Motor starting control method, device, mechanical equipment and storage medium

Abstract

The present application relates to a motor start-up control method, device, mechanical equipment and storage medium. The method includes: responding to a shutdown command, gradually reducing the motor drive current, collecting the real-time speed of the motor, when the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected, when the start command is received during the motor power-off inertial operation process, according to the comparison result between the real-time speed of the motor at the current time and the preset second target speed, a preset start control scheme is selected to start the motor, the preset first target speed is determined based on the preset downtime and the preset first speed interval that satisfies no reverse charging when the motor drive current exists, and the preset second target speed is determined based on the preset second speed interval that satisfies no reverse charging when the motor drive current does not exist. The use of this method can prevent reverse charging when the motor is restarted after receiving the shutdown command.

Description

Technical Field

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

[0002] The motor (commonly known as the motor) is a device that converts electrical energy into mechanical energy and has been widely used in all walks of life. At present, after the motor receives the switch OFF signal, the common practice is to turn off all the MOS tubes of the motor. MOS tube is the abbreviation of MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, gold-oxide-semiconductor field-effect transistor), that is, to turn off the drive current, so that the motor can rely on its own mechanical inertia to reduce the speed until it stops, or execute the braking program to stop the motor. If the motor is restarted when it is not completely stopped, the motor speed is first detected, and then the corresponding duty cycle is given to restart, or the motor soft start program is executed to restart.

[0003] However, the above processing method requires giving the corresponding duty cycle after detecting the actual speed, which takes time. There will be a lag time from pressing the handle to the speed having an obvious response. In addition, when the motor is running at high speed, it is equivalent to a generator. If it is started again, if the duty cycle given to the motor is not appropriate, the battery will be reversely charged.

[0004] Therefore, it is necessary to provide a solution that can prevent reverse charging when the motor is restarted after receiving a shutdown command. Summary of the invention

[0005] Based on this, it is necessary to provide a motor starting control method, device, mechanical equipment, computer-readable storage medium and computer program product that can prevent reverse charging when the motor is restarted after receiving a shutdown command to address the above technical problems.

[0006] In a first aspect, the present application provides a motor startup control method. The method comprises:

[0007] In response to the shutdown command, the motor drive current is gradually reduced;

[0008] Collecting the real-time rotation speed of the motor, and comparing the real-time rotation speed with a preset first target rotation speed;

[0009] When the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected;

[0010] When a start command is received during the inertial operation of the motor after power failure, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor;

[0011] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0012] In one embodiment, according to the comparison result, selecting a preset starting control scheme to start the motor includes:

[0013] If the real-time speed of the motor at the current time is not less than the preset second target speed, the duty cycle is determined based on the real-time speed of the motor at the current time, and the motor is started according to the duty cycle;

[0014] If the current real-time speed of the motor is less than the preset second target speed, the preset braking procedure is executed until the motor stops, and the motor is started in a soft start manner.

[0015] In one embodiment, determining the duty cycle based on the real-time speed of the motor at the current time includes:

[0016] Get the rated speed and bus voltage of the motor;

[0017] Determine the ratio of the current motor's real-time speed to the rated speed;

[0018] According to the ratio and bus voltage, the injected voltage value is obtained;

[0019] Based on the injected voltage value, the duty cycle is determined.

[0020] In one embodiment, based on the injection voltage value, determining the duty cycle includes:

[0021] Based on the injected voltage value, the duty cycle is determined using the sine wave control method.

[0022] In one embodiment, after collecting the real-time rotation speed of the motor and comparing the real-time rotation speed with a preset first target rotation speed, the method further includes:

[0023] When a start command is received and the real-time speed of the motor at the current time is greater than the preset first target speed, the real-time speed is adjusted according to the expected speed carried by the start command so that the motor runs at the expected speed.

[0024] In one embodiment, before collecting the real-time speed of the motor, the method further includes:

[0025] The speed of the motor is reduced by a speed loop control algorithm method, and the speed loop control algorithm method is determined based on a preset downtime duration.

[0026] In a second aspect, the present application also provides a motor starting control device. The device comprises:

[0027] A shutdown command response module, used to respond to the shutdown command and gradually reduce the motor drive current;

[0028] A real-time speed monitoring module is used to collect the real-time speed and compare the real-time speed with a preset first target speed;

[0029] A drive control module, configured to disconnect the motor drive current when the current real-time speed of the motor is not greater than a preset first target speed and no start command is received, so that the motor reduces its speed by mechanical inertia;

[0030] The restart control module is used to compare the real-time speed of the motor at the current time with the preset second target speed when receiving a start command during the inertial operation of the motor after power failure, and select a preset start control scheme to start the motor according to the comparison result;

[0031] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0032] In a third aspect, the present application further provides a mechanical device. The mechanical device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0033] In response to the shutdown command, the motor drive current is gradually reduced;

[0034] Collecting the real-time rotation speed of the motor, and comparing the real-time rotation speed with a preset first target rotation speed;

[0035] When the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected;

[0036] When a start command is received during the inertial operation of the motor after power failure, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor;

[0037] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0039] In response to the shutdown command, the motor drive current is gradually reduced;

[0040] Collecting the real-time rotation speed of the motor, and comparing the real-time rotation speed with a preset first target rotation speed;

[0041] When the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected;

[0042] When a start command is received during the inertial operation of the motor after power failure, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor;

[0043] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0044] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0045] In response to the shutdown command, the motor drive current is gradually reduced;

[0046] Collecting the real-time rotation speed of the motor, and comparing the real-time rotation speed with a preset first target rotation speed;

[0047] When the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected;

[0048] When a start command is received during the inertial operation of the motor after power failure, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor;

[0049] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0050] The motor start control method, device, mechanical equipment, storage medium and computer program product are preset with a first target speed determined based on a preset downtime and a preset first speed interval, and a second target speed determined based on a preset second speed interval. After receiving a shutdown command, the motor drive current is not directly disconnected, but the motor drive current is gradually reduced, and the processing process of responding to the shutdown command is carried out in stages, specifically including: the first stage: responding to the shutdown command, gradually reducing the motor drive current, collecting the real-time speed of the motor, and comparing the real-time speed with the preset first target speed. In this stage, since the drive current is not cut off and the motor still has a speed, if a start command is received, it can achieve a fast response to the speed change without reverse charging. If the real-time speed of the motor at the current time is not greater than the preset first target speed and the start command is not received, the second stage is entered: the motor drive current is disconnected, so that the motor relies on mechanical inertia to reduce speed. If the start command is received during the deceleration process, the third stage is entered: the real-time speed of the motor at the current time is compared with the preset second target speed. According to the comparison result, the preset start control scheme is selected to start the motor. During this stage, since the motor is running at a low speed before restarting, even if the motor is restarted at a high speed, reverse charging will not occur. In summary, this solution does not directly disconnect the motor drive current after the motor receives the shutdown command, but slowly reduces the speed and divides the processing process after the motor receives the shutdown command into multiple stages, which can effectively avoid the reverse charging phenomenon when the motor is restarted after receiving the shutdown command. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a flow chart of a motor startup control method in one embodiment;

[0052] Figure 2 is a flow chart of a motor startup control method in another embodiment;

[0053] Figure 3 is a detailed flow chart of a motor startup control method in another embodiment;

[0054] Figure 4 It is a flowchart of a step of determining a duty cycle based on the real-time speed of a motor at the current time in one embodiment;

[0055] Figure 5 A control timing diagram of a motor start control method in one embodiment;

[0056] Figure 6 is a structural block diagram of a motor starting control device in one embodiment;

[0057] Figure 7 1 is a diagram showing the internal structure of a mechanical device in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] In one embodiment, Figure 1 As shown, a motor start control method is provided. This embodiment uses the method applied to a controller of a terminal (such as a mechanical device) as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0060] Step 100, responding to the shutdown instruction, gradually reducing the motor drive current.

[0061] In actual applications, the user may press the "OFF" button of the motor to generate a shutdown command, and then respond to the shutdown command. At this time, the motor enters the first stage after receiving the shutdown command. That is, different from the traditional method of directly disconnecting the motor drive current, the motor drive current is gradually reduced to slowly reduce the motor speed until the motor speed is 0. In the process of slowly decelerating to stop, even if a start command is received, the speed can be changed in a smooth manner to start the motor.

[0062] Step 200, collect the real-time speed of the motor, compare the real-time speed with the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current.

[0063] Following the above embodiments, in the process of slowly decelerating the motor, the real-time speed of the motor can be collected, and the real-time speed can be compared with the preset first target speed, and the corresponding operation can be performed according to the comparison result and whether the start command is received. In this embodiment, the first target speed can be determined based on the preset downtime (i.e., shutdown within a certain short time) and the preset first speed range, and the first speed range is obtained through a large amount of experimental data, and when there is a motor drive current, it satisfies the speed range without reverse charging. Specifically, in this embodiment, the value of the first target speed can be 5000 rpm. Due to different motor models, the value of the first target speed will be different. It can be understood that in other embodiments, the value of the first target speed can also be 5200 rpm and 6000 rpm, etc., which can be determined according to the actual situation and the motor model, and is not limited here.

[0064] like Figure 2 As shown, in one embodiment, after step 200, it also includes: step 320, when a start command is received and the real-time speed of the motor at the current time is greater than the preset first target speed, the real-time speed is adjusted according to the expected speed carried by the start command so that the motor runs at the expected speed.

[0065] Following the above embodiment, if a start instruction carrying an expected speed is received during the motor deceleration process, and the real-time speed at this time is greater than the first target speed such as 5000 rpm, the speed change can be responded to, and the speed can be smoothly changed according to the expected speed of the start instruction, so that the speed of the motor reaches the expected speed. If the real-time speed is greater than the first target speed and the start instruction is not received, the speed continues to be reduced, the real-time speed of the motor is collected, and the real-time speed continues to be compared with the preset first target speed. Specifically, the user can input the expected speed and press the "ON" button to generate a start instruction carrying the expected speed. In this embodiment, since the motor does not directly cut off the motor drive current after receiving the shutdown instruction, but gradually reduces the motor drive current, the motor is in a low-speed operation state, so when the start instruction is received, it can quickly respond to the speed change on the basis of the existing real-time speed, and realize seamless connection of the speed increase, and there will be no reverse charging phenomenon, and this method can bring a smoother experience to the user.

[0066] Step 300: When the real-time rotation speed of the motor at the current time is not greater than the preset first target rotation speed and no start instruction is received, the motor drive current is disconnected.

[0067] If, during the slow deceleration of the motor, it is detected that the real-time speed is less than or equal to the first target speed, such as 5000 rpm, and the start command is still not received at this time, the second stage is entered, and the motor drive current is directly disconnected so that the motor can rely on mechanical inertia to decelerate in a free-gliding manner. In this way, the motor can be shut down in a shorter time. Specifically, the motor drive current can be disconnected by directly turning off the MOS tube. In addition, during the free-gliding deceleration process, continue to wait for the start command to arrive. If the start command is not received, continue to reduce the speed in a free-gliding manner until the speed is 0 and the motor stops.

[0068] Step 400, when a start command is received during the inertia operation of the motor with power off, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor, wherein the preset second target speed is less than the preset first target speed, and the preset second target speed is determined based on a preset second speed range, and the second speed range is a speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0069] In the above embodiment, if the motor receives a start command during the process of reducing the speed by free sliding by mechanical inertia, the third stage is entered, and the real-time speed of the motor at the current time is compared with the preset second target speed. According to the comparison result, the preset start control scheme is selected to start the motor. Among them, the second target speed is determined based on the second speed interval that satisfies no reverse charging when there is no motor drive current. Specifically, the second speed interval is a speed interval that satisfies no reverse charging when there is no motor drive current determined by the staff through a large amount of experimental data. In another embodiment, the second speed interval can also be a speed interval that satisfies no reverse charging and no jamming when the motor is restarted when there is no motor drive current determined by the staff through a large amount of experimental data. In this embodiment, the second target speed can be 1400 rpm. Similarly, due to different motor models, the value of the second target speed will be different. It can be understood that in other embodiments, the value of the first target speed can also be 1300 rpm and 1200 rpm, etc., which can be determined according to the actual situation and the motor model, and is not limited here.

[0070] In the above motor start control method, a first target speed determined based on a preset shutdown time and a preset first speed interval, and a second target speed determined based on a preset second speed interval are preset. After receiving the shutdown command, the motor drive current is not directly disconnected, but the motor drive current is gradually reduced, and the process of responding to the shutdown command is carried out in stages, specifically including: the first stage: responding to the shutdown command, gradually reducing the motor drive current, collecting the real-time speed of the motor, and comparing the real-time speed with the preset first target speed. In this stage, since the drive current is not cut off and the motor still has a speed, if the start command is received, it can achieve a fast response to the speed change without reverse charging. If the real-time speed of the motor at the current time is not greater than the preset first target speed and the start command is not received, the second stage is entered: the motor drive current is disconnected, so that the motor relies on mechanical inertia to slow down. If the start command is received during the deceleration process, the third stage is entered: the real-time speed of the motor at the current time is compared with the preset second target speed. According to the comparison result, the preset start control scheme is selected to start the motor. In this stage, since the motor is in a low-speed operation before restarting, at this time, even if the motor is started at high speed again, there will be no reverse charging phenomenon. To sum up, this solution does not directly disconnect the motor drive current after the motor receives the shutdown command, but slowly reduces the speed and divides the processing process after the motor receives the shutdown command into multiple stages, which can effectively avoid the reverse charging phenomenon when the motor is started after receiving the shutdown command.

[0071] like Figure 3 As shown, in one embodiment, before collecting the real-time speed of the motor, it also includes: step 120, reducing the speed of the motor through a speed loop control algorithm method, and the speed loop control algorithm method is determined based on a preset downtime duration.

[0072] The speed loop control algorithm is the speed loop in the servo motor motion control. The speed loop control includes the speed loop and the current loop. In this embodiment, in response to the shutdown command, slowly reducing the speed of the motor can be achieved by means of the speed loop control algorithm. In the specific implementation, the input of the speed loop is the output after position adjustment and the feedforward value of the position setting, and the constraint of the preset shutdown time is added. Through the difference between the speed loop input value and the speed loop feedback value, the speed loop is output to the current loop after PID (proportional-integral-derivative) adjustment, so as to slowly reduce the speed of the motor, and realize that in the case of not receiving the start command, the speed is slowly reduced by the speed loop, and the motor is stopped within the preset shutdown time. In the PID control link, it can be mainly proportional gain and integral processing. In this embodiment, slowly reducing the speed of the motor through the speed loop can make the motor steadily reduce the speed and keep the motor in a stable state.

[0073] like Figure 3 As shown, in one embodiment, step 400 includes:

[0074] Step 420, when a start command is received during the inertia operation of the motor with power off, compare the real-time speed of the motor at the current time with the preset second target speed. If the real-time speed of the motor at the current time is greater than or equal to the preset second target speed, determine the duty cycle based on the real-time speed of the motor at the current time, and start the motor according to the duty cycle. The preset second target speed is less than the preset first target speed, wherein the preset second target speed is determined based on a preset second speed range, and the second speed range is a speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0075] Step 440, when a start command is received during the inertial operation of the motor with power off, compare the real-time speed of the motor at the current time with the preset second target speed. If the real-time speed of the motor at the current time is less than the preset second target speed, execute the preset braking procedure until the motor stops, and start the motor in a soft start manner, wherein the preset second target speed is less than the preset first target speed, and the preset second target speed is determined based on a preset second speed range, and the second speed range is a speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0076] The duty cycle is the ratio of the duration of a positive pulse to the total pulse period in an ideal pulse sequence (such as a square wave). For example, the duty cycle of a pulse sequence with a pulse width of 1μs and a signal period of 4μs is 0.25. Soft start refers to a smooth start-up operation, and there is no impact torque in the entire process of starting. In this embodiment, starting the motor according to the comparison result can be: if the real-time speed of the motor at the current time is not less than the preset second target speed such as 1400 rpm, then based on the real-time speed of the motor at the current time, determine the matching duty cycle, and then start the motor according to the duty cycle. If the real-time speed of the motor at the current time is less than 1400 rpm, at this time, the numerical error of the collected real-time speed feedback will become larger. If the duty cycle is continued to be used, the error will also increase accordingly. When the motor is started again, jitter or failure may occur. In this case, the motor can be started by braking the speed and soft starting to avoid obvious jitter in the motor. In this embodiment, the preset braking program can be executed until the motor stops. When the speed of the motor is 0, the motor is started in a soft start manner. In this embodiment, different starting schemes are set accordingly according to the relationship between the real-time speed of the motor at the current time and the second target speed, so that the motor shutdown and restart scheme is more detailed, comprehensive, and targeted, and can ensure that the motor can be restarted without obstruction and reverse charging after receiving the shutdown command.

[0077] like Figure 4As shown, in one embodiment, based on the real-time speed of the motor at the current time, determining the duty cycle includes:

[0078] Step 422, obtaining the rated speed and bus voltage of the motor.

[0079] Step 424, determining the ratio of the current real-time speed of the motor to the rated speed.

[0080] Step 426, obtaining the injection voltage value according to the ratio and the bus voltage.

[0081] Step 428, determining a duty cycle based on the injected voltage value.

[0082] In specific implementation, determining the duty cycle based on the real-time speed of the motor can be to obtain the rated speed and bus voltage of the motor, then determine the ratio of the real-time speed of the motor to the rated speed at the current time, and then multiply the ratio of the real-time speed of the motor to the rated speed at the current time by the bus voltage to obtain the voltage that should be injected into the motor, that is, the injection voltage value, and finally, based on the injection voltage value, obtain a suitable duty cycle. For example, if the bus voltage of the motor is 18V, the rated speed is 10,000 rpm, and the real-time speed of the motor collected at the current time is 5,000 rpm, then the injection voltage value is 9V. In this embodiment, considering the real-time speed of the motor during actual rotation, and determining the duty cycle based on the ratio of the rated speed to the real-time speed, can make the given duty cycle more appropriate, and further ensure that the motor will not be reversely charged when it is restarted after receiving the shutdown command.

[0083] In one embodiment, determining the duty cycle based on the injection voltage value includes: determining the duty cycle based on the injection voltage value using a sinusoidal wave control method.

[0084] The sinusoidal wave control method is to apply a certain voltage to the motor winding to generate a sinusoidal current in the motor winding, and to control the motor torque by controlling the amplitude and phase of the sinusoidal current. In this embodiment, a complex sinusoidal wave control method can be used to determine the duty cycle. Specifically, the duty cycle can be determined by a magnetic field oriented control method. The following is an example of a three-phase brushless motor. When the three-phase brushless motor is running, the mathematical model of the motor can be equivalent to two mutually perpendicular axes: one direction is the D axis, and the other direction is the Q axis. Among them, the D axis is the direction where the motor magnet is located, and the Q axis is perpendicular to the D axis. When a magnetic field with a fixed direction is generated on the Q axis, the magnet in the direction of the D axis will be attracted to rotate, generating a torque, and the motor can rotate. Because the direction and size of the magnetic field of the motor's magnetic steel are fixed, and the controller can distribute the size of the magnetic field generated on the D-axis and the Q-axis through the duty cycle, therefore, in the specific implementation, it can be a control strategy of Q-axis injection and D-axis being 0, that is, all voltages equal to the injected voltage value are added to the Q-axis, and the duty cycle obtained is the matching duty cycle. It can be understood that in other embodiments, the sinusoidal wave control method can also be a simple sinusoidal wave control method and other complex sinusoidal wave control methods such as direct torque control method, which can be determined according to the actual situation and is not limited here. In this embodiment, the duty cycle is given by the sinusoidal wave control method, and the speed of the motor is controlled according to the duty cycle. Compared with the traditional square wave control, the motor phase current is sinusoidal and changes continuously, and there is no sudden change in the commutation current, so the motor operation noise is low.

[0085] In order to make a clearer description of the motor starting control method provided by the present application, Figure 5 A specific embodiment is described, and the specific embodiment includes the following contents:

[0086] The user presses the "OFF" button of the motor to generate a shutdown command, and then responds to the shutdown command. At this time, the motor enters the first stage after receiving the shutdown command: gradually reduce the motor drive current, and slowly reduce the motor speed until it stops through the speed loop control method. During the slow deceleration process, monitor whether there is a start command, collect the real-time speed of the motor, and compare the real-time speed with the preset first target speed of 5000 rpm. If the start command is received when the real-time speed is greater than 5000 rpm, the speed is smoothly changed according to the expected speed carried in the start command, so that the motor speed reaches the expected speed. If the real-time speed is greater than 5000 rpm and the start command is not received, the speed continues to be reduced, the real-time speed of the motor is collected, and the real-time speed is continued to be compared with the preset first target speed. If during the slow deceleration of the motor, it is detected that the real-time speed is less than or equal to 5000 rpm, and the start command is still not received at this time, the second stage is entered: directly turn off the MOS tube and disconnect the motor drive current, so that the motor can rely on mechanical inertia to decelerate in a free sliding manner. At the same time, during the free gliding deceleration process, continue to wait for the arrival of the start command. If the start command is not received, continue to reduce the speed in a free gliding manner until the speed is 0 and the motor stops. If the motor receives a start command while it is reducing the speed in a free gliding manner relying on mechanical inertia, enter the third stage: compare the real-time speed of the motor at the current time with the preset second target speed of 1400 rpm. If the real-time speed of the motor at the current time is greater than or equal to 1400 rpm, obtain the rated speed and bus voltage of the motor, determine the ratio of the real-time speed of the motor at the current time to the rated speed, and obtain the injection voltage value based on the ratio and the bus voltage. Based on the injection voltage value, use the sine wave control method to determine the appropriate duty cycle. Specifically, it can be a control strategy that uses Q-axis injection and D-axis 0, that is, all voltages equal to the injection voltage value are added to the Q-axis to obtain the appropriate duty cycle. Then, the motor start is controlled according to the duty cycle. If the current real-time speed of the motor is less than 1400 rpm, the preset braking procedure will be executed until the motor stops. When the motor speed is 0, the motor will be started in a soft start mode.

[0087] The above-mentioned motor starting control method, by dividing the processing after responding to the shutdown command into different stages and processing in different ways, can make the motor meet at least the following three requirements after receiving the shutdown command: 1. If the start command is not received, shut down in a shorter time; 2. If the start command is received, respond quickly to the speed change and smoothly increase the speed; 3. If the start command is received (including starting when there is speed or starting when there is no speed), reverse charging will not occur during the process of starting the motor.

[0088] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a motor starting control device for implementing the motor starting control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more motor starting control device embodiments provided below can refer to the limitations of the motor starting control method above, and will not be repeated here.

[0090] In one embodiment, Figure 6 As shown, a motor starting control device is provided, including: a shutdown instruction response module 510, a real-time speed monitoring module 520, a drive control module 530 and a restart control module 540, wherein:

[0091] The shutdown instruction response module 510 is used to respond to the shutdown instruction and gradually reduce the motor drive current.

[0092] The real-time rotation speed monitoring module 520 is used to collect the real-time rotation speed and compare the real-time rotation speed with a preset first target rotation speed.

[0093] The drive control module 530 is used to disconnect the motor drive current when the real-time rotation speed of the motor at the current time is not greater than the preset first target rotation speed and no start instruction is received, so that the motor reduces the rotation speed by mechanical inertia.

[0094] The restart control module 540 is used to compare the real-time speed of the motor at the current time with the preset second target speed when a start command is received during the inertial operation of the motor after power failure, and select a preset start control scheme to start the motor according to the comparison result.

[0095] Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is the speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is the speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

[0096] In the above motor start control device, a first target speed determined based on a preset shutdown time and a preset first speed interval, and a second target speed determined based on a preset second speed interval are preset. After receiving the shutdown command, the motor drive current is not directly disconnected, but the motor drive current is gradually reduced, and the process of responding to the shutdown command is carried out in stages, specifically including: the first stage: responding to the shutdown command, gradually reducing the motor drive current, collecting the real-time speed of the motor, and comparing the real-time speed with the preset first target speed. In this stage, since the drive current is not cut off and the motor still has a speed, if the start command is received, it can achieve a fast response to the speed change without reverse charging. If the real-time speed of the motor at the current time is not greater than the preset first target speed and the start command is not received, the second stage is entered: the motor drive current is disconnected, so that the motor relies on mechanical inertia to slow down. If the start command is received during the deceleration process, the third stage is entered: the real-time speed of the motor at the current time is compared with the preset second target speed. According to the comparison result, the preset start control scheme is selected to start the motor. In this stage, since the motor is in a low-speed operation before restarting, at this time, even if the motor is started at high speed again, there will be no reverse charging phenomenon. To sum up, this device does not directly disconnect the motor driving current after the motor receives the shutdown command, but slowly reduces the speed and divides the processing process after the motor receives the shutdown command into multiple stages, which can effectively avoid the reverse charging phenomenon when the motor is started after receiving the shutdown command.

[0097] In one embodiment, the restart control module 540 is also used to determine the duty cycle based on the real-time speed of the motor at the current time if the real-time speed of the motor at the current time is not less than the preset second target speed, and start the motor according to the duty cycle; if the real-time speed of the motor at the current time is less than the preset second target speed, the preset braking procedure is executed until the motor stops, and the motor is started in a soft start manner.

[0098] In one embodiment, the restart control module 540 is also used to obtain the rated speed and bus voltage of the motor, determine the ratio of the real-time speed of the motor to the rated speed at the current time, obtain the injected voltage value according to the ratio and the bus voltage, and determine the duty cycle based on the injected voltage value.

[0099] In one embodiment, the restart control module 540 is further configured to determine the duty cycle based on the injection voltage value by using a sine wave control method.

[0100] In one embodiment, the restart control module 540 is also used to adjust the real-time speed according to the expected speed carried by the start instruction when a start instruction is received and the real-time speed of the motor at the current time is greater than the preset first target speed, so that the motor runs at the expected speed.

[0101] In one embodiment, the shutdown instruction response module 510 is further configured to reduce the rotation speed of the motor by a speed loop control algorithm method, and the speed loop control algorithm method is determined based on a preset shutdown time requirement.

[0102] Each module in the above motor starting control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a mechanical device in the form of hardware, or can be stored in a memory in the mechanical device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0103] In one embodiment, a mechanical device is provided, whose internal structure diagram can be as follows: Figure 7 As shown. The mechanical device includes a processor, a memory and a communication interface connected via a system bus. Among them, the processor of the mechanical device is used to provide computing and control capabilities. The memory of the mechanical device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the mechanical device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a motor starting control method is implemented.

[0104] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a portion of the structure related to the scheme of the present application, and does not constitute a limitation on the mechanical equipment to which the scheme of the present application is applied. The specific mechanical equipment may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In one embodiment, a mechanical device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above motor start-up control method when executing the computer program.

[0106] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned motor starting control method are implemented.

[0107] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps in the above motor startup control method when executed by a processor.

[0108] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motor starting control method, characterized in that: The method comprises: In response to the shutdown command, the motor drive current is gradually reduced; Collecting the real-time rotation speed of the motor, and comparing the real-time rotation speed with a preset first target rotation speed; When the real-time speed of the motor at the current time is not greater than the preset first target speed and no start command is received, the motor drive current is disconnected; When a start command is received during the inertial operation of the motor after power failure, the real-time speed of the motor at the current time is compared with the preset second target speed, and according to the comparison result, a preset start control scheme is selected to start the motor; Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is a speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is a speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

2. The motor starting control method according to claim 1, characterized in that: The selecting a preset starting control scheme to start the motor according to the comparison result comprises: If the real-time rotation speed of the motor at the current time is not less than the preset second target rotation speed, the duty cycle is determined based on the real-time rotation speed of the motor at the current time, and the motor is started according to the duty cycle; If the current real-time speed of the motor is less than the preset second target speed, the preset braking procedure is executed until the motor stops, and the motor is started in a soft start manner.

3. The motor starting control method according to claim 2, characterized in that: Based on the real-time speed of the motor at the current time, determining the duty cycle includes: Obtaining the rated speed and bus voltage of the motor; Determine the ratio of the real-time speed of the motor at the current time to the rated speed; Obtaining an injection voltage value according to the ratio and the bus voltage; Based on the injection voltage value, a duty cycle is determined.

4. The motor starting control method according to claim 3, characterized in that: The determining of the duty cycle based on the injected voltage value comprises: Based on the injection voltage value, a duty cycle is determined using a sine wave control method.

5. The motor starting control method according to any one of claims 1 to 4, characterized in that: After collecting the real-time speed of the motor and comparing the real-time speed with a preset first target speed, the method further includes: If a start command is received and the real-time speed of the motor at the current time is greater than the preset first target speed, the real-time speed is adjusted according to the expected speed carried by the start command so that the motor runs at the expected speed.

6. The motor starting control method according to any one of claims 1 to 4, characterized in that: Before collecting the real-time speed of the motor, the method further includes: The speed of the motor is reduced by a speed loop control algorithm method, and the speed loop control algorithm method is determined based on a preset downtime duration.

7. A motor starting control device, characterized in that: The device comprises: A shutdown command response module, used to respond to the shutdown command and gradually reduce the motor drive current; A real-time speed monitoring module is used to collect the real-time speed and compare the real-time speed with a preset first target speed; A drive control module, used for disconnecting the motor drive current when the real-time speed of the motor at the current time is not greater than a preset first target speed and no start instruction is received; The restart control module is used to compare the real-time speed of the motor at the current time with the preset second target speed when receiving a start command during the inertial operation of the motor after power failure, and select a preset start control scheme to start the motor according to the comparison result; Among them, the preset second target speed is less than the preset first target speed, the preset first target speed is determined based on the preset downtime and the preset first speed range, the preset second target speed is determined based on the preset second speed range, the first speed range is a speed range that satisfies the requirement of no reverse charging when there is a motor drive current, and the second speed range is a speed range that satisfies the requirement of no reverse charging when there is no motor drive current.

8. A mechanical device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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