Motor load start control method and device, motor controller and storage medium

Abstract

The application discloses a motor load starting control method and device, a motor controller and a storage medium, and the method comprises the following steps: detecting the working current of the motor during the motor starting process; when the working current of the motor is greater than or equal to a preset current protection threshold, the PID control of the motor is turned off, a fixed duty ratio PWM control signal is used to control the motor, and the PID control of the motor is switched back after a first preset time, and the switching is repeated until the motor completes the load starting, wherein the fixed duty ratio is less than a first duty ratio, and the first duty ratio is the duty ratio of the PID control of the motor when the working current of the motor is greater than or equal to the preset current protection threshold. Therefore, the motor starting is controlled by using the repeated control mechanism, the motor output torque protection false alarm caused by the existence of the rotational inertia torque can be effectively avoided, and the motor load starting can be realized under the condition of the motor output torque protection mechanism.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a motor load starting control method and device, a motor controller and a storage medium. Background Art

[0002] In the conventional closed-loop PID (Proportion Integral Differential) control process of motor speed, the focus of PID control is the control of the target speed. By adjusting the appropriate PID parameters, the motor speed can be smoothly increased to the target speed. However, when the motor is loaded, there will be a large rotational inertia torque in the process of starting the motor from a stationary state to the target speed. This torque causes a large pulse in the torque monitoring signal. If there is a motor output torque protection mechanism in the system, the motor output torque protection will be triggered. In normal application, the system requires the motor to be able to start under load. Therefore, the conventional PID control will cause the motor output torque protection to false alarm due to the presence of the above-mentioned rotational inertia torque, resulting in the motor being unable to start under load. Summary of the Invention

[0003] The present invention aims to at least partially address one of the technical problems in the related art. To this end, a first object of the present invention is to provide a method for controlling motor start-up with load. By employing a repetitive control mechanism to control motor start-up, the method effectively avoids false alarms of the motor output torque protection caused by the presence of rotational inertia torque, thereby enabling motor start-up with load even in the presence of a motor output torque protection mechanism.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] The third object of the present invention is to provide a motor controller.

[0006] A fourth object of the present invention is to provide a motor load starting control device.

[0007] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a motor load starting control method, including: during the motor starting process, detecting the working current of the motor; when the working current of the motor is greater than or equal to a preset current protection threshold, turning off the PID control of the motor, and using a PWM (Pulse Width Modulation) control signal with a fixed duty cycle to control the motor, and switching back to the PID control of the motor after a first preset time, and repeatedly switching until the motor completes the load starting, wherein the fixed duty cycle is less than the first duty cycle, and the first duty cycle is the duty cycle of the motor using PID control when the working current of the motor is greater than or equal to the preset current protection threshold.

[0008] According to an embodiment of the present invention, a method for controlling motor startup under load detects the motor's operating current during startup. When the motor's operating current is greater than or equal to a preset current protection threshold, the motor's PID control is disabled and a PWM control signal with a fixed duty cycle is used to control the motor. After a first preset time, the method switches back to PID control of the motor, and repeats this process until the motor completes the under-load startup. Thus, by using a repetitive control mechanism to control motor startup, false alarms of the motor output torque protection caused by the presence of rotational inertia torque can be effectively avoided, thereby enabling motor startup under load even with the motor output torque protection mechanism in place.

[0009] According to one embodiment of the present invention, when the motor starts from a stationary state, PID control is performed on the motor.

[0010] According to one embodiment of the present invention, when the operating current of the motor is greater than or equal to a preset current protection threshold, a first duty cycle is also determined, and a fixed duty cycle is determined based on the first duty cycle, so that a PWM control signal with a fixed duty cycle is used to control the motor after the PID control of the motor is turned off.

[0011] According to one embodiment of the present invention, the preset current protection threshold is determined according to a threshold torque for motor output torque protection.

[0012] According to one embodiment of the present invention, when the operating current of the motor is greater than or equal to a preset current protection threshold, a counter is used to count, and when the count value is greater than a preset value, the motor is controlled to perform output torque protection.

[0013] According to one embodiment of the present invention, when the operating current of the motor is less than a preset current protection threshold, PID control of the motor is maintained.

[0014] According to one embodiment of the present invention, during the motor starting process, the rotational speed of the motor is also acquired, and when the rotational speed of the motor reaches a target rotational speed, it is determined that the motor has completed the load starting.

[0015] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a computer-readable storage medium on which a motor load starting control program is stored. When the motor load starting control program is executed by a processor, it implements the motor load starting control method as in the first embodiment.

[0016] According to the computer-readable storage medium of an embodiment of the present invention, through the above-mentioned motor load starting control method, by adopting a repeated control mechanism to control the motor starting, it is possible to effectively avoid the false alarm of the motor output torque protection due to the existence of rotational inertia torque, thereby realizing the motor load starting in the presence of a motor output torque protection mechanism.

[0017] To achieve the above-mentioned purpose, the third aspect of the present invention proposes a motor controller, including a memory, a processor, and a motor load starting control program stored in the memory and runnable on the processor. When the processor executes the motor load starting control program, it implements the motor load starting control method as in the first aspect of the embodiment.

[0018] According to the motor controller of an embodiment of the present invention, through the above-mentioned motor load starting control method, by adopting a repeated control mechanism to control the motor starting, it is possible to effectively avoid the false alarm of the motor output torque protection due to the existence of rotational inertia torque, thereby realizing the motor load starting in the presence of a motor output torque protection mechanism.

[0019] To achieve the above-mentioned purpose, the fourth embodiment of the present invention proposes a motor load starting control device, including: a current detection module, used to detect the working current of the motor during the motor starting process; a starting control module, used to turn off the PID control of the motor when the working current of the motor is greater than or equal to a preset current protection threshold, and use a PWM control signal with a fixed duty cycle to control the motor, and switch back to the PID control of the motor after a first preset time, and repeatedly switch until the motor completes the load starting, wherein the fixed duty cycle is less than the first duty cycle, and the first duty cycle is the duty cycle of the motor using PID control when the working current of the motor is greater than or equal to the preset current protection threshold.

[0020] According to an embodiment of the present invention, the motor load startup control device detects the motor's operating current through a current detection module during the motor startup process. When the motor's operating current is greater than or equal to a preset current protection threshold, the startup control module disables the motor's PID control and controls the motor using a PWM control signal with a fixed duty cycle. After a first preset time, the device switches back to PID control of the motor, repeatedly switching until the motor completes the load startup. Thus, by using a repetitive control mechanism to control the motor startup, false alarms of the motor output torque protection caused by the presence of rotational inertia torque can be effectively avoided, thereby enabling the motor to be started under load even with the motor output torque protection mechanism in place.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Flowchart of a motor load starting control method according to one embodiment of the present invention;

[0023] Figure 2 is a flow chart of a motor load starting control method according to another embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the structure of a motor load starting control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0026] The following describes a motor load startup control method and device, a motor controller, and a storage medium provided by embodiments of the present invention with reference to the accompanying drawings.

[0027] Figure 1 FIG. 1 is a flow chart of a method for controlling motor load starting according to an embodiment of the present invention. Figure 1 As shown, the motor load starting control method includes the following steps:

[0028] Step S101 : During the motor startup process, the operating current of the motor is detected.

[0029] In some embodiments, when the motor starts from a stationary state, PID control is performed on the motor.

[0030] Specifically, when the motor is started from a stationary state, the motor is first PID controlled so that the motor speed can rise smoothly to the target speed. However, when the motor is loaded, there will be a large rotational inertia torque in the process of starting the motor from a stationary state to the target speed. If there is a motor output torque protection mechanism in the system, this torque will trigger the motor output torque protection. Therefore, in the present application, during the process of PID control of the motor, the motor output torque can be monitored and controlled to avoid false alarms of the motor output torque protection due to the presence of rotational inertia torque. Optionally, in the present application, the monitoring of the motor output torque can be achieved by monitoring the working current of the motor, that is, detecting the working current of the motor during the process of starting the motor with load.

[0031] Step S102: When the motor's operating current is greater than or equal to a preset current protection threshold, PID control of the motor is disabled and a PWM control signal with a fixed duty cycle is used to control the motor. After a first preset time, the motor is switched back to PID control, and this switching cycle is repeated until the motor completes the load start. The fixed duty cycle is less than a first duty cycle, which is the duty cycle of PID control used when the motor's operating current is greater than or equal to the preset current protection threshold.

[0032] It should be noted that the preset current protection threshold is determined according to the threshold torque of the motor output torque protection. Optionally, assuming that the rated load torque of the motor is T R , the threshold torque of motor output torque protection is T P , where T P >T R , accordingly, the rated load torque T of the motor R The corresponding motor operating current is I R , the threshold torque T of the motor output torque protection P The corresponding motor operating current is I P , where I P >I R , the preset current protection threshold is equal to the motor output torque protection threshold torque T P The corresponding motor operating current is I P That is, the preset current protection threshold is equal to the motor output torque protection threshold torque T P The corresponding motor operating current I P , and is greater than the rated load torque T of the motor R The corresponding motor operating current I R When the motor is started from a stationary state with rated load, due to the existence of rotational inertia torque, during the process of the motor speed increasing from zero to the target speed, the motor's operating current I may be greater than or equal to the preset current protection threshold, thereby triggering the motor output torque protection.

[0033] In the present application, when the working current I of the motor is greater than or equal to the preset current protection threshold, the PID control of the motor is turned off, that is, the PID control of the motor is stopped, and the motor is controlled by a PWM control signal with a fixed duty cycle, that is, the speed control signal of the motor is switched to a PWM control signal with a fixed duty cycle, and then the signal is maintained for a first preset time (which can be calibrated according to actual conditions, such as 50ms), and then switched to the PID control of the motor, that is, the PID control is restarted. If the working current I of the motor is greater than or equal to the preset current protection threshold again, the PID control of the motor is turned off again, and the motor is controlled by a PWM control signal with a fixed duty cycle. This switching is repeated until the motor completes load startup. In which, the fixed duty cycle of the PWM control signal is less than the first duty cycle, and the first duty cycle is the duty cycle of the motor using PID control when the motor's operating current I is greater than or equal to a preset current protection threshold. That is, the fixed duty cycle of the PWM control signal is less than the duty cycle of the motor using PID control when the motor output torque protection occurs or is about to occur. For example, the fixed duty cycle of the PWM control signal is the duty cycle of the motor using PID control when the motor's operating current I is greater than or equal to the preset current protection threshold * M%, where M is less than 100, such as M is 75.

[0034] Therefore, by adding repeated start control to the closed-loop PID control of the motor speed, that is, repeatedly switching between PID control and controlling the motor with a PWM control signal with a fixed duty cycle, and the fixed duty cycle of the PWM control signal is smaller than the duty cycle of the PID control during switching, the control amount can be effectively reduced, so that the motor output torque is reduced, and when the PID control is started again, the motor is in a rotating state, avoiding starting from a stationary state every time, and the motor speed each time the PID control is started shows the above trend, that is, the starting speed of the PID control shows an upward trend, which can not only effectively avoid the false alarm of the motor output torque protection due to the existence of the rotational inertia torque, but also realize the motor start-up with load in the presence of the motor output torque protection mechanism, and will not cause excessive motor start-up delay due to repeated starts.

[0035] Furthermore, in some embodiments, when the operating current of the motor is greater than or equal to a preset current protection threshold, a first duty cycle is also determined, and a fixed duty cycle is determined based on the first duty cycle, so that a PWM control signal with a fixed duty cycle is used to control the motor after the PID control of the motor is turned off.

[0036] Specifically, when the working current I of the motor is greater than or equal to the preset current protection threshold, the PID control of the motor is turned off, and a first duty cycle is obtained. The first duty cycle is the duty cycle of the motor using PID control when the working current of the motor is greater than I and greater than or equal to the preset current protection threshold. Then, the fixed duty cycle of the PWM control signal is determined based on the first duty cycle. The fixed duty cycle is less than the first duty cycle, such as the fixed duty cycle is 75% of the first duty cycle. That is to say, when the working current I of the motor is greater than or equal to the preset current protection threshold, 75% of the PID control duty cycle at this time is used as the fixed duty cycle of the PWM control signal to control the motor, thereby effectively reducing the control amount and reducing the output torque of the motor.

[0037] In some embodiments, when the operating current of the motor is greater than or equal to a preset current protection threshold, a counter is used to count, and when the count value is greater than a preset value, the motor is controlled to perform output torque protection.

[0038] Specifically, when the motor is started from a stationary state, PID control is first performed on the motor. The motor's operating current I is obtained and compared with a preset current protection threshold. When the motor's operating current I is greater than or equal to the preset current protection threshold, a counter is used to count the current and determine whether the count value is less than or equal to the preset value. If the count value is less than or equal to the preset value, PID control of the motor is disabled and a PWM control signal with a fixed duty cycle is used to control the motor. This signal is then maintained for a first preset time before switching back to PID control of the motor. If the motor's operating current I again becomes greater than or equal to the preset current protection threshold, the counter continues to count the current and determine whether the count value is less than or equal to the preset value. If the count value is less than or equal to the preset value, PID control of the motor is again disabled and a PWM control signal with a fixed duty cycle is used to control the motor. This switching cycle is repeated until the motor completes the load start. During this process, if the count value is greater than the preset value, the switching cycle is stopped and the motor is controlled to perform output torque protection. This prevents the motor from failing to perform protection when it actually needs it, resulting in an abnormality. This not only avoids false alarms for the motor output torque protection, but also ensures effective protection of the motor under abnormal conditions.

[0039] In some embodiments, PID control of the motor is maintained when the motor's operating current is less than a preset current protection threshold. That is, when PID control is being performed on the motor, if the motor's operating current I is less than the preset current protection threshold, it indicates that the motor's output torque has not exceeded the threshold torque. In this case, no switching control is performed, and the motor continues to be controlled using PID control, ensuring that the motor speed steadily increases to the target speed.

[0040] In some embodiments, during the motor startup process, the motor speed is also obtained, and when the motor speed reaches a target speed, it is determined that the motor has completed the load startup. In other words, whether the motor has completed the load startup can be determined by obtaining the motor speed and determining whether the motor speed has reached the target speed.

[0041] As a specific example, see Figure 2 As shown, the motor load starting control method may include the following steps:

[0042] In step S201 , the motor is started and PID control is performed. That is, when the motor is started from a stationary state, PID control is first performed on the motor, that is, the motor is started by PID control.

[0043] Step S202: Determine whether the operating current I is greater than or equal to a preset current protection threshold. If yes, proceed to step S203; otherwise, return to step S201.

[0044] Specifically, when PID control is performed on the motor, the operating current I of the motor is obtained in real time and compared with the preset current protection threshold. If the operating current I of the motor is greater than or equal to the preset current protection threshold, step S203 is executed, otherwise return to step S201, that is, the PID control of the motor is maintained.

[0045] Step S203: The counter records the number N of PID control re-starts, where the initial value of N is 0 and the value is assigned as N=N+1. That is, when the motor's operating current I is greater than or equal to the preset current protection threshold, the number N is incremented by 1.

[0046] Step S204 determines whether the number N of PID control repetitions is greater than a preset value, such as 5. If so, step S207 is executed; otherwise, step S205 is executed. Specifically, if the number of times the motor's operating current I is greater than or equal to the preset current protection threshold is greater than 5, step S207 is executed; otherwise, step S205 is executed.

[0047] Step S205 : PWM control with a fixed duty cycle, that is, using a PWM control signal with a fixed duty cycle to control the motor.

[0048] Step S206: Determine whether the first preset time T is greater than or equal to 50 ms. If yes, return to step S201; otherwise, return to step S205.

[0049] That is, when the motor is controlled by a PWM control signal with a fixed duty cycle, if the control time reaches a first preset time such as 50ms, PID control is switched to, otherwise the motor is controlled by a PWM control signal with a fixed duty cycle.

[0050] Step S207: Perform motor output torque protection.

[0051] It should be noted that when the number N of PID control repeated starts is less than or equal to a preset value such as 5, if the motor speed has reached the target speed, it means that the motor start-up is completed, and the motor is controlled to operate normally.

[0052] In summary, according to an embodiment of the present invention, a method for controlling motor start-up with load detects the motor's operating current during the motor start-up process. When the motor's operating current is greater than or equal to a preset current protection threshold, the motor's PID control is disabled and the motor is controlled using a PWM control signal with a fixed duty cycle. After a first preset time, the motor is switched back to PID control, and this switching cycle is repeated until the motor completes the start-up with load. Thus, by using a repetitive control mechanism to control the motor start-up, false alarms of the motor output torque protection caused by the presence of rotational inertia torque can be effectively avoided, thereby enabling the motor to be started with load in the presence of a motor output torque protection mechanism. Furthermore, compared to first controlling the motor with a PWM control signal during the start-up phase and then gradually increasing the PWM control duty cycle until the duty cycle reaches a target duty cycle before performing PID control on the motor, this method is easier to obtain with a fixed duty cycle of the PWM control signal. This is because the target duty cycle of the latter is not a fixed value but varies with the load torque. Therefore, the target duty cycle of the latter is difficult to determine. Ultimately, if the target duty cycle is not selected properly, the problem of false alarms of the motor output torque protection caused by the presence of rotational inertia torque may not be solved.

[0053] An embodiment of the present invention further provides a computer-readable storage medium storing a motor load starting control program. When the motor load starting control program is executed by a processor, the motor load starting control method according to the above embodiment is implemented.

[0054] According to the computer-readable storage medium of an embodiment of the present invention, through the above-mentioned motor load starting control method, by adopting a repeated control mechanism to control the motor starting, it is possible to effectively avoid the false alarm of the motor output torque protection due to the existence of rotational inertia torque, thereby realizing the motor load starting in the presence of a motor output torque protection mechanism.

[0055] In addition, an embodiment of the present invention also provides a motor controller, including a memory, a processor, and a motor load starting control program stored in the memory and runnable on the processor. When the processor executes the motor load starting control program, it implements the motor load starting control method as described in the above embodiment.

[0056] According to the motor controller of an embodiment of the present invention, through the above-mentioned motor load starting control method, by adopting a repeated control mechanism to control the motor starting, it is possible to effectively avoid the false alarm of the motor output torque protection due to the existence of rotational inertia torque, thereby realizing the motor load starting in the presence of a motor output torque protection mechanism.

[0057] Figure 3 FIG. 1 is a schematic diagram of a motor load starting control device according to an embodiment of the present invention. Figure 3 As shown, the motor load starting control device 100 includes: a current detection module 110 and a starting control module 120.

[0058] Among them, the current detection module 100 is used to detect the working current of the motor during the motor startup process; the starting control module 120 is used to turn off the PID control of the motor when the working current of the motor is greater than or equal to the preset current protection threshold, and use a PWM control signal with a fixed duty cycle to control the motor, and switch back to the PID control of the motor after a first preset time, and repeatedly switch until the motor completes load startup, wherein the fixed duty cycle is less than the first duty cycle, and the first duty cycle is the duty cycle of the motor using PID control when the working current of the motor is greater than or equal to the preset current protection threshold.

[0059] In some embodiments, the startup control module 120 is further configured to perform PID control on the motor when the motor starts from a stationary state.

[0060] In some embodiments, the startup control module 120 is also used to: determine a first duty cycle when the operating current of the motor is greater than or equal to a preset current protection threshold, and determine a fixed duty cycle based on the first duty cycle, so as to control the motor using a PWM control signal with a fixed duty cycle after turning off the PID control of the motor.

[0061] In some embodiments, the preset current protection threshold is determined according to a threshold torque for motor output torque protection.

[0062] In some embodiments, the startup control module 120 is further configured to: when the operating current of the motor is greater than or equal to a preset current protection threshold, count through a counter, and control the motor to perform output torque protection when the count value is greater than a preset value.

[0063] In some embodiments, the startup control module 120 is further configured to maintain PID control of the motor when the operating current of the motor is less than a preset current protection threshold.

[0064] In some embodiments, the above-mentioned motor load starting control device also includes: a motor speed acquisition module (not specifically shown in the figure), and the starting control module 120 is also used to obtain the motor speed through the motor speed acquisition module during the motor starting process, and determine that the motor has completed the load starting when the motor speed reaches the target speed.

[0065] It should be noted that for the description of the motor load starting control device in this application, please refer to the description of the motor load starting control method in this application, and the details will not be repeated here.

[0066] According to an embodiment of the present invention, the motor load start control device detects the motor's operating current through a current detection module during the motor start-up process, and controls the motor's load start-up through a start control module. When the motor's operating current is greater than or equal to a preset current protection threshold, the motor's PID control is disabled, and a PWM control signal with a fixed duty cycle is used to control the motor. After a first preset time, the motor's PID control is switched back to the motor's PID control, and this switching cycle is repeated until the motor completes the load start-up. Thus, by using a repeated control mechanism to control the motor start-up, false alarms of the motor output torque protection caused by the presence of rotational inertia torque can be effectively avoided, thereby enabling the motor to be started under load even with the motor output torque protection mechanism in place.

[0067] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0068] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0069] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0071] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0072] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A motor load starting control method, characterized in that: include: During the motor starting process, detect the motor's operating current; comparing the operating current of the motor with a preset current protection threshold, and shutting down the PID control of the motor when the operating current of the motor is greater than or equal to the preset current protection threshold; Determining a duty cycle of the motor using PID control when the operating current of the motor is greater than or equal to a preset current protection threshold as a first duty cycle, and determining a fixed duty cycle based on the first duty cycle; wherein the fixed duty cycle is smaller than the first duty cycle; The motor is controlled using the PWM control signal with the fixed duty cycle, and after a first preset time, the motor is switched back to the PID control. After switching back to the PID control of the motor, the step of comparing the operating current of the motor with the preset current protection threshold is returned to until the motor completes load starting.

2. The motor load starting control method according to claim 1, characterized in that: When the motor starts from a stationary state, PID control is performed on the motor.

3. The motor load starting control method according to any one of claims 1 to 2, characterized in that: The preset current protection threshold is determined according to the threshold torque of the motor output torque protection.

4. The motor load starting control method according to claim 3, characterized in that: When the working current of the motor is greater than or equal to a preset current protection threshold, a counter is used to count, and when the count value is greater than a preset value, the motor is controlled to perform output torque protection.

5. The motor load starting control method according to any one of claims 1 to 2, characterized in that: When the operating current of the motor is less than a preset current protection threshold, the PID control of the motor is maintained.

6. The motor load starting control method according to any one of claims 1 to 2, characterized in that: During the motor starting process, the rotation speed of the motor is also acquired, and when the rotation speed of the motor reaches a target rotation speed, it is determined that the motor has completed the load starting.

7. A computer-readable storage medium, characterized in that A motor load starting control program is stored thereon, and when the motor load starting control program is executed by a processor, the motor load starting control method according to any one of claims 1 to 6 is implemented.

8. A motor controller, characterized in that: The method comprises a memory, a processor and a motor load starting control program stored in the memory and executable on the processor. When the processor executes the motor load starting control program, the motor load starting control method according to any one of claims 1 to 6 is implemented.

9. A motor load starting control device, characterized in that: include: The current detection module is used to detect the working current of the motor during the motor startup process; a startup control module, configured to compare the operating current of the motor with a preset current protection threshold, and to disable the PID control of the motor when the operating current of the motor is greater than or equal to the preset current protection threshold; Determining a duty cycle of the motor using PID control when the operating current of the motor is greater than or equal to a preset current protection threshold as a first duty cycle, and determining a fixed duty cycle based on the first duty cycle; wherein the fixed duty cycle is smaller than the first duty cycle; The motor is controlled using the PWM control signal with the fixed duty cycle, and after a first preset time, the motor is switched back to the PID control. After switching back to the PID control of the motor, the step of comparing the operating current of the motor with the preset current protection threshold is returned to until the motor completes load starting.

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