Motor anti-reverse control method and device and electronic equipment

Abstract

The application discloses a motor anti-reverse control method and device and electronic equipment. The method comprises the following steps: obtaining a driving control parameter of a motor, wherein the driving control parameter comprises a required torque, a gear and an actual motor speed; performing anti-reverse protection judgment based on the driving control parameter and a preset anti-reverse protection condition, determining a target anti-reverse protection strategy according to a judgment result, wherein the target anti-reverse protection strategy comprises an anti-reverse speed control strategy or an anti-reverse torque control strategy; and controlling the motor to operate according to the target anti-reverse protection strategy. The anti-reverse speed control strategy comprises the following steps: obtaining a required motor speed; determining a motor output torque value according to a speed difference PI control of the actual motor speed and the required motor speed; and determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy according to the required torque, the gear, the actual motor speed and the required motor speed. The application realizes stable speed reduction through the combination of speed control and torque control, and improves the anti-reverse effect of the motor under different working conditions.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, device and electronic equipment for motor anti-reverse control. Background Technology

[0002] The motor control modes include torque control mode and speed control mode. Torque control mode maintains the motor output torque at a set value, while speed control mode maintains the motor speed at a set value.

[0003] When the motor operates in torque control mode, if the motor speed is very low but there is a reverse torque demand, or if communication delays prevent timely torque clearing, the motor will experience a drive abnormality, causing reverse rotation. For example, if the demanded torque direction is opposite to the previous moment's, due to the communication delay, the motor will still be driven in the direction of the previous moment's demanded torque, resulting in reverse rotation. Therefore, anti-reverse rotation protection is necessary for the motor to prevent it from causing other components to rotate in the opposite direction, resulting in damage or malfunction.

[0004] In existing motor anti-reverse rotation strategies, a torque limiting coefficient is typically calculated based on the engine speed. This involves reducing the motor's output torque in advance, decreasing or eliminating the reverse drive torque, and overcoming the transmission system's inertia through frictional torque, thus reducing the motor speed to zero. However, existing anti-reverse rotation strategies have the following problems: the magnitude of the motor's reverse torque and the transmission system's inertia vary under different operating conditions, and parameter calibration is inconvenient, making it impossible to quantitatively adjust the reverse drive torque and motor speed, thus affecting the anti-reverse rotation effect. Summary of the Invention

[0005] This invention provides a motor anti-reverse control method, device, and electronic device to solve the problem that existing motor anti-reverse strategies cannot quantitatively adjust the reverse drive torque and motor speed, which is beneficial to improving the motor anti-reverse effect under different operating conditions.

[0006] According to one aspect of the present invention, a method for preventing motor reversal is provided, comprising:

[0007] Obtain the drive control parameters of the motor, including the required torque, gear, and actual motor speed;

[0008] Based on the drive control parameters and preset anti-reverse protection conditions, an anti-reverse protection judgment is performed, and a target anti-reverse protection strategy is determined according to the judgment result. The target anti-reverse protection strategy includes any one of the following: an anti-reverse speed control strategy or an anti-reverse torque control strategy.

[0009] Control the motor operation according to the target anti-reverse protection strategy;

[0010] The anti-reverse speed control strategy includes:

[0011] Obtain the required motor speed;

[0012] The output torque value of the motor is determined by PI control based on the speed difference between the actual speed of the motor and the required speed of the motor.

[0013] Furthermore, based on the required torque, the gear position, the actual motor speed, and the required motor speed, it is determined whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

[0014] According to another aspect of the present invention, a motor anti-reverse control device is provided, comprising: a data acquisition unit for acquiring drive control parameters of the motor, the drive control parameters including required torque, gear position, and actual motor speed; an anti-reverse condition judgment unit for performing anti-reverse protection judgment based on the drive control parameters and preset anti-reverse protection conditions, and determining a target anti-reverse protection strategy according to the judgment result, the target anti-reverse protection strategy including any one of the following: an anti-reverse speed control strategy or an anti-reverse torque control strategy; and an execution unit for controlling the motor operation according to the target anti-reverse protection strategy; wherein the anti-reverse speed control strategy includes: acquiring the required motor speed; determining the output torque value of the motor based on the speed difference between the actual motor speed and the required motor speed using PI control; and determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, the gear position, the actual motor speed, and the required motor speed.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the above-described motor anti-reverse control method.

[0016] The technical solution of this invention uses drive control parameters such as required torque, gear position, and actual motor speed, along with preset anti-reverse protection conditions, to perform anti-reverse protection judgment. Based on the anti-reverse protection judgment result, a target anti-reverse protection strategy is determined, including an anti-reverse speed control strategy or an anti-reverse torque control strategy. The motor operation is controlled according to the anti-reverse speed control strategy or the anti-reverse torque control strategy. The anti-reverse speed control strategy includes: acquiring the required motor speed; determining the motor's output torque value based on the speed difference between the actual motor speed and the required motor speed using PI control; and determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, gear position, actual motor speed, and required motor speed. This solves the problem that existing motor anti-reverse strategies cannot quantitatively adjust the reverse drive torque and motor speed, and is beneficial for improving the motor anti-reverse effect under different operating conditions.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a motor anti-reverse control method provided in Embodiment 1 of the present invention;

[0020] Figure 2 This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention;

[0021] Figure 3 This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention;

[0022] Figure 4 This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention;

[0023] Figure 5 This is a flowchart of a motor anti-reverse control method provided in Embodiment 2 of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of a motor anti-reverse control device provided in Embodiment 3 of the present invention;

[0025] Figure 7This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a motor anti-reverse control method provided in Embodiment 1 of the present invention. This embodiment can be applied to application scenarios of anti-reverse protection for motors operating in torque control mode. The method can be executed by a motor anti-reverse control device, which can be implemented in hardware and / or software and can be configured in the motor controller.

[0030] like Figure 1 As shown, the motor anti-reverse control method specifically includes the following steps:

[0031] Step S1: Obtain the drive control parameters of the motor.

[0032] Among them, the drive control parameters are control parameters related to the drive motor. These parameters can be collected by sensors and transmitted to the motor controller. The motor controller can perform closed-loop control of the motor based on the drive control parameters.

[0033] Typically, drive control parameters include the motor's required torque, gear position, and actual motor speed. The direction of the motor's required torque and the direction of the speed corresponding to the gear position can be used to determine whether the motor has a reverse torque requirement.

[0034] Step S2: Perform anti-reverse protection judgment based on drive control parameters and preset anti-reverse protection conditions, and determine the target anti-reverse protection strategy according to the judgment result. The target anti-reverse protection strategy includes any one of the following: anti-reverse speed control strategy or anti-reverse torque control strategy.

[0035] Among them, the anti-reverse protection judgment refers to determining whether the current drive control parameters meet the preset anti-reverse protection conditions. If the drive control parameters meet the preset anti-reverse protection conditions, the anti-reverse protection is triggered; if the drive control parameters do not meet the preset anti-reverse protection conditions, the anti-reverse protection is exited, and the forward drive torque demand is responded to first.

[0036] Optionally, preset anti-reverse protection conditions include: the direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear; the actual speed of the motor is greater than the preset lower speed threshold.

[0037] The preset lower speed limit is the lowest speed at which the motor can maintain its rotational speed under different operating conditions (e.g., conditions with large reverse torque requirements and large communication signal delays). The specific value of the preset lower speed limit can be obtained through calibration, and its specific value is not limited.

[0038] In this step, the anti-reverse speed control strategy is a control strategy that uses speed control mode to control the motor speed and reduce and reset the output torque; the anti-reverse torque control strategy is a control strategy that controls the required torque to reduce and reset to zero through torque limiting. After the anti-reverse protection is triggered, different target anti-reverse protection strategies can be matched according to the actual motor speed. For example, the anti-reverse speed control strategy can be used to match the working condition with reverse torque demand at higher speeds, and the anti-reverse torque control strategy can be used to match the working condition with reverse torque demand at lower speeds.

[0039] Step S3: Control the motor operation according to the target anti-reverse protection strategy.

[0040] Specifically, when the motor is operating in torque control mode, it first determines whether the drive control parameters meet the preset anti-reverse protection conditions. If the drive control parameters do not meet the preset anti-reverse protection conditions, for example, if the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear, the anti-reverse protection is deactivated, and the forward drive torque demand is prioritized. If the drive control parameters meet the preset anti-reverse protection conditions, for example, if the direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear, the anti-reverse protection is triggered, and different target anti-reverse protection strategies are matched according to the actual motor speed. If the target anti-reverse protection strategy is an anti-reverse speed control strategy, when controlling the motor operation according to the anti-reverse speed control strategy, the motor is first controlled to enter speed control mode, and the motor speed is stably reduced to below the preset lower speed threshold using speed control mode. Then, the required torque is reduced and cleared to zero through torque limiting control. If the target anti-reverse protection strategy is an anti-reverse torque control strategy, when controlling the motor operation according to the anti-reverse torque control strategy, the motor operation is controlled using torque reduction control mode, and the required torque is reduced and cleared to zero by limiting the output torque.

[0041] In one embodiment, the anti-reverse speed control strategy includes: acquiring the required motor speed; determining the output torque value of the motor based on the speed difference between the actual motor speed and the required motor speed using PI control; and determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, gear, actual motor speed, and required motor speed.

[0042] Specifically, the system determines whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, gear, actual motor speed, and required motor speed. This includes: determining whether there is a positive torque demand based on the direction of the required torque and the speed direction corresponding to the gear, and determining whether to exit the anti-reverse speed control strategy based on the actual motor speed and required motor speed.

[0043] Continue to refer to Figure 1 As shown, the motor operation is controlled according to the anti-reverse speed control strategy, which specifically includes the following steps:

[0044] Step S301: Determine whether the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear.

[0045] If the directions are the same, proceed to step S302; if the directions are opposite, proceed to step S303.

[0046] Step S302: Exit the anti-reverse speed control strategy and enter the positive torque control mode.

[0047] Step S303: Obtain the required motor speed.

[0048] The required motor speed is the set speed value when the motor is running in speed control mode, and this required motor speed can be obtained through calibration.

[0049] Optionally, under the anti-reverse speed control strategy, the required motor speed is less than or equal to a preset lower speed threshold.

[0050] For example, if the calibration value of the preset lower speed limit threshold is 60 r / min, then the required speed of the motor can be set to 50 r / min.

[0051] Step S304: Determine whether the actual speed of the motor reaches the required speed of the motor.

[0052] If the actual speed of the motor does not reach the required speed, proceed to step S305; if the actual speed of the motor reaches the required speed, proceed to step S306.

[0053] Step S305: Determine the output torque value of the motor based on the speed difference between the actual motor speed and the required motor speed using PI control.

[0054] In this step, a PI controller can be used to perform closed-loop control of the motor speed, and the output torque value of the motor can be calculated based on the speed difference between the actual motor speed and the required motor speed.

[0055] Step S306: Exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

[0056] Specifically, when the motor is operating in anti-reverse speed control mode, the direction of the motor's required torque, the gear status, and the motor's actual speed are collected in real time. When the required torque is not equal to zero, it is determined whether the direction of the required torque is consistent with the direction of the speed corresponding to the gear. If the required torque is not equal to zero and the direction of the required torque is consistent with the direction of the speed corresponding to the gear, the anti-reverse speed control strategy is exited, and the motor control mode is switched to positive torque control mode, prioritizing the response to the positive drive required torque. If the required torque is not equal to zero and the direction of the required torque is opposite to the direction of the speed corresponding to the gear, the motor continues to be controlled to operate in anti-reverse speed control mode according to the motor's required speed, and the actual speed of the motor is collected in real time. The system determines whether the actual motor speed has reached the required speed. If the actual motor speed has not reached the required speed, a speed difference PI control is performed based on the difference between the actual and required speeds. The PI controller calculates the motor's output torque value based on the speed difference between the actual and required speeds, and uses the output torque value obtained in the anti-reverse speed control mode as the final torque value to drive the motor. If the actual motor speed has reached the required speed, the anti-reverse speed control strategy is exited, and the anti-reverse torque control strategy is entered. After entering the anti-reverse torque control strategy, a torque reduction control mode is used to control the motor operation, gradually reducing and clearing the required torque by limiting the output torque.

[0057] Therefore, the technical solution of this invention achieves a stable reduction in speed by combining speed control and torque control, which solves the problem that existing motor anti-reverse strategies cannot quantitatively adjust the reverse drive torque and motor speed, and is conducive to improving the motor anti-reverse effect under different operating conditions; by pre-setting anti-reverse protection conditions, abnormal reverse torque drive conditions are identified, and forward drive is responded to first, without affecting normal drive requirements.

[0058] In one embodiment, obtaining the required motor speed in step S303 specifically includes: determining the required motor speed according to a preset speed curve; wherein the preset speed curve is established based on multiple calibration speed values ​​that gradually decrease according to a preset gradient.

[0059] The preset gradient is the magnitude of the decrease in the calibrated rotational speed value per unit time interval.

[0060] For example, the preset gradient can be a reduction of 1 r / min in the calibrated rotational speed value every 10 ms interval.

[0061] Specifically, in the process of implementing the anti-reverse speed control strategy, the rated speed value that gradually decreases according to the preset gradient can be gradually adopted as the motor's required speed. This makes it easier to control the motor speed to gradually decrease and helps to improve the smoothness of motor speed regulation.

[0062] Optionally, Figure 2This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention. Figure 1 Based on this, a specific implementation of an anti-reverse speed control strategy is shown.

[0063] like Figure 2 As shown, before executing step S306, the process of determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, gear, actual motor speed, and required motor speed also includes the following steps:

[0064] Step S307: Control the motor to run continuously at the required speed.

[0065] Step S308: Determine whether the continuous running time has reached the preset duration.

[0066] The preset duration can be equal to k preset steps, where k is a positive integer greater than or equal to 1, and the preset step is a calibration value, for example, the preset step can be 10ms.

[0067] If the continuous running time reaches the preset duration, proceed to the next step S309; ​​otherwise, return to the execution of step S307.

[0068] Step S309: Exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

[0069] Specifically, in the anti-reverse speed control mode, when the actual speed of the motor reaches the required speed, the motor is controlled to run continuously at the required speed for k preset steps. After the motor runs continuously at the required speed for k preset steps, the anti-reverse speed control strategy is exited and the anti-reverse torque control strategy is entered. This helps to ensure that the motor speed is reduced to a stable state, avoids malfunctions caused by motor speed fluctuations, improves the reliability of the anti-reverse protection strategy, and improves the anti-reverse effect.

[0070] Optionally, Figure 3 This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention, which exemplarily illustrates a specific implementation of a target anti-reverse protection strategy.

[0071] like Figure 3 As shown, in step S2 above, the target anti-reversal protection strategy is determined based on the judgment result, including:

[0072] Step S201: Determine whether the direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear.

[0073] If the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear position, then step S202 is executed; if the direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear position, then step S203 is executed.

[0074] Step S202: Determine that the motor does not have a reverse torque requirement, exit the anti-reverse protection, and execute the forward torque control strategy.

[0075] Step S203: Determine that the motor has a reverse torque requirement, and proceed to step S204.

[0076] Step S204: Determine whether the actual speed of the motor is greater than the preset lower speed threshold.

[0077] If the direction of the required torque is opposite to the direction of the speed corresponding to the gear, and the actual speed of the motor is greater than the preset lower speed threshold, then step S205 is executed; if the direction of the required torque is opposite to the direction of the speed corresponding to the gear, and the actual speed of the motor is less than or equal to the preset lower speed threshold, then step S206 is executed.

[0078] Step S205: Determine the anti-reverse speed control strategy as the target anti-reverse protection strategy.

[0079] Step S206: Determine the anti-reverse torque control strategy as the target anti-reverse protection strategy.

[0080] Specifically, when matching anti-reverse protection strategies, different target anti-reverse protection strategies can be matched according to the actual speed of the motor. Simultaneously, the direction of the required torque and the speed direction corresponding to the gear can be used to detect whether the positive torque demand has been restored. If the motor has a reverse torque demand and the actual motor speed is greater than the preset lower speed threshold, the anti-reverse speed control strategy is activated, prioritizing speed control to reduce the motor speed, and then combining this with torque limiting to reduce the output torque. If the motor has a reverse torque demand and the actual motor speed is less than the preset lower speed threshold, torque limiting is directly used to reduce the output torque. By optimizing the anti-reverse protection judgment conditions, different anti-reverse control strategies are matched for different operating conditions, improving the anti-reverse effect under different operating conditions, preventing the motor from reversing under reverse torque drive, and simultaneously responding promptly to positive torque to meet normal drive requirements, demonstrating strong compatibility.

[0081] Optionally, Figure 4 This is a flowchart of another motor anti-reverse control method provided in Embodiment 1 of the present invention, which exemplarily illustrates a specific implementation of an anti-reverse torque control strategy. For example... Figure 4 As shown, the motor operation is controlled according to the anti-reverse torque control strategy, which specifically includes the following steps:

[0082] Step S401: Determine the torque reduction coefficient based on the actual motor speed.

[0083] Among them, the torque reduction coefficient is positively correlated with the actual speed of the motor.

[0084] Step S402: Determine the output torque value of the motor based on the required torque and the torque reduction coefficient.

[0085] Specifically, the torque reduction coefficient is used to limit the actual required torque. The torque reduction coefficient can be a proportional factor greater than 0 and less than or equal to 1. A calibration table can be established to establish the correspondence between the torque proportional factor and the motor speed. When the motor is running in anti-reverse torque control mode, the motor speed calibration data in the calibration table is compared with the actual motor speed to obtain the torque proportional factor corresponding to the motor speed that is equal to the actual motor speed. The torque proportional factor determined by looking up the table is determined as the torque reduction coefficient. If the value of the actual motor speed is not recorded in the calibration table, the torque reduction coefficient can be calculated by interpolation.

[0086] In one embodiment, such as Figure 4 As shown, when the motor is operating in anti-reverse torque control mode, the following steps are also included:

[0087] Step S403: Determine whether the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear.

[0088] If the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear, then proceed to step S404; otherwise, proceed to step S402.

[0089] Step S404: Use the required torque as the final torque value to drive the motor.

[0090] It should be noted that, in the embodiments of the present invention, if the direction of the required torque is consistent with the direction of the rotational speed corresponding to the gear, the torque reversal status flag can be set to 1, and the existence of a reverse torque requirement can be determined by identifying the torque reversal status flag.

[0091] Therefore, the technical solution of this invention achieves a stable reduction in speed by combining speed control and torque control, which solves the problem that existing motor anti-reverse strategies cannot quantitatively adjust the reverse drive torque and motor speed, and is conducive to improving the motor anti-reverse effect under different operating conditions; by pre-setting anti-reverse protection conditions, abnormal reverse torque drive conditions are identified, and forward drive is responded to first, without affecting normal drive requirements.

[0092] Example 2

[0093] Based on the above embodiment one, Figure 5 This is a flowchart of a motor anti-reverse control method provided in Embodiment 2 of the present invention. In this embodiment, a specific implementation of an anti-reverse protection exit strategy is illustrated.

[0094] like Figure 5As shown, before performing anti-reverse protection judgment based on drive control parameters and preset anti-reverse protection conditions, this motor anti-reverse control method specifically includes the following steps:

[0095] Step S501: Obtain the motor control mode.

[0096] Step S502: Determine whether the motor control mode is torque control mode.

[0097] If not in torque control mode, proceed to step S503; otherwise, proceed to step S2.

[0098] Step S503: Do not perform anti-reverse protection judgment.

[0099] Step S2: Perform anti-reverse protection judgment based on drive control parameters and preset anti-reverse protection conditions, and determine the target anti-reverse protection strategy based on the judgment result.

[0100] Step S3: Control the motor operation according to the target anti-reverse protection strategy.

[0101] Specifically, before performing the anti-reverse protection judgment, the motor control mode is obtained. If the motor control mode is torque control mode, the anti-reverse protection judgment is performed. The anti-reverse protection strategy is as described in Example 1 and will not be repeated here. If the motor control mode is not in torque control mode, the anti-reverse protection judgment is not performed, which avoids the anti-reverse protection from malfunctioning in speed control mode and helps to improve the reliability of motor control.

[0102] Example 3

[0103] Based on any of the above embodiments, Embodiment 3 of the present invention provides a motor anti-reverse control device. The motor anti-reverse control device provided by the present invention can execute the motor anti-reverse control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0104] Figure 6 This is a schematic diagram of a motor anti-reverse control device provided in Embodiment 3 of the present invention. Figure 6 As shown, the motor anti-reverse control device 100 includes: a data acquisition unit 101, an anti-reverse condition judgment unit 102, and an execution unit 103.

[0105] The system includes: a data acquisition unit 101 for acquiring motor drive control parameters, including required torque, gear position, and actual motor speed; an anti-reverse condition judgment unit 102 for performing anti-reverse protection judgment based on the drive control parameters and preset anti-reverse protection conditions, and determining a target anti-reverse protection strategy based on the judgment result, the target anti-reverse protection strategy including any one of the following: an anti-reverse speed control strategy or an anti-reverse torque control strategy; and an execution unit 103 for controlling motor operation according to the target anti-reverse protection strategy. The anti-reverse speed control strategy includes: acquiring the required motor speed; determining the motor output torque value based on the speed difference between the actual motor speed and the required motor speed using PI control; and determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, gear position, actual motor speed, and required motor speed.

[0106] Optionally, preset anti-reverse protection conditions include: the direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear; and the actual speed of the motor is greater than the preset lower speed threshold.

[0107] Optionally, the anti-reverse condition judgment unit 102 is used to determine whether there is a reverse torque demand based on the required torque and gear; and when there is a reverse torque demand, it determines whether to enter the anti-reverse speed control strategy based on the comparison result between the actual speed of the motor and the preset lower speed threshold.

[0108] Optionally, under the anti-reverse speed control strategy, the required motor speed is less than or equal to a preset lower speed threshold.

[0109] Optionally, the motor anti-reverse control device 100 further includes: a storage unit for storing a preset speed curve, the preset speed curve being established based on multiple calibration speed values ​​that gradually decrease according to a preset gradient; and an execution unit 103 for reading the preset speed curve and determining the required motor speed based on the preset speed curve.

[0110] Optionally, when executing the anti-reverse speed control strategy, the execution unit 103 is also used to determine whether the actual speed of the motor reaches the required speed of the motor, and when the actual speed of the motor reaches the required speed of the motor, control the motor to run continuously at the required speed of the motor, and when the time the motor runs continuously at the required speed of the motor reaches a preset duration, exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

[0111] Optionally, the anti-reverse torque control strategy includes: determining a torque reduction coefficient based on the actual motor speed, wherein the torque reduction coefficient is positively correlated with the actual motor speed; and determining the output torque value of the motor based on the required torque and the torque reduction coefficient.

[0112] Optionally, the acquisition unit 101 is also used to acquire the motor control mode; the anti-reverse condition judgment unit 102 is also used to determine whether the motor control mode is in torque control mode, and not to perform anti-reverse protection judgment when the motor is not in torque control mode.

[0113] Example 4

[0114] According to another aspect of the present invention, 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 a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the above-described motor anti-reverse control method.

[0115] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. 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 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0116] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0118] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as motor anti-reverse control methods.

[0119] In some embodiments, the above-described motor anti-reverse control method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the motor anti-reverse control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the above-described motor anti-reverse control method by any other suitable means (e.g., by means of firmware).

[0120] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0122] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0123] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0124] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0125] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0126] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0127] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for preventing motor reversal, characterized in that, include: Obtain the drive control parameters of the motor, including the required torque, gear, and actual motor speed; Based on the drive control parameters and preset anti-reverse protection conditions, an anti-reverse protection judgment is performed, and a target anti-reverse protection strategy is determined according to the judgment result. It is determined whether the actual speed of the motor is greater than the preset lower speed threshold. If the actual speed of the motor is greater than the preset lower speed threshold, the anti-reverse speed control strategy is determined as the target anti-reverse protection strategy. If the actual speed of the motor is less than or equal to the preset lower speed threshold, then the anti-reverse torque control strategy will be determined as the target anti-reverse protection strategy. Control the motor operation according to the target anti-reverse protection strategy; The anti-reverse speed control strategy includes: Obtain the required motor speed; The output torque value of the motor is determined by PI control based on the speed difference between the actual speed of the motor and the required speed of the motor. Furthermore, based on the required torque, the gear position, the actual motor speed, and the required motor speed, it is determined whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

2. The motor anti-reverse control method according to claim 1, characterized in that, The preset anti-reverse protection conditions include: The direction of the required torque is opposite to the direction of the rotational speed corresponding to the gear. The actual speed of the motor is greater than the preset lower speed threshold.

3. The motor anti-reverse control method according to claim 2, characterized in that, Based on the judgment results, determine the target anti-reversal protection strategy, including: Determine whether there is a reverse torque requirement based on the required torque and the gear position; When there is a reverse torque demand, the decision on whether to enter the anti-reverse speed control strategy is made based on the comparison between the actual speed of the motor and the preset lower speed threshold.

4. The motor anti-reverse control method according to claim 2, characterized in that, Under the anti-reverse speed control strategy, the required motor speed is less than or equal to the preset lower speed threshold.

5. The motor anti-reverse control method according to any one of claims 1-4, characterized in that, To obtain the required motor speed, the following steps are required: The required motor speed is determined based on a preset speed curve; The preset speed curve is established based on multiple calibrated speed values ​​that gradually decrease according to a preset gradient.

6. The motor anti-reverse control method according to any one of claims 1-4, characterized in that, Determining whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy based on the required torque, the gear position, the actual motor speed, and the required motor speed includes: Determine whether the actual speed of the motor reaches the required speed of the motor; If the actual speed of the motor reaches the required speed, then the motor is controlled to run continuously at the required speed. If the continuous running time reaches the preset duration, the anti-reverse speed control strategy will be exited, and the anti-reverse torque control strategy will be entered.

7. The motor anti-reverse control method according to any one of claims 1-4, characterized in that, The anti-reverse torque control strategy includes: The torque reduction coefficient is determined based on the actual speed of the motor, wherein the torque reduction coefficient is positively correlated with the actual speed of the motor; The output torque value of the motor is determined based on the required torque and the torque reduction coefficient.

8. The method according to any one of claims 1-4, characterized in that, Before performing the anti-reverse protection judgment based on the drive control parameters and preset anti-reverse protection conditions, the following steps are also included: Obtain the motor control mode; Determine whether the motor control mode is in torque control mode; If the motor is not in torque control mode, the anti-reverse protection judgment will not be executed.

9. A motor anti-reverse control device, characterized in that, include: The acquisition unit is used to acquire the drive control parameters of the motor, including the required torque, gear, and actual motor speed. The anti-reverse condition judgment unit is used to perform anti-reverse protection judgment based on the drive control parameters and preset anti-reverse protection conditions, and determine the target anti-reverse protection strategy according to the judgment result. It judges whether the actual speed of the motor is greater than the preset lower speed threshold. If the actual speed of the motor is greater than the preset lower speed threshold, the anti-reverse speed control strategy is determined as the target anti-reverse protection strategy. If the actual speed of the motor is less than or equal to the preset lower speed threshold, then the anti-reverse torque control strategy will be determined as the target anti-reverse protection strategy. The execution unit is used to control the motor operation according to the target anti-reverse protection strategy; The anti-reverse speed control strategy includes: Obtain the required motor speed; The output torque value of the motor is determined by PI control based on the speed difference between the actual speed of the motor and the required speed of the motor. Furthermore, based on the required torque, the gear position, the actual motor speed, and the required motor speed, it is determined whether to exit the anti-reverse speed control strategy and enter the anti-reverse torque control strategy.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the motor anti-reverse control method according to any one of claims 1-8.

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