A control method for a micro-hub motor

Abstract

The application discloses a kind of micro wheel hub motor control methods, comprising the following steps: obtaining the rotating speed of micro wheel hub motor;According to the rotating speed and predetermined rotating speed range judges wheel hub motor speed state;According to motor speed state selects the control mode that is adapted to motor speed state;According to the selected controller control mode controls wheel hub motor.The application according to micro wheel hub motor rotating speed selects the control mode that is adapted to it and controls wheel hub motor, reduces the difficulty of micro wheel hub motor low-speed control.The application according to micro wheel hub motor rotating speed selects the control mode that is adapted to it and controls wheel hub motor, reduces the difficulty of micro wheel hub motor low-speed control, especially suitable for the micro wheel hub motor control of no reducer, brake.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a micro wheel hub motor control method. BACKGROUND

[0002] For the wheel robot power system, in the application scene of the weight and power density requirement of the robot walking system, especially in the application scene of amphibious micro robot, the wheel hub motor scheme relies on the use of direct drive brushless DC motor as the power core, direct drive. The micro wheel hub motor is mainly composed of stator, rotor tire, bearing and drive controller due to the influence of size. This scheme saves the reducer and brake, has the characteristics of high power density and low noise. At the same time, due to the absence of reducer and brake, the low speed performance and braking ability are completed by the drive control system of the motor direct drive control mode, which puts forward higher requirements for the drive control system of the micro wheel hub motor. The target wheel hub motor control method is mostly designed for wheel hub motor with reducer and brake, and cannot make reasonable control for low speed and braking working condition of wheel hub motor, resulting in unsatisfactory wheel hub motor control effect. SUMMARY

[0003] In view of the problems existing in the prior art, the purpose of the present application is to provide a micro wheel hub motor without reducer and brake, a micro wheel hub motor control method, system, electronic equipment and computer readable medium for improving the control effect of the micro wheel hub motor.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a micro wheel hub motor control method, comprising the following steps:

[0005] Obtaining the rotating speed of the micro wheel hub motor;

[0006] Judging the wheel hub motor speed state according to the rotating speed and the predetermined rotating speed range;

[0007] Selecting a control mode suitable for the motor speed state according to the motor speed state;

[0008] Controlling the wheel hub motor according to the selected control mode.

[0009] Further, the predetermined rotating speed range includes a first rotating speed range, a second rotating speed range and a third rotating speed range; judging the wheel hub motor speed state according to the rotating speed and the predetermined rotating speed range comprises:

[0010] If the rotating speed falls into the first rotating speed range, it is judged that the wheel hub motor is in a low speed working state;

[0011] If the rotating speed falls into the second rotating speed range, it is judged that the wheel hub motor is in a medium speed working state;

[0012] When the rotation speed falls into the third rotation speed range, it is determined that the wheel hub motor is in a high-speed working state.

[0013] Further, the control mode adapted to the motor speed state is selected according to the motor speed state, and the wheel hub motor is controlled according to the selected controller control mode.

[0014] When the wheel hub motor is in a medium-speed or high-speed working state, a dynamic PI controller in a speed loop mode is selected.

[0015] When the wheel hub motor is in a low-speed working state, a PID controller in a position loop mode is selected.

[0016] When the wheel hub motor is braked, a PI controller in a current loop mode is selected.

[0017] Further, the control mode adapted to the motor speed state is selected according to the motor speed state, and the wheel hub motor is controlled according to the selected controller control mode.

[0018] The control parameters Kp and Ki of the dynamic PI controller in the speed loop mode are segmented according to the speed domain of the wheel hub motor, different control parameters Kp and Ki are corresponding to each speed domain, and the dynamic PI controller controls the wheel hub motor according to the target speed and the control parameters Kp and Ki.

[0019] The PID controller in the position loop mode controls the wheel hub motor by using fixed control parameters.

[0020] The PI controller in the current loop mode controls the wheel hub motor by using fixed control parameters.

[0021] The second aspect of the present application provides a micro wheel hub motor control device, comprising:

[0022] An acquisition unit is configured to acquire the rotation speed of the micro wheel hub motor.

[0023] A determination unit is configured to determine the wheel hub motor speed state according to the rotation speed and a predetermined rotation speed range.

[0024] A selection unit is configured to select a control mode adapted to the motor speed state according to the motor speed state.

[0025] A control unit is configured to control the wheel hub motor according to the selected controller control mode.

[0026] The third aspect of the present application provides an electronic device, comprising:

[0027] One or more processors; and

[0028] A storage device is configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method.

[0029] The fourth aspect of the present application provides a computer readable medium, which stores a computer program, and the program is executed by a processor to implement the method described above.

[0030] The present application controls the micro wheel hub motor according to the control mode selected according to the wheel hub motor speed, reduces the difficulty of low speed control of the micro wheel hub motor, and is particularly suitable for the control of the micro wheel hub motor without a reducer and a brake.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0033] Figure 1 Flow chart of the micro wheel hub motor control method of an embodiment of the present application;

[0034] Figure 2 Control principle diagram when the wheel hub motor is in high speed and medium speed state of an embodiment of the present application;

[0035] Figure 3 Control principle diagram when the wheel hub motor is in low speed state of an embodiment of the present application. DETAILED DESCRIPTION

[0036] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the description.

[0037] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0038] The block diagrams shown in the drawings are merely functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0039] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0040] As Figure 1 shown, the micro-hub motor control method of an embodiment of the application includes the following steps:

[0041] Step S110: Obtain the rotation speed of the micro-hub motor.

[0042] Step S120: Judge the hub motor speed state according to the rotation speed and a predetermined rotation speed range.

[0043] Step S130: Select a control mode that is adapted to the motor speed state according to the motor speed state.

[0044] Step S140: Control the hub motor according to the selected control mode.

[0045] In an embodiment of the application, the predetermined rotation speed range includes a first rotation speed range, a second rotation speed range, and a third rotation speed range; judging the hub motor speed state according to the rotation speed and the predetermined rotation speed range includes:

[0046] judging that the hub motor is in a low-speed working state when the rotation speed falls within the first rotation speed range;

[0047] judging that the hub motor is in a medium-speed working state when the rotation speed falls within the second rotation speed range;

[0048] judging that the hub motor is in a high-speed working state when the rotation speed falls within the third rotation speed range.

[0049] In an embodiment of the application, Step S120 includes:

[0050] selecting a dynamic PI controller in the speed loop mode when the hub motor is in a medium-speed or high-speed working state; when the hub motor is in a high-speed and medium-speed state, the control system will use the speed loop control mode, in which the control system does not enable the position loop, and the motor speed input is directly used as the input instruction of the speed loop of the control system for control, and the control principle is described with reference toFigure 2 In the high-speed state of the motor, the optimal control parameters Kp and Ki of the speed loop change little, and as the speed decreases, the optimal control parameters Kp and Ki greatly increase. At this time, the segmentation of the dynamic PI controller of the speed loop can be parameterized and optimized according to this feature to improve the control performance of the hub motor at medium speed. The specific parameterization and optimization process is to detect the speed measurement curve of the step response of the hub motor, and according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve, adjust the Kp and Ki parameters to achieve the performance characteristics concerned by the motor application scenario.

[0051] When the hub motor is in a low-speed working state, a PID controller in a position loop mode is selected; when the hub motor is in a low-speed state, the control system uses the position loop control mode, in which the position quantity obtained by the virtual position estimation of the motor speed input of the control system is taken as the input instruction of the position loop of the control system for control, and the control principle is shown in Figure 3 .

[0052] When the hub motor is braked, a PI controller in a current loop mode is selected.

[0053] In an embodiment of the present application, the step S130 of controlling the hub motor according to the selected controller control mode comprises:

[0054] The control parameters Kp and Ki of the dynamic PI controller in the speed loop mode are segmented and divided according to the speed domain of the hub motor, each speed domain corresponds to different control parameters Kp and Ki, and the dynamic PI controller controls the hub motor according to the target speed at present to switch the control parameters Kp and Ki;

[0055] The PID controller in the position loop mode controls the hub motor by using fixed control parameters, which can be adjusted and determined according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve;

[0056] The PI controller in the current loop mode controls the hub motor by using fixed control parameters, which can be adjusted and determined according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve. In this mode, the control system takes a fixed current value as the input instruction of the current loop of the control system for control. The current value is parameterized and optimized according to the robot system, so that the hub motor has high-efficiency braking ability without slipping.

[0057] The control method of the application is composed of a current loop, a speed loop and a position loop in series.

[0058] The application further provides a micro wheel hub motor control device, comprising:

[0059] An acquisition unit is configured to acquire a rotating speed of the micro wheel hub motor.

[0060] A judgment unit is configured to judge a wheel hub motor speed state according to the rotating speed and a predetermined rotating speed range.

[0061] A selection unit is configured to select a control mode suitable for the motor speed state according to the motor speed state.

[0062] A control unit is configured to control the wheel hub motor according to the selected control mode.

[0063] The application further provides an electronic device, comprising:

[0064] One or more processors; and

[0065] A storage device configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method described above.

[0066] In particular, according to embodiments of the application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the application include a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication section, and / or installed from a detachable medium. When the computer program is executed by a central processing unit (CPU), the above-mentioned functions defined in the system of the application are performed.

[0067] The application further provides a computer readable medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0068] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0069] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0070] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a single processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0071] As another aspect, the present application also provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the sensorless flexible pull wire impedance control method as described in the above embodiments.

[0072] It should be noted that although several modules or units for a device for performing actions are mentioned in the above detailed description, this division is not mandatory. Indeed, according to an embodiment of the application, characteristics and functions of two or more modules or units described above can be embodied in a single module or unit. Conversely, a characteristic and a function of one module or unit described above can be divided into several modules or units.

[0073] From the above description of the embodiments, those skilled in the art will readily appreciate that the example embodiments described herein can be implemented by software and / or by hardware coupled with software. Accordingly, the technical solutions according to the embodiments of the present application can be embodied in a software product including one or more instructions that cause a computing device (such as a personal computer, a server, a terminal, or a network device) to perform the methods according to the embodiments of the present application.

[0074] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0075] It should be understood that the application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. A method for controlling a miniature hub motor, characterized in that, The control method consists of a current loop, a speed loop, and a position loop connected in series, and includes the following steps: Obtain the rotational speed of the miniature hub motor; The speed status of the hub motor is determined based on the rotational speed and the predetermined rotational speed range; Select the control mode that matches the motor speed state; The hub motor is controlled according to the selected controller control mode; The predetermined speed range includes a first speed range, a second speed range, and a third speed range; Determining the speed state of the hub motor based on the rotational speed and the predetermined rotational speed range includes: When the rotational speed falls within the first rotational speed range, it is determined that the hub motor is in a low-speed operating state. When the rotational speed falls within the second rotational speed range, it is determined that the hub motor is in a medium-speed operating state. When the rotational speed falls within the third rotational speed range, it is determined that the hub motor is in a high-speed operating state. Selecting a control mode that matches the motor speed state based on the motor speed state includes: When the hub motor is operating at medium or high speed, select the dynamic PI controller in speed loop mode; in speed loop mode, the control system does not activate the position loop, and the motor speed input is directly used as the input command for the control system speed loop. When the hub motor is operating at low speed, the PID controller in position loop mode is selected. In position loop mode, the control system estimates the position value based on the motor speed input and uses this position value as the input command for the position loop of the control system. When braking the hub motor, the PI controller in current loop mode is selected; in current loop mode, the control system uses a fixed current value as the input command for the control system current loop.

2. The control method as described in claim 1, characterized in that, Controlling the hub motor according to the selected controller control mode includes: In speed loop mode, the control parameters Kp and Ki of the dynamic PI controller are divided into segments according to the speed domain of the hub motor. Each speed domain corresponds to different control parameters Kp and Ki. The dynamic PI controller switches the control parameters Kp and Ki to control the hub motor according to the current target speed. The PID controller in position loop mode uses fixed control parameters to control the hub motor; The PI controller in current loop mode uses fixed control parameters to control the hub motor.

3. A miniature hub motor control device, characterized in that, Based on the micro hub motor control method as described in claim 1, the micro hub motor control device includes: The acquisition unit is used to acquire the rotational speed of the miniature hub motor; The judgment unit is used to determine the speed state of the hub motor based on the rotational speed and the predetermined rotational speed range; The selection unit is used to select a control mode that is compatible with the motor speed state based on the motor speed state. The control unit is used to control the hub motor according to the selected controller control mode.

4. An electronic device, characterized in that, include: One or more processors; as well as A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method according to claim 1 or 2.

5. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method according to claim 1 or 2.

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