Motor control method and device, motor controller and medium
By identifying the motor's no-load state and adjusting the PI parameters, the problems of low motor stability and operating efficiency were solved, achieving efficient and stable motor operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GREE ELECTRIC APPLIANCE INC OF ZHUHAI
- Filing Date
- 2023-10-16
- Publication Date
- 2026-07-10
Smart Images
Figure CN117595740B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of motor technology, and in particular to a motor control method, device, motor controller and medium. Background Technology
[0002] Motor stability and efficiency are both important indicators for evaluating the performance of motor products. Improving these performance indicators through the motor's structure is costly and time-consuming; therefore, engineering practices often focus on improving hardware control or software algorithms. Existing motor control algorithms either use PI regulation or intelligent control models to control motor operation. Intelligent control models require specific datasets for training and subsequent optimization, which is not only cumbersome but also lacks applicability. PI regulation, on the other hand, uses the control deviation between the given value and the actual output value, and combines the proportional (P) and integral (I) of the deviation linearly to form the control quantity, thus controlling the controlled object and ensuring stable motor operation. This approach is relatively simple, but because the parameter settings for PI regulation vary under different loads, the motor's operation fluctuates significantly, resulting in poor stability and low operating efficiency. Summary of the Invention
[0003] This invention provides a method, device, controller, and medium for controlling an electric motor, aiming to solve the problems of poor stability and low operating efficiency of existing electric motors.
[0004] In a first aspect, embodiments of the present invention provide a method for controlling a motor, applied to a motor controller, comprising:
[0005] Collect the current value, minimum speed value, and maximum speed value of the motor during operation;
[0006] Obtain the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed;
[0007] The no-load state of the motor is identified based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value.
[0008] Adjust the PI parameter corresponding to the motor according to the no-load state of the motor.
[0009] Secondly, embodiments of the present invention also provide a motor control device, applied to a motor controller, comprising:
[0010] The data acquisition unit is used to collect the current value, minimum speed value, and maximum speed value of the motor during operation;
[0011] The acquisition unit is used to acquire the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed.
[0012] The identification unit is used to identify the no-load state of the motor based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value.
[0013] The adjustment unit is used to adjust the PI parameters corresponding to the motor according to the no-load state of the motor.
[0014] Thirdly, embodiments of the present invention also provide a motor controller, the motor controller including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the above-described method.
[0015] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.
[0016] This invention provides a method, apparatus, motor controller, and medium for controlling a motor. The method includes: acquiring the motor's current value, minimum speed value, and maximum speed value during operation; obtaining no-load current value and load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed; identifying the motor's no-load state based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value; and adjusting the corresponding PI parameters according to the motor's no-load state. This invention's technical solution first identifies the motor's no-load state based on the current value, minimum speed value, maximum speed value, no-load current value, and load current value, and then adjusts the PI parameters according to the motor's no-load state, thereby avoiding motor fluctuations caused by PI parameter mismatch and improving motor stability and operating efficiency. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 A flowchart illustrating a motor control method provided in an embodiment of the present invention;
[0019] Figure 2 This is a schematic diagram of a sub-process of a motor control method provided in an embodiment of the present invention;
[0020] Figure 3 This is a schematic diagram of a sub-process of a motor control method provided in an embodiment of the present invention;
[0021] Figure 4 This is a schematic diagram of a sub-process of a motor control method provided in an embodiment of the present invention;
[0022] Figure 5 A schematic diagram of a preset speed-current value list provided in an embodiment of the present invention;
[0023] Figure 6 A simplified flowchart of a motor control method provided in an embodiment of the present invention;
[0024] Figure 7 A schematic block diagram of a motor control device provided in an embodiment of the present invention;
[0025] Figure 8 This is a schematic block diagram of a motor controller provided in an embodiment of the present invention. Detailed Implementation
[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0027] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.
[0028] It should also 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 invention. 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.
[0029] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0030] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."
[0031] Please see Figure 1 , Figure 1 This is a flowchart illustrating the motor control method provided in an embodiment of the present invention. The motor control method will be described in detail below. Figure 1 As shown, the method includes the following steps S110-S140.
[0032] S110: Collect the current value, minimum speed value, and maximum speed value of the motor during operation.
[0033] In this embodiment of the invention, the motor controller includes a real-time current acquisition module, a real-time speed acquisition module, and a main control logic module. The real-time current acquisition module acquires the current during motor operation; the real-time speed acquisition module acquires the motor's speed value during operation; and the main control logic module identifies the motor's no-load state and adjusts the corresponding PI parameters based on the no-load state. After the motor starts running, the real-time current acquisition module and the real-time speed acquisition module acquire the motor's current value Iz and minimum speed value n during operation. min and the maximum speed value n max For ease of understanding and description, let's assume that the current value, minimum speed value, and maximum speed value are Iz, n, and n, respectively. min and n max .
[0034] S120. Obtain the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed.
[0035] In this embodiment of the invention, the no-load current value Ix and the load current value Iy are obtained by the real-time current acquisition module, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed.
[0036] S130. Identify the no-load state of the motor based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value.
[0037] In embodiments of the present invention, such as Figure 2 As shown, step S130 may specifically include steps S131-S132: S131, determine whether the no-load current value is greater than the load current value; if the no-load current value is not greater than the load current value, then execute step S132; otherwise, execute step S133; S132, identify the no-load state of the motor based on the no-load current value, the load current value, and the current value; S133, increase the speed of the motor, and use the current value and speed value corresponding to when the motor current value is greater than the no-load current value as the comparison current value and comparison speed value, and identify the no-load state of the motor based on the comparison current value, the comparison speed value, the current value, the minimum speed value, and the maximum speed value. Specifically, it is determined whether Ix is equal to Iy; if Ix ≤ Iy, the no-load state of the motor is identified based on Ix, Iy, and Iz; if Ix > Iy, the speed of the motor is increased, and the current value and speed value corresponding to when the motor current value is greater than Ix are used as the comparison current value I1 and the comparison speed value n1, and the speed value is determined based on I1, n1, Iz, and n... min and n max Identify the no-load state of the motor.
[0038] Furthermore, such as Figure 3 As shown, step S132 may specifically include steps S1321-S1323: S1321, selecting a reference current value, wherein the reference current value is greater than or equal to the no-load current value and less than or equal to the load current value; S1322, if the current value is greater than the reference current value, then the motor is determined to be in a no-load state; S1323, if the current value is not greater than the reference current value, then the motor is determined to be in a load state. Specifically, assuming the selected reference current value is Im, Ix≤Im≤Iy; determine whether Iz is greater than Im; if Iz>Im, then the motor is determined to be in a no-load state; otherwise, if Iz≤Im, then the motor is determined to be in a load state.
[0039] Furthermore, such as Figure 4As shown, step S133 specifically includes steps S1331-S1332: S1331, if the comparison speed value is less than the minimum speed value, then obtain each speed value within the interval from the comparison speed value to the minimum speed value and the current value corresponding to the speed value to obtain multiple stage speed values and multiple stage current values, and identify the no-load state of the motor according to the multiple stage speed values, the multiple stage current values and a preset speed-current value list; S1332, if the comparison speed value is greater than the maximum speed value, then identify the no-load state of the motor according to the comparison current value and the current value. Specifically, the comparison speed value n1 and the minimum speed value n min and the maximum rotational speed value n max Compare; if n1>n max Then in n1-n max Within the interval, the no-load state of the motor is identified based on Iz and I1. If n1 <n min Then obtain n min For each speed value within the range -n1 and the corresponding current value, multiple stage speed values and multiple stage current values are obtained. The no-load state of the motor is identified based on these multiple stage speed values, multiple stage current values, and a preset list of speed and current values, wherein the preset list of speed and current values is as follows: Figure 5 As shown, in Figure 5 In the above, the preset speed and current value list includes an unloaded speed column, an unloaded current column, a load speed column, and a load current column. The unloaded speed column is n2, n3, n4, n5, n6..., the unloaded current column is I2, I3, I4, I5, I6..., the load speed column is n2-1, n2-2, n2-3, n2-4, n2-5..., and the load current column is I2-1, I2-2, I2-3, I2-4, I2-5...
[0040] Furthermore, step S1321 specifically includes: if the changing trends of the plurality of stage speed values and the plurality of stage current values are consistent with the changing trends of the values in the no-load speed column and the no-load current column, respectively, then the motor is determined to be in a no-load state; if the changing trends of the plurality of stage speed values and the plurality of stage current values are consistent with the changing trends of the values in the load speed column and the load current column, respectively, then the motor is determined to be in a load state. Specifically, assuming the plurality of stage speed values are n21, n22, n23, n24, n25... and the plurality of stage current values are I21, I22, I23, I24, I25..., if the changing trends of n21, n22, n23, n24, n25... are consistent with the changing trends of n2, n3, n4, n5, n6... and the changing trends of I21, I22, I23, I24, I25... are consistent with the changing trends of I2, I3, I4, I5, I6... If the changing trends of n21, n22, n23, n24, n25... are consistent with those of n2-1, n2-2, n2-3, n2-4, n2-5... and the changing trends of I21, I22, I23, I24, I25... are consistent with those of I2-1, I2-2, I2-3, I2-4, I2-5..., then the motor is determined to be under load. It should be noted that in this embodiment, the motor's load status can also be determined by the fact that the current values at each speed when the motor is under load are less than the current values at each speed when the motor is under load.
[0041] Furthermore, step S1322 specifically includes: if the current value is greater than the comparison current value, then the motor is determined to be in a load state; if the current value is not greater than the comparison current value, then the motor is determined to be in an unloaded state. Specifically, in n1-n max Within the interval, determine whether Iz is greater than I1. If Iz>I1, the motor is determined to be under load; if Iz≤I1, the motor is determined to be under no-load.
[0042] S140. Adjust the PI parameter corresponding to the motor according to the no-load state of the motor.
[0043] In this embodiment of the invention, after the no-load state of the motor is identified by the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value, the PI (Proportional Integral) parameter corresponding to the motor is adjusted according to the no-load state of the motor. Specifically, if the motor is in a no-load state, the PI parameter corresponding to the motor is reduced; if the motor is in a loaded state, the PI parameter is increased, thereby avoiding motor fluctuations caused by mismatched PI parameters, improving the stability and operating efficiency of the motor, and enabling the motor to operate stably and efficiently. Understandably, the PI parameter settings will vary depending on the type of motor, and will be determined according to the actual situation. It should be noted that in this embodiment, after the PI parameter adjustment is completed, the process returns to step S110 to monitor the no-load status of the motor in real time.
[0044] Figure 6 This is a simplified flowchart of a motor control method provided in an embodiment of the present invention. Figure 6 As shown, the current value Iz and the minimum speed value n of the motor are collected during operation. min and the maximum speed value n max ; Obtain the current value Ix when the motor is unloaded and at its maximum speed, and the current value Iy when the motor is loaded and at its minimum speed; Determine if Ix is less than or equal to Iy; If Ix is less than or equal to Iy, select the motor current value Im, where Ix ≤ Im ≤ Iy; Determine if Iz is greater than Im; If Iz is greater than Im, determine that the motor is under load; If Iz is not greater than Im, determine that the motor is unloaded; If Ix is greater than Iy, increase the motor speed, and use the current value and speed value corresponding to the motor current value being greater than the unloaded current value as the comparison current value I1 and comparison speed value n1; At speed n min Within the -n1 interval, the no-load state of the motor is identified based on multiple stage speed values, multiple stage current values, and a preset list of speed and current values; in the n1-n... max Within the interval, determine whether Iz is not greater than I1; if Iz is greater than I1, determine that the motor is under load; if Iz is not greater than I1, determine that the motor is under no-load; adjust the PI parameter according to the motor's no-load state.
[0045] It should be noted that in this embodiment, the no-load state of the motor is identified based on the current value, minimum speed value, maximum speed value, no-load current value, and load current value, and the PI parameter is adjusted according to the motor's no-load state. Specifically, when the motor is in a no-load state, a smaller PI parameter is selected, resulting in less motor vibration and greater stability; when the motor is under load, because the control is in a closed-loop state, the PI parameter needs to be increased to make the motor speed fluctuation more stable and the efficiency better. This avoids motor fluctuations caused by mismatched PI parameters, improves motor stability and operating efficiency, and enhances the user experience.
[0046] Figure 7 This is a schematic block diagram of a motor control device 200 provided in an embodiment of the present invention. Figure 7 As shown, corresponding to the above-described motor control method, the present invention also provides a motor control device 200. This motor control device 200 includes a unit for executing the above-described motor control method, and the device can be configured in a motor controller. Specifically, please refer to... Figure 7 The motor control device 200 includes a data acquisition unit 201, an acquisition unit 202, an identification unit 203, and an adjustment unit 204.
[0047] The acquisition unit 201 is used to acquire the current value, minimum speed value, and maximum speed value of the motor during operation; the acquisition unit 202 is used to acquire the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed; the identification unit 203 is used to identify the no-load state of the motor based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value; and the adjustment unit 204 is used to adjust the PI parameter corresponding to the motor according to the no-load state of the motor.
[0048] In some embodiments, such as this one, the identification unit 203 includes a judgment unit, a first identification subunit, and a second identification subunit.
[0049] The determination unit is used to determine whether the no-load current value is greater than the load current value; the first identification subunit is used to identify the no-load state of the motor based on the no-load current value, the load current value, and the current value if the no-load current value is not greater than the load current value; the second identification subunit is used to increase the speed of the motor if the no-load current value is greater than the load current value, and use the current value and speed value corresponding to the motor current value being greater than the no-load current value as the comparison current value and comparison speed value, and identify the no-load state of the motor based on the comparison current value, the comparison speed value, the current value, the minimum speed value, and the maximum speed value.
[0050] In some embodiments, such as this one, the first identification subunit includes a selection unit, a first determination unit, and a second determination unit.
[0051] The selection unit is used to select a reference current value, wherein the reference current value is greater than or equal to the no-load current value and less than or equal to the load current value; the first determination unit is used to determine that the motor is in a no-load state if the current value is greater than the reference current value; the second determination unit is used to determine that the motor is in a load state if the current value is not greater than the reference current value.
[0052] In some embodiments, such as this one, the second identification subunit includes a third identification subunit and a fourth identification subunit.
[0053] The third identification subunit is configured to, if the compared speed value is less than the minimum speed value, obtain each speed value within the interval from the compared speed value to the minimum speed value and the corresponding current value to obtain multiple stage speed values and multiple stage current values, and identify the no-load state of the motor based on the multiple stage speed values, the multiple stage current values and a preset speed-current value list; the fourth identification subunit is configured to, if the compared speed value is greater than the maximum speed value, identify the no-load state of the motor based on the compared current value and the current value.
[0054] In some embodiments, such as this one, the third identification subunit includes a third determination unit and a fourth determination unit.
[0055] The third determination unit is used to determine that the motor is in an unloaded state if the changing trends of the multiple stage speed values and the multiple stage current values are consistent with the changing trends of the values in the no-load speed column and the no-load current column, respectively; the fourth determination unit is used to determine that the motor is in a loaded state if the changing trends of the multiple stage speed values and the multiple stage current values are consistent with the changing trends of the values in the load speed column and the load current column, respectively.
[0056] In some embodiments, such as this one, the fourth identification subunit includes a fifth determination unit and a sixth determination unit.
[0057] The fifth determination unit is used to determine that the motor is under load if the current value is greater than the comparison current value; the sixth determination unit is used to determine that the motor is under no-load if the current value is not greater than the comparison current value.
[0058] In some embodiments, such as this one, the adjustment unit 204 includes a first adjustment subunit and a second adjustment subunit.
[0059] The first adjustment subunit is used to decrease the PI parameter corresponding to the motor if the motor is in an unloaded state; the second adjustment subunit is used to increase the PI parameter if the motor is in a loaded state.
[0060] The aforementioned motor control device can be implemented as a computer program, which can, for example, Figure 8 The motor controller shown is running.
[0061] Please see Figure 8 , Figure 8 This is a schematic block diagram of a motor controller provided in an embodiment of the present invention. The motor controller 300 is a device that identifies the no-load state of the motor and adjusts the PI parameters according to the no-load state.
[0062] See Figure 8 The motor controller 300 includes a processor 302, a memory, and a network interface 305 connected via a system bus 301. The memory may include a non-volatile storage medium 303 and internal memory 304.
[0063] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, it causes the processor 302 to execute a motor control method.
[0064] The processor 302 provides computing and control capabilities to support the operation of the entire motor controller 300.
[0065] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can execute a motor control method.
[0066] This network interface 305 is used for network communication with other devices. 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 invention and does not constitute a limitation on the motor controller 300 to which the present invention is applied. The specific motor controller 300 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.
[0067] The processor 302 is used to run a computer program 3032 stored in a memory to implement any embodiment of the above-described motor control method.
[0068] It should be understood that, in this embodiment of the invention, the processor 302 may be a Central Processing Unit (CPU), or it may 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. The general-purpose processor may be a microprocessor or any conventional processor.
[0069] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.
[0070] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program causes the processor to perform any embodiment of the above-described motor control method.
[0071] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.
[0072] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0073] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.
[0074] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0075] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a motor controller to execute all or part of the steps of the methods described in the various embodiments of the present invention.
[0076] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0077] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.
[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention 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 the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for controlling an electric motor, applied to a motor controller, characterized in that, include: Collect the current value, minimum speed value, and maximum speed value of the motor during operation; Obtain the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed; The no-load state of the motor is identified based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value. Adjust the PI parameter corresponding to the motor according to the no-load state of the motor.
2. The method according to claim 1, characterized in that, The step of identifying the no-load state of the motor based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value includes: Determine whether the no-load current value is greater than the load current value; If the no-load current value is not greater than the load current value, then the no-load state of the motor is identified based on the no-load current value, the load current value, and the current value. If the no-load current value is greater than the load current value, the speed of the motor is increased, and the current value and speed value corresponding to the motor current value being greater than the no-load current value are used as comparison current value and comparison speed value. The no-load state of the motor is identified based on the comparison current value, the comparison speed value, the current value, the minimum speed value, and the maximum speed value.
3. The method according to claim 2, characterized in that, The step of identifying the no-load state of the motor based on the no-load current value, the load current value, and the current value includes: A reference current value is selected, wherein the reference current value is greater than or equal to the no-load current value and less than or equal to the load current value; If the current value is greater than the reference current value, the motor is determined to be in an unloaded state. If the current value is not greater than the reference current value, then the motor is determined to be under load.
4. The method according to claim 2, characterized in that, The step of identifying the no-load state of the motor based on the comparison current value, the comparison speed value, the current value, the minimum speed value, and the maximum speed value includes: If the comparison speed value is less than the minimum speed value, then each speed value within the interval from the comparison speed value to the minimum speed value and the current value corresponding to the speed value are obtained to obtain multiple stage speed values and multiple stage current values, and the no-load state of the motor is identified according to the multiple stage speed values, the multiple stage current values and the preset speed and current value list. If the comparison speed value is greater than the maximum speed value, the no-load state of the motor is identified based on the comparison current value and the current value.
5. The method according to claim 4, characterized in that, The preset speed and current value list includes an unloaded speed column, an unloaded current column, a loaded speed column, and a loaded current column; the step of identifying the no-load state of the motor based on multiple stage speed values, multiple stage current values, and the preset speed and current value list includes: If the changing trends of multiple stage speed values and multiple stage current values are consistent with the changing trends of the values in the no-load speed column and the no-load current column, then the motor is determined to be in a no-load state. If the changing trends of multiple stage speed values and multiple stage current values are consistent with the changing trends of the values in the load speed column and the load current column, then the motor is determined to be in a load state.
6. The method according to claim 4, characterized in that, The step of identifying the no-load state of the motor based on the comparison current value and the current value includes: If the current value is greater than the comparison current value, then the motor is determined to be under load. If the current value is not greater than the comparison current value, then the motor is determined to be in an unloaded state.
7. The method according to any one of claims 1-6, characterized in that, The step of adjusting the PI parameter corresponding to the motor according to the no-load state of the motor includes: If the motor is in an unloaded state, the PI parameter corresponding to the motor will be reduced; If the motor is under load, the PI parameter is increased.
8. A motor control device, applied to a motor controller, characterized in that, include: The data acquisition unit is used to collect the current value, minimum speed value, and maximum speed value of the motor during operation; The acquisition unit is used to acquire the no-load current value and the load current value, wherein the no-load current value is the current value when the motor is unloaded and at its maximum speed, and the load current value is the current value when the motor is loaded and at its minimum speed. The identification unit is used to identify the no-load state of the motor based on the current value, the minimum speed value, the maximum speed value, the no-load current value, and the load current value. The adjustment unit is used to adjust the PI parameters corresponding to the motor according to the no-load state of the motor.
9. A motor controller, characterized in that, The motor controller includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1-7.