Self-learning method, system, equipment and storage medium for brake release / holding action compensation time.

Abstract

This invention discloses a self-learning method, system, device, and storage medium for brake release / holding action compensation time. The method includes acquiring the current delay adjustment step size and current iteration direction for the self-learning of brake release / holding action compensation time; iteratively updating the brake release / holding action compensation time of the frequency converter according to the current delay adjustment step size and current iteration direction, enabling the frequency converter to control the motor based on the iterated brake release / holding action compensation time, and acquiring the current torque current of the motor in real time; determining whether the iterated brake release / holding action compensation time meets preset conditions based on the current torque current of the motor, the torque current under historical adjacent iterations, and the current iteration number; if not, returning to the first step; if yes, stopping the iteration. This invention allows the brake release / holding action compensation time of the frequency converter to infinitely approximate the actual brake release / holding action time of the motor brake, adapting to the mechanical characteristics of the motor brake and improving the speed of motor start-up and shutdown.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a self-learning method, system, device, and storage medium for brake release / holding action compensation time. Background Technology

[0002] Traditional brake release / engagement operations involve simultaneously energizing and de-energizing the motor and brake. Because the brake's engagement and disengagement processes take time, while the generation and disappearance of motor torque occur instantaneously during energization and de-energization, the coordination between the brake and motor is highly susceptible to problems. For example, if the brake has not yet completed its release action when the motor is energized, the motor will stall. Conversely, during braking, the brake is typically de-energized via a relay before the motor is de-energized. If the brake is already engaged when the motor is de-energized, the motor is already overloaded before the power is cut off. Problems in the coordination between the brake and motor can negatively impact the lifespan of both the motor and the brake.

[0003] Therefore, in existing technologies, to avoid problems with the coordination between the brake and the motor, the following brake release / holding control method is used: When releasing the brake, a delay time is added before the inverter outputs the set frequency, allowing the inverter to accelerate to the set frequency at a given acceleration after the brake has completed its release operation; when holding the brake, the inverter stops outputting only after the brake's holding delay time has elapsed. Since the release / holding action time varies depending on the mechanical characteristics of each brake, different types of brakes often have significantly different release / holding action times, and even brakes of the same type may have slight differences. However, existing brake release / holding control methods generally use a default value, calculated based on trial data, that covers most brake release / holding actuators, and this default value is used as the factory-set release / holding action delay time. To accommodate most brakes, the release / holding action delay time is generally set relatively large, which severely affects the speed of motor start-up and shutdown.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a self-learning method, system, device, and storage medium for brake release / holding action compensation time, aiming to solve the technical problem in the prior art where the setting method of brake release / holding action delay time seriously affects the speed of motor start-up and shutdown.

[0006] To achieve the above objectives, this invention provides a self-learning method for brake release / holding operation compensation time, applied to frequency converters, the method comprising:

[0007] Obtain the current delay adjustment step size and current iteration direction of the self-learning of the release / holding brake action compensation time;

[0008] The frequency converter's brake release / holding action compensation time is iteratively updated based on the current delay adjustment step size and the current iteration direction, so that the frequency converter controls the motor according to the iterated brake release / holding action compensation time and obtains the motor's current torque current in real time.

[0009] Based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number, determine whether the compensation time for the release / holding action after the iteration meets the preset conditions.

[0010] If the preset conditions are not met, return to the step of obtaining the current delay adjustment step size and current iteration direction of the self-learning of the brake release / holding action compensation time; and / or,

[0011] If the preset conditions are met, the iteration stops, and the brake release / holding action compensation time of the inverter is updated to the brake release / holding action compensation time after the iteration.

[0012] Optionally, the preset condition is: the difference between the current torque current of the motor and the historical torque current of the motor in adjacent historical iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

[0013] Optionally, obtaining the current delay adjustment step size of the self-learned release / holding brake action compensation time includes:

[0014] Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula:

[0015] Δt=(t 初始值 -t min ) / 2 n ;

[0016] Where n is a natural number.

[0017] Optionally, obtaining the current iteration direction of the self-learning of the brake release / holding action compensation time includes:

[0018] In the first iteration, the current iteration direction is negative; and / or,

[0019] In non-first iterations, it is determined whether the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations is within a preset range; when the difference is within the preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

[0020] Furthermore, to achieve the above objectives, this invention also proposes a self-learning system for brake release / holding operation compensation time, applied to a frequency converter, the system comprising:

[0021] The iteration step size acquisition unit is used to acquire the current delay adjustment step size of the self-learning of the brake release / holding action compensation time;

[0022] The iteration direction acquisition unit is used to acquire the current iteration direction of the self-learning of the release / holding brake action compensation time;

[0023] The iterative update unit is used to iteratively update the brake release / holding action compensation time of the inverter according to the current time delay adjustment step size and the current iteration direction, so that the inverter controls the motor according to the iteratively updated brake release / holding action compensation time and obtains the current torque current of the motor in real time.

[0024] The judgment unit is used to determine whether the brake release / holding compensation time after the iteration meets the preset conditions based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number; if the preset conditions are not met, the unit controls the iteration step size acquisition unit and the iteration direction acquisition unit to reacquire the current delay adjustment step size and the current iteration direction of the self-learned brake release / holding compensation time; and / or, if the preset conditions are met, the iteration is stopped, and the brake release / holding compensation time of the inverter is updated to the brake release / holding compensation time after the iteration.

[0025] Optionally, the preset condition is: the difference between the current torque current of the motor and the historical torque current of the motor in adjacent historical iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

[0026] Optionally, the iteration step size acquisition unit is specifically used for:

[0027] Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula:

[0028] Δt=(t 初始值 -t min ) / 2 n ;

[0029] Where n is a natural number.

[0030] Optionally, the iteration direction acquisition unit is specifically used for:

[0031] The first iteration direction acquisition unit is used when the current iteration direction is negative during the first iteration; and / or,

[0032] The non-first iteration direction acquisition unit is used to determine, during non-first iterations, whether the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations is within a preset range; when the difference is within the preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

[0033] Furthermore, to achieve the above objectives, the present invention also proposes a self-learning device for brake release / holding action compensation time, the device comprising: a memory, a processor, and a self-learning program for brake release / holding action compensation time stored in the memory and executable on the processor, the self-learning program for brake release / holding action compensation time being configured to implement the steps of the self-learning method for brake release / holding action compensation time described above.

[0034] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a self-learning program for brake release / holding action compensation time, wherein when the processor executes the self-learning program for brake release / holding action compensation time, it implements the steps of the self-learning method for brake release / holding action compensation time described above.

[0035] This invention first obtains the current delay adjustment step size and current iteration direction of the self-learning of the brake release / holding action compensation time; then, iteratively updates the brake release / holding action compensation time of the frequency converter according to the current delay adjustment step size and current iteration direction, so that the frequency converter controls the motor according to the iterated brake release / holding action compensation time, and obtains the current torque current of the motor in real time; it judges whether the iterated brake release / holding action compensation time meets the preset conditions based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number; if the preset conditions are not met, the step of obtaining the current delay adjustment step size and current iteration direction of the self-learning of the brake release / holding action compensation time is returned; and / or, if the preset conditions are met, the iteration is stopped, and the brake release / holding action compensation time of the frequency converter is updated to the iterated brake release / holding action compensation time, which can make the brake release / holding action compensation time of the frequency converter infinitely close to the actual brake release / holding action time of the motor brake, adapt to the mechanical characteristics of the motor brake, and improve the speed of motor start-up and shutdown. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the self-learning device for compensating the release / holding brake action time in the hardware operating environment involved in the embodiments of the present invention;

[0037] Figure 2 This is a flowchart illustrating the self-learning method for compensating time of brake release / holding action provided in Embodiment 1 of the present invention.

[0038] Figure 3 This is a schematic diagram showing the positional relationship between the d-axis and q-axis and the rotor and stator in the motor in one embodiment of the self-learning method for compensating time of brake release / holding action of the present invention;

[0039] Figure 4 This is a schematic diagram of the d-axis current and q-axis current obtained after Parker transformation in one embodiment of the self-learning method for compensating time of brake release / holding action of the present invention.

[0040] Figure 5 This is a timing diagram for starting and stopping the motor in one embodiment of the self-learning method for compensating time of brake release / holding action according to the present invention.

[0041] Figure 6 This is a schematic diagram illustrating the iterative update of the brake release / holding action compensation time in one embodiment of the self-learning method for brake release / holding action compensation time of the present invention;

[0042] Figure 7 This is a schematic diagram of the structure of the self-learning system for brake release / holding action compensation time provided in Embodiment 2 of the present invention;

[0043] Figure 8 This is a schematic diagram of the structure of the self-learning device for brake release / holding action compensation time provided in Embodiment 3 of the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0046] Reference Figure 1 , Figure 1 This is a schematic diagram of the self-learning device for compensating the release / holding brake action time in the hardware operating environment involved in the embodiments of the present invention.

[0047] like Figure 1As shown, the self-learning device for brake release / holding action compensation time may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to establish communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0048] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the self-learning device for brake release / holding action compensation time, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a self-learning program for brake release / holding action compensation time.

[0050] exist Figure 1 In the self-learning device for brake release / holding action compensation time shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the self-learning device for brake release / holding action compensation time of the present invention can be set in the self-learning device for brake release / holding action compensation time. The self-learning device for brake release / holding action compensation time calls the self-learning program for brake release / holding action compensation time stored in the memory 1005 through the processor 1001 and executes the self-learning method for brake release / holding action compensation time provided in the embodiment of the present invention.

[0051] Example 1

[0052] This invention provides a self-learning method for compensating for brake release / holding action time, applied to frequency converters, with reference to... Figure 2 , Figure 2This is a flowchart illustrating the first embodiment of the self-learning method for compensating time of brake release / holding action according to the present invention.

[0053] In this embodiment, the self-learning method for compensating the release / holding brake action time includes the following steps:

[0054] Step S10: Obtain the current delay adjustment step size and current iteration direction of the self-learning of the brake release / holding action compensation time.

[0055] It is understood that the time delay adjustment step size is an adjustment step size that iteratively updates the brake release / holding action compensation time set within the frequency converter. The time delay adjustment step size can be a pre-set fixed value or a value updated with the number of iterations, and can be set according to the specific scenario. In a preferred implementation example, the time delay adjustment is updated with the number of iterations, wherein obtaining the current time delay adjustment step size after self-learning the brake release / holding action compensation time specifically includes:

[0056] Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula:

[0057] Δt=(t 初始值 -t min ) / 2 n ;

[0058] Where n is a natural number. It should be noted that in this embodiment, when the inverter first controls the motor, the brake release / holding compensation time used is the preset factory-set brake release / holding compensation time t. 初始值 At this point, n = 0. The inverter also has a pre-stored minimum brake release / holding compensation time t. min The compensation time for the release / holding action of the frequency converter is within the minimum compensation time t. min Factory release / brake action compensation time t 初始值 Iterate within the range.

[0059] It is understood that the current iteration direction includes both positive and negative iteration directions. Specifically, obtaining the current iteration direction for the self-learning of the brake release / holding action compensation time includes:

[0060] In the first iteration, the current iteration direction is negative; and / or,

[0061] In subsequent iterations, the current iteration direction is obtained based on the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations. Specifically: when the difference is within a preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

[0062] It is understandable that the first iteration refers to when n=1, and subsequent iterations refer to when n is a positive integer greater than or equal to 2. In specific implementation, the torque current of the motor in the current iteration number is subtracted from the historical torque current of the motor in adjacent iteration numbers to obtain the current difference. The iteration direction of the next iteration number is adjusted according to the relationship between the current difference and the preset current threshold.

[0063] It should be noted that, to accommodate most motor brakes, the pre-set factory release / holding compensation time is generally set relatively large (to cover motor brakes with long operating times). This means the factory release / holding compensation time is greater than the time delay caused by the mechanical characteristics of the motor brake. Therefore, the direction is negative in the first iteration. In subsequent iterations, if the difference between the motor torque and current obtained in adjacent iterations is within a preset range, the current release / holding compensation time is greater than the actual release / holding time of the motor brake. Therefore, the direction of the next iteration is determined to be negative, i.e., iterating downwards based on the current release / holding compensation time. If the difference between the motor torque and current obtained in adjacent iterations exceeds a preset range, it indicates that the current release / holding compensation time is less than the actual release / holding time of the motor brake. Therefore, the direction of the next iteration is determined to be positive, i.e., iterating upwards based on the current release / holding compensation time.

[0064] In practical implementation, when it is not the first iteration: for example, when the current difference is I... c The preset current threshold is I. b Assume I c Greater than I b If the iteration direction for the next iteration is positive, then the time delay adjustment step size for the next iteration is determined as T_(hurdle) according to the time delay step size adjustment formula. a+1 The brake release / holding compensation time is updated according to the positive iteration direction and the time delay adjustment step size. The brake release / holding compensation time obtained after a+1 iterations is: T_(cur) a+1 =T_(cur) a +T_(hurdle) a+1 Assume I c Less than I bIf the iteration direction for the next iteration number is negative, then the time delay adjustment step size for iteration a+1 is determined to be T_(hurdle) according to the time delay step size adjustment formula. a+1 The brake release / holding compensation time is updated based on the negative iteration direction and the time delay adjustment step size, resulting in the brake release / holding compensation time after a+1 iterations: T_(cur). a+1 =T_(cur) a -T_(hurdle) a+1 You can also refer to Figure 6 , Figure 6 This is a schematic diagram illustrating the iterative update of the compensation time for the release / holding brake action. Assume I... c Greater than I b If the iteration direction in the next iteration number is the positive iteration direction, then T_(cur) a+1 Then it will fall on T_(cur) a Within the interval T_(default); assuming I c Less than or equal to I b If the iteration direction in the next iteration number is the negative iteration direction, then T_(cur) a+1 It will fall on T min And T_(cur) a Within the interval, where T min The minimum release / holding brake compensation time is preset, and the interval to which the release / holding brake compensation time belongs is determined by comparing the magnitude of the motor torque and current in adjacent iterations.

[0065] Step S20: The frequency converter's brake release / holding action compensation time is iteratively updated according to the current time delay adjustment step size and the current iteration direction, so that the frequency converter controls the motor according to the iterated brake release / holding action compensation time and obtains the motor's current torque current in real time.

[0066] It should be understood that a default factory-set compensation time for brake release / holding action can be pre-set for the frequency converter through big data analysis. In this embodiment, the default factory-set compensation time for brake release / holding action is iteratively updated according to the iteration direction and time delay adjustment step size.

[0067] During the iterative update of the brake release / holding action compensation time, after updating the compensation time according to the iteration direction and time delay adjustment step size, the frequency converter will output current to the motor according to the updated brake release / holding action compensation time, and acquire the current torque current of the motor in real time. Specifically, acquiring the current torque current of the motor in real time includes:

[0068] The sampling current is obtained by sampling the three-phase current output from the frequency converter to the motor through a sampling circuit. For example, the sampling current acquisition process can be as follows: a sampling resistor can be connected in series in the current loop, and the sampling current can be obtained by the voltage across the sampling resistor; a sampling resistor can be connected in series in each lower arm of an insulated-gate bipolar transistor, metal-oxide-semiconductor field-effect transistor, or other power device, and the sampling current can be obtained by the voltage across the sampling resistor; or the sampling current can be obtained by other methods. The specific structure of the sampling circuit is existing technology and will not be described in detail here. After the sampling current is obtained, the sampling current in the three-axis stator stationary coordinate system is transformed to the two-axis stator stationary coordinate system through Clark transformation, that is, the sampling current is transformed to the αβ coordinate system (the two coordinate axes of the αβ coordinate system are orthogonal). Since the sampling current in the αβ coordinate system is a nonlinear quantity, the sampling current in the αβ coordinate system is further transformed to the dq-axis coordinate system, where the d-axis is the direct axis and the q-axis is the quadrature axis. Figure 3 This diagram illustrates the positional relationship between the d-axis and q-axis and the rotor and stator of the motor. The dq-axis coordinate system rotates relative to the stator but is stationary relative to the rotor. After Parker transformation, the sampled current is converted into two DC components: the d-axis current and the q-axis current. Figure 4 This is a schematic diagram of the d-axis and q-axis currents obtained after the Parker transformation, where the q-axis current is the torque current of the motor.

[0069] In practical implementation, for example, during inverter development, a default release / holding brake compensation time t is preset based on the results of big data analysis. 初始值 In this embodiment, the default release / holding brake compensation time of the frequency converter is iteratively updated according to the time delay adjustment step size and the iteration direction. During the iterative update of the release / holding brake compensation time, the frequency converter outputs current to the motor according to the updated release / holding brake compensation time. The three-phase current output by the frequency converter to the motor is sampled to obtain the sampled current. The sampled current is then subjected to Clarke transform and Parker transform to obtain the d-axis current and q-axis current. The q-axis current is used as the torque current of the motor. The torque current under the current iteration number is compared with the historical torque current. The iteration direction of the next iteration number is adjusted according to the comparison result. The release / holding brake compensation time of the motor brake is updated again according to the adjusted iteration direction and the time delay adjustment step size.

[0070] To facilitate understanding, the iterative process is illustrated below with specific numerical examples. For instance, the default compensation time for brake release / holding action when the frequency converter leaves the factory is 10s, and the preset minimum compensation time for brake release / holding action is 0s. In the first iteration, when n=1, the self-learning adjustment step size is (10s-0s) / 2. 1=5s, the first iteration direction is negative, the release / holding action step time is adjusted from 10s to 5s, the adjusted release / holding compensation time is 5s; calculate the current difference between the motor torque current in the current iteration and the historical torque current of the motor in the previous iteration; if the current difference is less than or equal to the preset current threshold, it means that the actual release / holding action time of the motor brake is within 0 to 5s, then the iteration direction of the next iteration is determined to be negative; otherwise, if the current difference is greater than the preset current threshold, it means that the actual release / holding action time of the motor brake is within 5 to 10s, then the iteration direction of the next iteration is determined to be positive; for the second iteration, the adjustment step size is (10s-0s) / 2 2 =2.5s, iteration direction: if the iteration direction is negative, the compensation time for releasing / holding the brake after downward iteration is: 5s-2.5s=2.5s; if the iteration direction is positive, the compensation time for releasing / holding the brake after upward iteration is: 5s+2.5s=7.5s. The subsequent iteration update process can refer to the above process, and will not be repeated here in this embodiment.

[0071] Step S30: Determine whether the compensation time for the release / holding action after the iteration meets the preset conditions based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number; if the preset conditions are not met, return to step S10; if the preset conditions are met, proceed to step S40.

[0072] Understandably, the preset condition is a pre-set condition for terminating the iterative update. Further, the preset condition is: the difference between the current torque current of the motor and the historical torque current of the motor at adjacent iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

[0073] In specific implementation, after each iteration, the frequency converter records the current torque current of the motor and calculates the difference between the current torque current of the motor and the historical torque current of the motor recorded in the previous iteration, and determines whether the difference is within a preset range; if it is not within the preset range, it returns to step S10; otherwise, if it is within the preset range, it proceeds to step S40.

[0074] Step S40: Stop the iteration and update the brake release / holding action compensation time of the inverter to the iteration-revised brake release / holding action compensation time.

[0075] This embodiment, through the above-mentioned self-learning method for brake release / holding compensation, enables the inverter's brake release / holding compensation time to infinitely approximate the actual brake release / holding time of the motor brake, adapting to the mechanical characteristics of the motor brake and improving the speed of motor start-up and shutdown.

[0076] Example 2

[0077] Figure 7 This is a schematic diagram of the self-learning system for brake release / holding operation compensation time provided in Embodiment 2 of the present invention. This system is applied to a frequency converter; for ease of explanation, only the parts relevant to this embodiment are shown.

[0078] join Figure 7 As shown, the self-learning system for brake release / holding action compensation time provided in this embodiment includes:

[0079] The iteration step size acquisition unit 10 is used to acquire the current delay adjustment step size of the self-learning of the brake release / holding action compensation time;

[0080] The iteration direction acquisition unit 20 is used to acquire the current iteration direction of the self-learning of the release / holding brake action compensation time;

[0081] The iterative update unit 30 is used to iteratively update the brake release / holding action compensation time of the inverter according to the current time delay adjustment step size and the current iteration direction, so that the inverter controls the motor according to the iteratively updated brake release / holding action compensation time and obtains the current torque current of the motor in real time.

[0082] The judgment unit 40 is used to determine whether the brake release / holding action compensation time after the iteration meets the preset conditions based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number; if the preset conditions are not met, the iteration step size acquisition unit and the iteration direction acquisition unit are controlled to re-acquire the current delay adjustment step size and the current iteration direction of the self-learned brake release / holding action compensation time; and / or, if the preset conditions are met, the iteration is stopped, and the brake release / holding action compensation time of the inverter is updated to the brake release / holding action compensation time after the iteration.

[0083] Optionally, the preset condition is: the difference between the current torque current of the motor and the historical torque current of the motor in adjacent historical iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

[0084] Optionally, the iteration step size acquisition unit is specifically used for:

[0085] Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula:

[0086] Δt=(t 初始值 -t min ) / 2n ;

[0087] Where n is a natural number.

[0088] Optionally, the iteration direction acquisition unit is specifically used for:

[0089] The first iteration direction acquisition unit is used when the current iteration direction is negative during the first iteration; and / or,

[0090] The non-first iteration direction acquisition unit is used to determine, during non-first iterations, whether the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations is within a preset range; when the difference is within the preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

[0091] The self-learning system for brake release / holding action compensation time in this embodiment of the invention belongs to the same concept as the method in Embodiment 1 above. The specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are all applicable in this embodiment, so they will not be repeated here.

[0092] Example 3

[0093] Figure 8 This is a schematic diagram of the structure of the self-learning device for brake release / holding action compensation time provided in Embodiment 3 of the present invention. For ease of explanation, only the parts relevant to this embodiment are shown.

[0094] See Figure 8 As shown, the self-learning device 800 for release / holding brake action compensation time provided in this embodiment includes: a memory 801, a processor 802, and a self-learning program 803 for release / holding brake action compensation time stored in the memory 801 and executable on the processor 802. The self-learning program 803 for release / holding brake action compensation time is configured to implement the steps of the self-learning method for release / holding brake action compensation time as described in any one of the embodiments.

[0095] The self-learning device for brake release / holding action compensation time in this embodiment belongs to the same concept as the method in Embodiment 1 above. Its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are all applicable in this embodiment, so they will not be repeated here.

[0096] Example 4

[0097] Embodiment 4 of the present invention provides a storage medium storing a self-learning program for brake release / holding action compensation time. When the self-learning program for brake release / holding action compensation time is executed by a processor, it implements the steps of the self-learning method for brake release / holding action compensation time as described in any one of Embodiment 1.

[0098] The computer-readable storage medium of this embodiment belongs to the same concept as the method of Embodiment 1 above. For details of its specific implementation process, please refer to the corresponding method embodiment. The technical features in the method embodiment are also applicable to this computer-readable storage medium embodiment, and will not be repeated here.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0100] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0102] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A self-learning method for compensating for brake release / holding action time, applied to frequency converters, characterized in that, The method includes: Obtain the current delay adjustment step size and current iteration direction of the self-learning of the release / holding brake action compensation time; The frequency converter's brake release / holding action compensation time is iteratively updated based on the current delay adjustment step size and the current iteration direction, so that the frequency converter controls the motor according to the iterated brake release / holding action compensation time and obtains the motor's current torque current in real time. Based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number, determine whether the compensation time for the release / holding action after the iteration meets the preset conditions. If the preset conditions are not met, return to the step of obtaining the current delay adjustment step size and current iteration direction of the self-learning of the brake release / holding action compensation time; and / or, If the preset conditions are met, the iteration stops, and the brake release / holding action compensation time of the inverter is updated to the brake release / holding action compensation time after the iteration.

2. The self-learning method for compensating time of brake release / holding action as described in claim 1, characterized in that, The preset conditions are: the difference between the current torque current of the motor and the historical torque current of the motor in adjacent historical iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

3. The method as described in claim 1, characterized in that, The step size for obtaining the current delay adjustment of the self-learning of the brake release / holding action compensation time includes: Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula: Δt=(t 初始值 -t min ) / 2 n ; Where n is a natural number.

4. The method as described in claim 1, characterized in that, The current iteration direction for obtaining the self-learning of the brake release / holding action compensation time includes: In the first iteration, the current iteration direction is negative; and / or, In non-first iterations, it is determined whether the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations is within a preset range; when the difference is within the preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

5. A self-learning system for compensating for brake release / holding action time, applied to a frequency converter, characterized in that, The system includes: The iteration step size acquisition unit is used to acquire the current delay adjustment step size of the self-learning of the brake release / holding action compensation time; The iteration direction acquisition unit is used to acquire the current iteration direction of the self-learning of the release / holding brake action compensation time; The iterative update unit is used to iteratively update the brake release / holding action compensation time of the inverter according to the current time delay adjustment step size and the current iteration direction, so that the inverter controls the motor according to the iteratively updated brake release / holding action compensation time and obtains the current torque current of the motor in real time. The judgment unit is used to determine whether the brake release / holding compensation time after the iteration meets the preset conditions based on the current torque current of the motor, the historical torque current of the motor under the historical adjacent iteration number, and the current iteration number; if the preset conditions are not met, the unit controls the iteration step size acquisition unit and the iteration direction acquisition unit to reacquire the current delay adjustment step size and the current iteration direction of the self-learned brake release / holding compensation time; and / or, if the preset conditions are met, the iteration is stopped, and the brake release / holding compensation time of the inverter is updated to the brake release / holding compensation time after the iteration.

6. The self-learning system for brake release / holding action compensation time as described in claim 5, characterized in that, The preset conditions are: the difference between the current torque current of the motor and the historical torque current of the motor in adjacent historical iterations is within a preset range; and the current iteration number is greater than or equal to the preset iteration number.

7. The system as described in claim 5, characterized in that, The iteration step size acquisition unit is specifically used for: Obtain the pre-set factory release / holding brake action compensation time t 初始值 Minimum release / holding brake compensation time t min Given the current iteration number n, the current delay adjustment step size Δt is calculated using the following formula: Δt=(t 初始值 -t min ) / 2 n ; Where n is a natural number.

8. The system as described in claim 5, characterized in that, The iteration direction acquisition unit is specifically used for: The first iteration direction acquisition unit is used when the current iteration direction is negative during the first iteration; and / or, The non-first iteration direction acquisition unit is used to determine, during non-first iterations, whether the difference between the current torque current of the motor and the historical torque current of the motor in adjacent iterations is within a preset range. When the difference is within a preset range, the current iteration direction is negative; and / or, when the difference exceeds the preset range, the current iteration direction is positive.

9. A self-learning device for compensating time of brake release / holding action, characterized in that, The device includes: a memory, a processor, and a self-learning program for brake release / holding action compensation time stored in the memory and executable on the processor, the self-learning program for brake release / holding action compensation time being configured to implement the steps of the self-learning method for brake release / holding action compensation time as described in any one of claims 1 to 4.

10. A storage medium, characterized in that, The storage medium stores a self-learning program for brake release / holding action compensation time. When the processor executes the self-learning program for brake release / holding action compensation time, it implements the steps of the self-learning method for brake release / holding action compensation time as described in any one of claims 1 to 4.

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