Motor starting method, motor and storage medium

Abstract

The application provides a motor starting method, a motor and a storage medium. The method comprises the following steps: when a starting instruction of a motor is received, a rotor is controlled to rotate through a preset current; a target current is obtained by adjusting the preset current, and the rotor is controlled to rotate through the target current; current position information of the rotor is detected through a position observer, and position deviation information between the current position information and preset position information is determined; and the motor is controlled to run in a closed loop according to the position deviation information. The application aims to improve the starting performance and running reliability of the motor.

Description

Technical Field

[0001] This application relates to the field of electrical equipment technology, and in particular to a motor starting method, a motor, and a storage medium. Background Technology

[0002] With the rapid development of industry, electric motors are increasingly widely used in industrial control. Many machines utilize electric motors, making their starting performance and operational reliability a major concern. Current motor starting methods rely on electrical control boxes, often requiring the rotor to be positioned first. Then, based on the rotor's current position, a closed-loop starting method with open-loop support is used to start the motor. This starting method does not consider overload conditions. If the load is too heavy at startup, it can lead to a large starting current, causing starting failure and affecting the motor's starting reliability. Summary of the Invention

[0003] The main objective of this application is to provide a motor starting method, a motor, and a storage medium, which aims to improve the starting performance and operational reliability of the motor.

[0004] In a first aspect, this application provides a method for starting a motor, the motor including a rotor and a position observer, the method comprising:

[0005] Upon receiving the start command of the motor, the rotor is controlled to rotate by a preset current;

[0006] The preset current is adjusted to obtain the target current, and the rotor is controlled to rotate by the target current;

[0007] The current position information of the rotor is detected by the position observer, and the position deviation information between the current position information and the preset position information is determined.

[0008] Based on the position deviation information, the motor is controlled to operate in a closed loop.

[0009] Secondly, this application also provides an electric motor, the electric motor including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the motor starting method as described above.

[0010] Thirdly, this application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of the motor starting method described above.

[0011] This application provides a motor starting method, a motor, and a storage medium. Upon receiving a motor start command, the method controls the rotor to rotate using a preset current; adjusts the preset current to obtain a target current, and controls the rotor to rotate using the target current; detects the current position information of the rotor using a position observer, and determines the position deviation information between the current position information and the preset position information; based on the position deviation information, controls the motor to operate in a closed loop. Pre-starting the motor with a preset current and then adaptively starting it with the target current greatly improves the motor's starting performance and operational reliability. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating the steps of a motor starting method provided in an embodiment of this application;

[0014] Figure 2 A schematic diagram of the phase current waveform provided for implementing this embodiment;

[0015] Figure 3 A schematic diagram of a scenario for implementing the motor starting method provided in this embodiment;

[0016] Figure 4 for Figure 1 A flowchart illustrating the sub-steps of the motor starting method in the diagram;

[0017] Figure 5 Another schematic diagram of the phase current waveform provided for implementing this embodiment;

[0018] Figure 6 Another scenario diagram illustrating the implementation of the motor starting method provided in this embodiment;

[0019] Figure 7 Another scenario diagram illustrating the implementation of the motor starting method provided in this embodiment;

[0020] Figure 8 This is a schematic block diagram of the structure of an electric motor provided in an embodiment of this application.

[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation. This application provides a motor starting method, a motor, and a storage medium. The motor starting method can be applied to a motor, which includes a rotor and a position observer; optionally, the motor includes a synchronous motor and an asynchronous motor, and the synchronous motor includes an electrically excited synchronous motor and a permanent magnet synchronous motor.

[0024] Understandably, this motor starting method can be applied to terminal devices or servers. The terminal devices can be electronic devices such as mobile phones, tablets, laptops, desktop computers, personal digital assistants, and wearable devices; the server can be a single server or a server cluster composed of multiple servers.

[0025] The following explanation uses the application of this motor starting method to a motor as an example.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the steps of a motor starting method provided in an embodiment of this application.

[0028] like Figure 1 As shown, the motor starting method includes steps S101 to S104.

[0029] Step S101: Upon receiving the motor start command, the rotor is rotated by controlling the preset current.

[0030] Existing starting methods often require first positioning the motor rotor, and then using an open-loop lift-up and closed-loop operation based on the current rotor position. The specific process can be observed in the motor's phase current waveform, such as... Figure 2As shown, current is injected into the motor rotor starting at time T1, thus initiating open-loop current regulation of the motor. The period from time T1 to time T2 represents the open-loop current regulation process. After time T2, the open-loop current regulation is complete, thereby controlling the motor to perform closed-loop current regulation. When starting the motor using this method, if the starting current is too high or the load is too heavy, insufficient starting torque can cause the motor to fail to start, affecting the reliability of motor operation.

[0031] Based on this, the motor starting method provided in this application pre-starts the motor with a preset current, thereby increasing the starting torque and solving the problem of heavy-load motor starting. Then, it adaptively starts the motor with a target current, making the motor starting adaptive. Due to the existence of the starting torque, it can adapt to heavy-load starting and greatly improve the starting performance and operational reliability of the motor.

[0032] In one embodiment, a preset current with a constant amplitude is injected into the rotor to control the rotor to perform current closed-loop regulation and cause the rotor to rotate. The preset current is, for example, a direct-axis current or a quadrature-axis current. It should be noted that the preset current can be a current with a constant amplitude, which can be flexibly set according to specific circumstances, for example, an amplitude of 200mA.

[0033] In one embodiment, when the motor start command is received, the motor rotor is in a stationary state. At this time, the position of the motor rotor is unknown. The position when the rotor is stationary is taken as the starting position, for example, 0 degrees. A preset current is obtained and injected into the rotor to drive the rotor to perform open-loop speed regulation and closed-loop current regulation from the starting position, thereby controlling the motor to perform pre-start, for example, causing the rotor to rotate from the starting position when stationary to a first preset position, for example, 60 degrees.

[0034] For example, such as Figure 3 As shown, Figure 3 A schematic diagram of a scenario for implementing the motor starting method provided in this embodiment. The three-phase current i of motor 10 is obtained. a i b and i c The three-phase current i is converted through the first coordinate converter 20. a i b and i c (Feedback information) Perform coordinate transformation to obtain the corresponding αβ coordinate data; based on the second coordinate converter 30, perform coordinate transformation on the αβ coordinate data according to the starting position θ0 to obtain the corresponding q-axis coordinate data -i. q0 and d-axis coordinate data -i d0 The preset current is the direct axis (d-axis) current. The quadrature-axis current (q-axis) is 0. After feedback calculation, the direct-axis current adjustment data is obtained as follows: The quadrature axis current adjustment data is -i q0 Adjust the direct-axis current data respectively. and cross-axis current adjustment data -i q0 The input is sent to the PI controller 40 to obtain the direct-axis voltage. and quadrature axis voltage Set the starting position θ0 and the direct-axis voltage. and quadrature axis voltage The data is input to the third coordinate converter 50 for coordinate transformation, thereby obtaining the q-axis voltage data. and d-axis voltage data Based on 60 pairs of q-axis voltage data from an SVPWM chopper and d-axis voltage data The voltage signal is obtained by chopping; the chopped voltage signal is then input to the IGBT inverter 70 to obtain the AC voltage U. dc AC voltage U dc The input can be sent to the motor 10 to control the operation of the motor 10; the above steps form a feedback regulation system to perform open-loop speed regulation and closed-loop current regulation until the rotor rotates from the initial position when stationary to the first preset position.

[0035] Step S102: Adjust the preset current to obtain the target current, and control the rotor to rotate using the target current.

[0036] Both the preset current and the target current can be direct-axis currents. The target current can be adjusted based on the preset current. The target current is injected into the rotor to control the rotor to continue current closed-loop regulation and make the rotor continue to rotate.

[0037] In one embodiment, such as Figure 4 As shown, adjusting the preset current to obtain the target current includes sub-steps S1021 to S1023.

[0038] Sub-step S1021: Detect the phase current waveform of the motor after injecting the preset current, and determine the rotation distance of the rotor based on the phase current waveform.

[0039] It should be noted that after the preset current is injected, the phase current waveform of the motor will change during the current closed-loop regulation process. The rotation distance of the rotor can be determined based on the phase current waveform, thereby improving the accuracy of rotor positioning control.

[0040] In one embodiment, the rotation distance of the rotor can be accurately determined based on the phase current waveform to determine whether a preset rotation distance has been reached. For example, such as... Figure 5 As shown, Figure 5 This is a schematic diagram of the phase current waveform of the motor. Starting from time T1', a preset current is injected into the rotor of the motor. Since the rotor position of the motor is unknown during the startup process, there will be a phase in which the current gradually stabilizes during the current loop adjustment process. At time T2', the phase current waveform drops vertically. At this time, it can be determined that the rotor rotation distance has reached the preset rotation distance. When the torque generated by the current rotates the rotor of the motor from the initial position when it is stationary to the first preset position, the current loop continues to perform closed-loop adjustment until time T3' is reached.

[0041] Sub-step S1022: When the rotation distance is determined to be greater than or equal to the preset rotation distance, the current rotation speed of the rotor is obtained to obtain the first rotation speed.

[0042] The motor also includes a speed observer, which is used to collect the rotor's rotational speed. When it is determined that the rotor's rotational distance is greater than or equal to a preset rotational distance, the current rotor speed is obtained through the speed observer to obtain the first speed.

[0043] For example, such as Figure 5 As shown, the rotation distance of the rotor from time T2' to time T3' is greater than or equal to the preset rotation distance. At this time, the speed observer can be turned on at time T2' to obtain the current speed of the rotor and use the current speed as the first speed.

[0044] Sub-step S1023: Adjust the preset current according to the first rotation speed to obtain the target current.

[0045] After obtaining the first rotational speed, the preset current is adjusted based on this speed to obtain the target current. The target current is negatively correlated with the first rotational speed. It should be noted that the target current can be adaptively adjusted according to the motor's load. When the motor load is high, the first rotational speed obtained by starting with the preset current is low, thus requiring a larger target current to drive the heavily loaded motor. Conversely, when the motor load is low, the first rotational speed obtained by starting with the preset current is high, thus requiring only a smaller target current to drive the motor. This solves the problem of starting the motor under heavy load and improves the motor's operational reliability.

[0046] In one embodiment, the target current is determined based on the difference between a preset current and a target current in the phase current waveform. The target current is the current in the phase current waveform corresponding to a rotation distance equal to a preset rotation distance. The preset rotation distance is used for the first stage of rotor positioning, thereby improving the reliability of positioning and startup, and avoiding unexpected events caused by misalignment of the rotor's angular position.

[0047] In one embodiment, the target current can be preset; after determining that the rotor has rotated from its initial position at rest to a first preset position, or when determining that the rotor's rotation distance is greater than or equal to a preset rotation distance, the target current is input to the rotor, thereby adjusting the preset current and controlling the rotor's rotation through the target current. In other words, the target current is injected into the rotor to control the rotor to continue current closed-loop regulation and cause the rotor to continue rotating. Figure 5 As shown, after time T3', current closed-loop regulation continues based on the target current.

[0048] In one embodiment, when the rotor rotates to a first preset position or the rotor's rotation distance is greater than or equal to a preset rotation distance, a second-stage positioning is performed to improve the reliability of the positioning start-up. At this time, a position observer is activated to detect the rotor's position information. When the rotor has not rotated to the first preset position or the rotor's rotation distance is less than the preset rotation distance, the position observer can be in a closed state. The preset position information is used for the second-stage positioning of the rotor. After the rotor has completed the first-stage positioning by the preset rotation distance, the position observer is activated for the second-stage positioning. This reduces the device error of the position observer itself and ensures the accuracy of rotor positioning, which is more accurate than directly determining the rotor's current position information through the position observer.

[0049] Step S103: Detect the current position information of the rotor through the position observer, and determine the position deviation information between the current position information and the preset position information.

[0050] The current position information can be multiple, such as the position information of a rotating rotor at multiple consecutive time points. Preset position information can be set according to actual conditions, for example, a preset position of 120 degrees. Based on multiple current position information at different time points and the preset position information, the rotor's position deviation information at different time points can be accurately determined.

[0051] In one embodiment, a position observer is activated to detect the current position information of the rotor and to obtain preset position information, which includes a preset position, which is the initial position of the rotor when it is to perform position closed-loop adjustment. The distance between the current position of the rotor and the initial position when it is to perform position closed-loop adjustment can be determined by the position deviation information between the current position information and the preset position information.

[0052] For example, such as Figure 6As shown, when the rotor rotates from its initial position at rest to the first preset position, the three-phase currents ia, ib, and ic of the motor 10 are acquired; the three-phase currents ia, ib, and ic are transformed into coordinates by the first coordinate converter 20 to obtain the corresponding αβ coordinate data; the current position information θ corresponding to the αβ coordinate data is determined by the position observer 80. est Based on the second coordinate converter 30, according to the current position information θ est Transform the αβ coordinate data to obtain the corresponding q-axis coordinate data -i q1 and d-axis coordinate data -i d1 The preset current is the direct axis (d-axis) current. The quadrature-axis current (q-axis) is 0, and the preset position information is θ1. * After feedback calculation, the direct-axis current adjustment data is obtained as follows: The quadrature axis current adjustment data is -i q1 The positional deviation information is θ1 * -θ est Adjust the direct-axis current data respectively. Quadrature axis current adjustment data -i q1 and positional deviation information θ1 * -θ est The input is fed into the PI controller 40 for adjustment to obtain the direct-axis voltage. quadrature axis voltage and the adjusted position deviation information; combine the adjusted position deviation information and direct-axis voltage and quadrature axis voltage The data is input to the third coordinate converter 50 for coordinate transformation, thereby obtaining the q-axis voltage data. d-axis voltage data And the position deviation information corresponding to the αβ coordinate data; based on the SVPWM chopper 60, the q-axis voltage data and d-axis voltage data The voltage signal is obtained by chopping; the chopped voltage signal is then input to the IGBT inverter 70 to obtain the AC voltage U. dc AC voltage U dc The input can be sent to the motor 10 to control the operation of the motor 10; the above steps form a feedback regulation system to perform open-loop speed regulation and closed-loop current regulation until the position deviation information is less than or equal to the preset deviation threshold. At this time, it indicates that the rotor has rotated to the preset position corresponding to the preset position information.

[0053] Step S104: Control the motor to operate in closed loop based on the position deviation information.

[0054] After determining the position deviation between the current position information and the preset position information, the motor is controlled to enter closed-loop operation based on the position deviation information. This closed-loop operation may include closed-loop adjustment of the position loop and / or the speed loop; for example, closed-loop operation may involve closed-loop adjustment of the speed loop, current loop, and position loop. It should be noted that controlling the motor's closed-loop operation based on the position deviation information ensures smooth operation and improves the motor's operational reliability.

[0055] In one embodiment, controlling the closed-loop operation of the motor based on position deviation information includes: determining whether the rotor has rotated to a preset position corresponding to preset position information based on the position deviation information; when the rotor rotates to the preset position, using the preset position as the initial position, and performing position closed-loop adjustment of the motor based on the initial position. The preset position information is used for a second-stage positioning of the rotor to detect whether the rotor has rotated to the preset position corresponding to the preset position information. The preset position is used as the initial position for position closed-loop adjustment, and the motor is then adjusted in a position closed-loop manner to ensure reliable motor startup.

[0056] Specifically, the system determines whether the position deviation information is less than or equal to a preset deviation threshold. If the position deviation information is less than or equal to the preset deviation threshold, the rotor is determined to have rotated to the preset position corresponding to the preset position information. If the position deviation information is greater than the preset deviation threshold, the rotor is determined not to have rotated to the preset position. It should be noted that the preset deviation threshold can be set according to the actual situation. Optionally, the preset deviation threshold can be close to 0, for example, the preset deviation threshold is 0.1 degrees.

[0057] For example, the current location information θ est The positional deviation information between the preset position information θ1 and the preset position information θ1 is θ1-θ est If a preset deviation threshold is set to δ, then the position deviation information θ1-θ is determined. est Whether it is less than or equal to the preset deviation threshold δ, i.e., whether |θ1-θ est |≤δ; If so, the rotor is determined to rotate to the preset position, and the current position angle when the rotor rotates to the preset position is taken as the motor closed-loop angle, and the motor enters closed-loop operation.

[0058] In one embodiment, when the rotor rotates to a preset position, the current rotational speed of the rotor is obtained as the initial rotational speed, and the motor is adjusted in a closed-loop manner based on the initial rotational speed. The current rotational speed of the rotor can be obtained from a speed observer. It should be noted that when the rotor rotates to the preset position, the current position angle of the rotor at that position is used as the motor's closed-loop angle, and the current rotational speed of the rotor at that position is used as the motor's closed-loop speed. The motor is fully engaged in closed-loop operation, which includes closed-loop adjustment of the speed loop, current loop, and position loop. Through closed-loop adjustment of the speed loop, current loop, and position loop, the reliability of motor positioning and starting can be improved.

[0059] Please refer to Figure 7 , Figure 7 This is a schematic diagram of another scenario for implementing the motor starting method provided in this embodiment.

[0060] like Figure 7 As shown, if the position deviation information is less than or equal to the preset deviation threshold, it indicates that the rotor has rotated to the preset position corresponding to the preset position information, and enters the closed-loop regulation of the speed loop, current loop, and position loop. Specifically, the three-phase currents ia, ib, and ic of the motor 10 are acquired; the three-phase currents ia, ib, and ic are transformed into coordinates by the first coordinate converter 20 to obtain the corresponding αβ coordinate data; and the current position information θ corresponding to the αβ coordinate data is determined by the position observer 80. est Based on the second coordinate converter 30, according to the current position information θ est Transform the αβ coordinate data to obtain the corresponding q-axis coordinate data -i q and d-axis coordinate data -i d Get the current rotational speed ω est and the preset reference rotational speed ω ref The deviation speed is obtained as ω ref- ω est ; the deviation speed ω ref- ω est The input is sent to the PI controller 40 to obtain the current component Is; the direct axis (d-axis) current is obtained from the current component Is. The quadrature-axis current (q-axis) is The preset position information is θ * After feedback calculation, the direct-axis current adjustment data is obtained as follows: The quadrature axis current adjustment data is as follows Position deviation information is θ * -θ est Adjust the direct-axis current data respectively. Quadrature axis current adjustment data and positional deviation information θ * -θ estThe input is fed into the PI controller 40 for adjustment to obtain the direct-axis voltage. quadrature axis voltage The adjusted position deviation information is then processed by function converter 90 to obtain updated position deviation information; the updated position deviation information and direct-axis voltage are then compared. and quadrature axis voltage The data is input to the third coordinate converter 50 for coordinate transformation, thereby obtaining the q-axis voltage data. d-axis voltage data And the position deviation information corresponding to the αβ coordinate data; based on the SVPWM chopper 60, the q-axis voltage data and d-axis voltage data The voltage signal is obtained by chopping; the chopped voltage signal is then input to the IGBT inverter 70 to obtain the AC voltage U. dc AC voltage U dc The input can be sent to motor 10 to control the operation of motor 10; the above steps form a feedback regulation system, thereby performing closed-loop regulation of speed loop, current loop and position loop, and the motor starting step is completed.

[0061] The motor starting method provided in the above embodiments, upon receiving a motor start command, controls the rotor to rotate using a preset current; adjusts the preset current to obtain a target current, and controls the rotor to rotate using the target current; detects the current position information of the rotor using a position observer, and determines the position deviation information between the current position information and the preset position information; and controls the motor to operate in a closed loop based on the position deviation information. Pre-starting the motor with a preset current and then adaptively starting it with the target current greatly improves the motor's starting performance and operational reliability.

[0062] Please see Figure 8 , Figure 8 This is a schematic block diagram of a motor structure provided in an embodiment of this application. The motor can be a permanent magnet synchronous motor.

[0063] like Figure 8 As shown, the motor 200 includes a rotor 201 and a position observer 202. The motor 200 also includes a processor 204 and a memory 205 connected via a system bus 203. The memory 205 may include a storage medium and internal memory. The storage medium may be non-volatile or volatile.

[0064] The storage medium can store the operating system and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any motor starting method.

[0065] The processor 204 provides computing and control capabilities to support the operation of the entire motor. The internal memory provides an environment for the execution of computer programs stored in the storage medium. When executed by the processor 204, the computer program can enable the processor 204 to execute any motor starting method.

[0066] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the motor to which the present application is applied. A specific motor may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0067] It should be understood that processor 204 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, the general-purpose processor can be a microprocessor or any conventional processor.

[0068] In one embodiment, the processor 204 is configured to run a computer program stored in a memory to perform the following steps:

[0069] Upon receiving the start command of the motor, the rotor is controlled to rotate by a preset current;

[0070] The preset current is adjusted to obtain the target current, and the rotor is controlled to rotate by the target current;

[0071] The current position information of the rotor is detected by the position observer, and the position deviation information between the current position information and the preset position information is determined.

[0072] Based on the position deviation information, the motor is controlled to operate in a closed loop.

[0073] In one embodiment, when the processor 204 implements the control of the rotor to rotate via a preset current, it is configured to:

[0074] A preset current with a constant amplitude is injected into the rotor to control the rotor to perform current closed-loop regulation and make the rotor rotate.

[0075] In one embodiment, when the processor 204 adjusts the preset current to obtain the target current, it is configured to:

[0076] The phase current waveform of the motor is detected after the preset current is injected, and the rotation distance of the rotor is determined based on the phase current waveform.

[0077] When the rotation distance is determined to be greater than or equal to a preset rotation distance, the current rotation speed of the rotor is obtained to obtain a first rotation speed;

[0078] The preset current is adjusted according to the first rotational speed to obtain the target current.

[0079] In one embodiment, the preset rotation distance is used to perform a first-stage positioning of the rotor, and the preset position information is used to perform a second-stage positioning of the rotor;

[0080] The closed-loop operation includes closed-loop regulation of the speed loop, current loop, and position loop.

[0081] In one embodiment, the processor 204, when controlling the motor in closed-loop operation based on the position deviation information, is configured to:

[0082] Based on the position deviation information, determine whether the rotor has rotated to the preset position corresponding to the preset position information;

[0083] When the rotor rotates to the preset position, the preset position is taken as the initial position, and the motor is adjusted in a closed loop according to the initial position.

[0084] In one embodiment, the processor 204 is further configured to implement:

[0085] When the rotor rotates to the preset position, the current speed of the rotor is obtained as the initial speed, and the motor speed is adjusted in a closed loop according to the initial speed.

[0086] In one embodiment, when the processor 204 determines whether the rotor has rotated to the preset position corresponding to the preset position information based on the position deviation information, it is configured to:

[0087] Determine whether the position deviation information is less than or equal to a preset deviation threshold;

[0088] If the position deviation information is less than or equal to a preset deviation threshold, then the rotor is determined to rotate to the preset position corresponding to the preset position information;

[0089] If the position deviation information is greater than the preset deviation threshold, it is determined that the rotor has not rotated to the preset position.

[0090] In one embodiment, when the processor 204 is implemented, both the preset current and the target current are direct-axis currents.

[0091] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the motor described above can be referred to the corresponding process in the aforementioned motor starting method embodiments, and will not be repeated here.

[0092] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0093] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to various embodiments of the motor starting method of this application.

[0094] The computer-readable storage medium can be the internal storage unit of the motor described in the foregoing embodiments, such as the motor's hard drive or memory. Alternatively, the computer-readable storage medium can be an external storage device for the motor, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card.

[0095] Furthermore, the computer's usable storage medium may primarily include a stored program area and a stored data area. The stored program area may store the operating system, applications required for at least one function, etc.; the stored data area may store data created based on the use of blockchain nodes, etc. The blockchain referred to in this application is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. A blockchain is essentially a decentralized database, a chain of data blocks linked using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain may include a blockchain underlying platform, a platform product service layer, and an application service layer, etc.

[0096] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0097] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, 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. Without further limitation, 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.

[0098] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for starting a motor, characterized in that, The motor includes a rotor and a position observer, and the method includes: Upon receiving the start command of the motor, the rotor is controlled to rotate by a preset current; The phase current waveform of the motor is detected after the preset current is injected. When the phase current waveform drops vertically, it is determined that the rotation distance of the rotor is greater than or equal to the preset rotation distance, and the current speed of the rotor is obtained to obtain the first speed. The preset current is adjusted according to the first rotational speed to obtain the target current, and the rotor is controlled to rotate by the target current; The current position information of the rotor is detected by the position observer, and the position deviation information between the current position information and the preset position information is determined. Based on the position deviation information, the motor is controlled to operate in a closed loop.

2. The motor starting method as described in claim 1, characterized in that, The step of controlling the rotor to rotate by a preset current includes: A preset current with a constant amplitude is injected into the rotor to control the rotor to perform current closed-loop regulation and make the rotor rotate.

3. The motor starting method as described in claim 1, characterized in that, The preset rotation distance is used for the first stage positioning of the rotor, and the preset position information is used for the second stage positioning of the rotor; The closed-loop operation includes closed-loop regulation of the speed loop, current loop, and position loop.

4. The motor starting method according to any one of claims 1-3, characterized in that, The step of controlling the closed-loop operation of the motor based on the position deviation information includes: Based on the position deviation information, determine whether the rotor has rotated to the preset position corresponding to the preset position information; When the rotor rotates to the preset position, the preset position is taken as the initial position, and the motor is adjusted in a closed loop according to the initial position.

5. The motor starting method as described in claim 4, characterized in that, The method further includes: When the rotor rotates to the preset position, the current speed of the rotor is obtained as the initial speed, and the motor speed is adjusted in a closed loop according to the initial speed.

6. The motor starting method as described in claim 4, characterized in that, The step of determining whether the rotor has rotated to the preset position corresponding to the preset position information based on the position deviation information includes: Determine whether the position deviation information is less than or equal to a preset deviation threshold; If the position deviation information is less than or equal to a preset deviation threshold, then the rotor is determined to rotate to the preset position corresponding to the preset position information; If the position deviation information is greater than the preset deviation threshold, it is determined that the rotor has not rotated to the preset position.

7. The motor starting method according to any one of claims 1-3, characterized in that, Both the preset current and the target current are direct-axis currents.

8. An electric motor, characterized in that, The motor includes a rotor and a position observer, and the motor also includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the motor starting method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the motor starting method as described in any one of claims 1 to 7.

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