is greater than the second temperature range. The motion rate value corresponding to the third temperature range is the product of the square of the first weighting factor and the preset motion rate value.

4. The method according to claim 3, wherein: The target threshold includes a first threshold, the second weighting factor is a preset motion rate value, and the preset motion rate value is greater than 1, wherein weighting the input motion rate value according to the second weighting factor to obtain the preset motion rate value includes: The preset motion rate value is subtracted from the input motion rate value to obtain a preset motion rate value.

5. The method according to claim 4, wherein The target threshold further includes a second threshold, the second threshold being greater than the first threshold, wherein weighting the input motion rate value according to the second weighting factor to obtain the preset motion rate value includes: The square of the preset motion rate value is subtracted from the input motion rate value to obtain a preset motion rate value.

6. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

7. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 5.

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