Motor mute control method, computer device and storage medium

Abstract

The application relates to a motor mute control method, computer equipment and a storage medium. The method comprises the following steps: obtaining a target current value of a motor and a feedback current value of the motor; determining a current error value between the target current value and the feedback current value; performing proportional integral control processing on the current error value by adopting a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain an acting voltage value of the motor; and driving the motor to operate based on the acting voltage value. The method can reduce noise during motor operation.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method for silent control of an electric motor, a computer device, and a storage medium. Background Technology

[0002] A stepper motor is an incremental motor that can directly convert electrical pulse signals into angular or linear displacement. Its displacement is only related to the number of input pulses, and the error of each step does not accumulate. Therefore, controlling the stepper motor can be achieved simply by counting the input pulses. Control systems built using stepper motors have advantages such as simple structure, reliable operation, and convenient maintenance. These advantages make them widely used in manufacturing, automated office equipment, and home appliances.

[0003] Compared to permanent magnet synchronous motors, stepper motor control systems are more cost-effective. Although stepper motors are limited by their structure and control methods, their control precision can still meet the needs of most scenarios. However, low cost inevitably comes with drawbacks; current stepper motors suffer from noticeably high noise levels during operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for quiet control of an electric motor, a computer device, and a storage medium to address the aforementioned technical problems, which can reduce the noise generated during the operation of the electric motor.

[0005] A method for controlling the noise of an electric motor, the method comprising:

[0006] Obtain the target current value of the motor and the feedback current value of the motor;

[0007] Determine the current error value between the target current value and the feedback current value;

[0008] The current error value is processed by proportional-integral control using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain the operating voltage value of the motor.

[0009] The motor is driven to operate based on the applied voltage value;

[0010] The ratio of the preset proportional adjustment coefficient to the preset integral adjustment coefficient is the carrier period value, and the expression for the preset integral adjustment coefficient is:

[0011]

[0012] Where ki represents the preset integral adjustment coefficient, U rated The rated voltage of the motor is represented by , induceor represents the phase inductance of the motor, and E represents the phase resistance of the motor.

[0013] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of an embodiment of a method for silent control of various motors.

[0014] A computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of an embodiment of a method for silent control of various motors.

[0015] The aforementioned motor noise control method, computer equipment, and storage medium address the issue that traditional motor current hysteresis control, which directly controls the current, can lead to current oscillations and high-frequency vibrations, resulting in noise. This embodiment uses current feedback error to determine the motor's operating voltage value, driving the motor based on this voltage value to change the motor current. This allows the motor to continuously approach the target current value without high-frequency vibrations, significantly reducing motor noise and achieving quiet control. The proportional-integral (PI) control process essentially converts the current value into a voltage value, making the kp and li values ​​crucial for obtaining accurate operating voltage values ​​and ultimately achieving accurate current control. In this embodiment, the preset integral and proportional adjustment coefficients are determined based on the motor's properties, fully considering various usage scenarios and methods of the motor system. Through the kp and ki coefficients in this embodiment, the obtained operating voltage value, applied to the voltage, allows the motor's output current to approach the target current value infinitely, resulting in excellent noise control. Attached Figure Description

[0016] Figure 1 This is an application environment diagram of a motor noise control method in one embodiment;

[0017] Figure 2 This is a flowchart illustrating a method for controlling the noise of a motor in one embodiment;

[0018] Figure 3 This is a flowchart illustrating the motor noise control method in another embodiment;

[0019] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0021] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly. The connection can be a direct connection or an indirect connection.

[0023] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0024] The terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first H-bridge circuit may be referred to as a second H-bridge circuit, and similarly, a second H-bridge circuit may be referred to as a first H-bridge circuit. Both the first H-bridge circuit and the second H-bridge circuit are H-bridge circuits, but they are not the same H-bridge circuit.

[0025] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0026] The motor noise control method provided in this application can be applied to, for example... Figure 1 In the application environment. Figure 1This diagram illustrates the application environment of a motor noise control method in one embodiment. The computer device 110 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, portable wearable devices, microcontrollers, and FPGAs (Field Programmable Gate Arrays). The motor 120 can specifically be a stepper motor. The noise control method in this embodiment is applied to the computer device 110.

[0027] In one embodiment, such as Figure 2 The diagram shown is a flowchart of a motor noise control method in one embodiment, including the following steps:

[0028] Step 202: Obtain the target current value and the feedback current value of the motor.

[0029] The target current value is the current value that allows the motor to reach a statically stable state. This current value can be a constant or a variable value that varies depending on the motor load.

[0030] The target current value can be the target current amplitude, the target current peak-to-peak value, the target current RMS value, or the target current peak value, etc. The target current value is specifically stored in the computer device.

[0031] The feedback current value of a motor refers to the current value generated by the applied voltage acting on the motor. The feedback current value can also be called the applied current value. Similarly, the feedback current value can be the feedback current amplitude, peak-to-peak value, effective value, or peak value. Here, the feedback current value is the applied current value of the motor from the previous stage. The motor's feedback current value is transmitted to the computer device after the current detection module (such as a comparator) connected to the motor detects the current flowing through the motor.

[0032] Step 204: Determine the current error value between the target current value and the feedback current value.

[0033] Specifically, since the target current amplitude is the ideal amplitude of the motor at the current stage, the current error value can be the difference between the target current amplitude and the motor feedback current amplitude, or an error percentage, etc. The computer equipment determines the target current value iref and the feedback current value i. s The current error value between them.

[0034] Step 206: The current error value is processed by proportional-integral control using preset proportional adjustment coefficient and preset integral adjustment coefficient to obtain the operating voltage value of the motor.

[0035] The ratio of the preset proportional adjustment coefficient to the preset integral adjustment coefficient is the carrier period value, and the expression for the preset integral adjustment coefficient is:

[0036]

[0037] ki represents the preset integral adjustment coefficient, U rated The value represents the rated voltage of the motor, inductor represents the phase inductance of the motor, and R represents the phase resistance of the motor.

[0038] Specifically, the derivation methods for the preset integral adjustment coefficient ki and the preset proportional adjustment coefficient kp are as follows:

[0039] Open-loop model of the current loop of the motor:

[0040]

[0041] s is a variable in the open-loop current loop model, kpwm is the gain coefficient, Tpwm is the carrier period, Lq is the q-axis inductance of the motor, and R represents the phase resistance of the motor.

[0042] Among them, the G(s) function It is the transfer function of the PI controller. It is the transfer function for voltage conversion. It is the transfer function of the motor.

[0043] The PI controller employs a zero-pole constant cancellation method, making...

[0044]

[0045] Right now

[0046]

[0047] Therefore, the open-loop model of the current loop transforms into:

[0048]

[0049] Then the closed-loop model of the current loop

[0050]

[0051] Equation ② is derived:

[0052]

[0053] Based on the transfer function representation of a second-order system:

[0054]

[0055] Combining equation ②, we can obtain

[0056] Natural frequency ω n :

[0057]

[0058] Damping coefficient ξ:

[0059]

[0060] Carrier period value Tpwm:

[0061] Tpwm=n·4·Pn

[0062] n represents the rotational speed, measured in rps (revolutions per second); Pn is the number of pole pairs of the motor.

[0063] To ensure the stability of the PI controller, the damping coefficient is set to 1, i.e., the critical damping. Therefore, equation ③...

[0064]

[0065] By solving equations ① and ③ simultaneously, we can obtain...

[0066]

[0067] Then the preset integral adjustment coefficient ki:

[0068]

[0069] To achieve a better output voltage value from the PI controller, therefore, we choose...

[0070] kpwm=U rated

[0071] Furthermore, the q-axis inductance Lq is approximated as the phase inductance of the motor.

[0072] Therefore, the final preset integral adjustment coefficient ki is:

[0073]

[0074] Preset proportional adjustment coefficient ki:

[0075]

[0076] The computer equipment inputs the current error value into the proportional-integral controller (PI control) model, and uses preset proportional adjustment coefficients and preset integral adjustment coefficients to perform proportional-integral control processing on the current error value to obtain the motor's operating voltage value.

[0077] Step 208: Drive the motor to run based on the applied voltage value.

[0078] Specifically, the computer device sends an applied voltage value to the motor drive circuit, which then applies that applied voltage value to the motor to drive it to run.

[0079] In this embodiment, traditional motor current hysteresis control, which directly controls the current, can cause current oscillations, resulting in high-frequency vibrations and noise. This embodiment uses current feedback error to determine the motor's operating voltage value, driving the motor based on this voltage value and thus changing the motor current. This allows the motor to continuously approach the target current value without high-frequency vibrations, significantly reducing motor noise and achieving silent control. The proportional-integral (PI) control process essentially converts the current value into a voltage value, making the kp and ki values ​​crucial for obtaining accurate operating voltage values ​​and ultimately achieving accurate current control. In this embodiment, the preset integral and proportional adjustment coefficients are determined based on the motor's properties, fully considering various usage scenarios and methods of the motor system. Through the kp and ki coefficients in this embodiment, the obtained operating voltage value, applied to the voltage, allows the motor's output current to approach the target current value infinitely, resulting in excellent silent control.

[0080] In one embodiment, a proportional-integral control process is performed on the current error value using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain the motor's operating voltage value, including:

[0081] The current error value is processed by proportional-integral control using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain the reference operating voltage value.

[0082] The reference operating voltage value is compensated for by back electromotive force to obtain the operating voltage value of the motor.

[0083] Specifically, the computer equipment inputs the current error value into the proportional-integral (PI) controller model, and uses preset proportional and integral adjustment coefficients to perform proportional-integral control processing on the current error value to obtain the reference operating voltage value U. out .

[0084] The back electromotive force compensation method is to add the voltage corresponding to the back electromotive force to the output voltage.

[0085] Back electromotive force U during motor operation BEMF :

[0086] U BEMF =n·coef bEMF

[0087] coef BEMFHere, n represents the back electromotive force (EMF) coefficient, and n represents the rotational speed. The back EMF coefficient is not necessarily the same for every motor. The back EMF coefficient of the motor needs to be calibrated before use.

[0088] During the back EMF coefficient test, the computer equipment acquires the voltage signal of any phase of the motor and determines the signal frequency fre:

[0089] fre=n·Pn

[0090] Pn is the pole pair number.

[0091] back electromotive force coefficient (coef) BEMF Calculation formula:

[0092]

[0093] Among them, U pp The value is obtained by measuring the peak-to-peak value of the applied voltage of any phase of the motor under constant speed using a reverse-drive method. Therefore, coef BEMF It is a calibration value.

[0094] Therefore, the operating voltage value U in this embodiment s :

[0095] U s =U out +U BEMF

[0096] In this embodiment, during the motor's operation, the presence of electromotive force causes the motor's speed to change slowly. By compensating for back electromotive force, the influence of electromotive force on the motor's speed can be reduced, thereby improving the motor's speed response capability. This makes the motor's movement faster and more flexible, without affecting the motor's quiet operation.

[0097] In one embodiment, a proportional-integral control process is performed on the current error value using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain the motor's operating voltage value, including:

[0098] The current error value is processed by proportional-integral control using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain the reference operating voltage value.

[0099] The reference operating voltage value is compensated for with impedance-related bias to obtain the operating voltage value of the motor.

[0100] Specifically, the computer equipment inputs the current error value into the proportional-integral (PI) controller model, and uses preset proportional and integral adjustment coefficients to perform proportional-integral control processing on the current error value to obtain the reference operating voltage value U. out .

[0101] Impedance-related bias compensation factor SP OFS :

[0102]

[0103] SKI SOLL Given the current amplitude, R is the phase resistance of the motor, and U... rated This is the rated voltage of the motor.

[0104] The reference voltage value is offset by an impedance-related bias compensation, which is achieved by adding a bias compensation coefficient to the reference voltage.

[0105] Therefore, the operating voltage value U in this embodiment s :

[0106] U s =U out +SP OFS

[0107] In this embodiment, the reference operating voltage value is subjected to impedance-related bias compensation to obtain the operating voltage value of the motor and drive the motor to run based on the operating voltage value. This can effectively solve the problems of motor and motor controller heating and motor torque fluctuation caused by phase current bias when the motor is running at high speed.

[0108] In one embodiment, a reference operating voltage value is obtained by performing proportional-integral control processing on the current error value using a preset proportional adjustment coefficient and a preset integral adjustment coefficient, including:

[0109] The proportional voltage is determined based on the product of the preset proportional adjustment coefficient and the current error value;

[0110] Integrate the product of the preset integral adjustment coefficient and the current error value to determine the integral voltage;

[0111] The sum of the proportional voltage and the integral voltage is determined to obtain the reference operating voltage value of the motor.

[0112] Specifically, the current error value is ierr = iref - i s

[0113] Proportional voltage Up = ierr·kp

[0114] Integral voltage Ui:

[0115] Ui=∫ki·ierr

[0116] Reference operating voltage value U out =Up+Ui

[0117] In this embodiment, the proportional voltage is determined based on the product of a preset proportional coefficient and the current error value. The integral voltage is determined by integrating the product of a preset integral adjustment coefficient and the current error value, thereby obtaining the reference operating voltage value of the motor. The obtained value is accurate, so the operating current of the motor, i.e. the feedback current of the motor, is precisely controlled, thus achieving silent control of the motor.

[0118] In one embodiment, determining the sum of the proportional voltage and the integral voltage to obtain the reference operating voltage value of the motor includes:

[0119] When the sum of the proportional voltage and the integral voltage is greater than the preset maximum voltage value, the preset maximum voltage value is used as the reference operating voltage value of the motor.

[0120] When the sum of the proportional voltage and the integral voltage is less than the preset minimum voltage value, the preset minimum voltage value is used as the reference operating voltage value of the motor.

[0121] When the sum of the proportional voltage and the integral voltage is within the range of the preset minimum and maximum voltage values, the sum of the proportional voltage and the integral voltage is used as the reference operating voltage value of the motor.

[0122] Specifically, both the preset maximum voltage and the preset minimum voltage are stored in the computer device. Let the preset maximum voltage be U. max The preset minimum voltage value is U. min Then when Up+Ui>U max At that time, U out =U max When Up + Ui < U min At that time, U out =U min In other cases, U out =Up+Ui.

[0123] In this embodiment, the operating voltage of the motor is limited by setting a preset maximum voltage value and a preset minimum voltage value, which enables the motor to operate normally without affecting the quiet control.

[0124] In one embodiment, the method for controlling the noise of the motor further includes: determining the difference between a reference operating voltage value, a proportional-integral voltage, and the sum of integral voltages to obtain an anti-saturation voltage;

[0125] In the next calculation of the reference action voltage value, the sum of the proportional voltage and the integral voltage is added to the anti-saturation voltage to obtain the reference action voltage value.

[0126] Specifically, the anti-saturation voltage U saterr =U out -(Up+Ui). It can be understood that when the sum of the proportional voltage and the integral voltage is within the preset voltage range, the anti-saturation voltage is 0. However, when the sum of the proportional voltage and the integral voltage is greater than the preset maximum voltage, or when the sum of the proportional voltage and the integral voltage is less than the preset minimum voltage, the anti-saturation voltage is not 0. Therefore, during the next calculation of the reference voltage value during motor operation, the computer adds the anti-saturation voltage to the subsequent sum of the proportional voltage and the integral voltage to obtain the reference voltage value.

[0127] In this embodiment, when calculating the reference action voltage value next time, the sum of the proportional voltage and the integral voltage is added to the anti-saturation voltage to obtain the reference action voltage value, ensuring the normal operation of the motor without affecting the motor's silent control.

[0128] In one embodiment, driving the motor to run based on the applied voltage value includes: obtaining the planned angle of the motor; determining the current voltage of the motor based on the applied voltage value and the planned angle of the motor; and inputting the current voltage into the H-bridge circuit after space vector pulse width modulation to drive the motor to run.

[0129] Specifically, the planned rotation angle of the motor can be input from the motor or preset in the computer device. The current voltage of the motor can be a vector related to the applied current value. The computer device determines the current voltage based on the applied voltage value and the planned rotation angle of the motor, and performs Space Vector Pulse Width Modulation (SVPWM) on the current voltage to obtain four signals, which are used to control the four switching modules of the H-bridge circuit to drive the motor.

[0130] In this embodiment, the current voltage of the motor is determined based on the planning angle and then used as the signal input of the H-bridge circuit, which can drive various motors such as stepper motors.

[0131] In one embodiment, the motor is a two-phase motor, the H-bridge circuit includes a first H-bridge circuit and a second H-bridge circuit, both of which are connected to the motor; the current voltage includes the current A-phase voltage and the current B-phase voltage; there is a phase difference between the current A-phase voltage and the current B-phase voltage.

[0132] The current voltage is space vector pulse width modulated and then input to the H-bridge circuit to drive the motor, including:

[0133] The current phase A voltage is space vector pulse width modulated and then input into the first H-bridge circuit. The current phase B voltage is space vector pulse width modulated and then input into the second H-bridge circuit to drive the motor.

[0134] For a two-phase motor, both H-bridge circuits are connected to the motor. Therefore, the current voltage includes both the current A-phase voltage and the current B-phase voltage.

[0135] Current phase A voltage: U a =U s ·cosθ e

[0136] Current phase B voltage: U b =U s ·sinθ e

[0137] Wherein, the applied voltage value is U s The motor's planned angle is θ e .

[0138] After the computer equipment performs space vector pulse width modulation on the current phase A voltage, it obtains four pulse width modulation signals, which are used to control the four switches of the first H-bridge circuit. After performing space vector pulse width modulation on the current phase B voltage, it obtains four pulse width modulation signals, which are used to control the four switches of the second H-bridge circuit to drive the motor.

[0139] In this embodiment, the first H-bridge circuit and the second H-bridge circuit are connected to the two-phase motor. They perform a series of processing on the applied voltage value to obtain the current phase A voltage and the current phase B voltage. The current phase A voltage is then input to the first H-bridge circuit after space vector pulse width modulation, and the current phase B voltage is then input to the second H-bridge circuit after space vector pulse width modulation. This allows the applied voltage value to be applied to the motor, thereby achieving silent control of the two-phase motor by adjusting the applied voltage to control the current.

[0140] In one embodiment, such as Figure 3 The diagram shown is a flowchart illustrating a motor noise control method in another embodiment. Figure 3 The explanation begins at the large arrow. It will use a two-phase stepper motor as an example, and will explain using the target current value, feedback current value, applied voltage value, and applied current value amplitude as examples.

[0141] 1. Feedback current value i s This can actually be considered as the operating current value of the motor in the previous stage. The target current value iref and the feedback current value i... s The difference is calculated to obtain the current error value ier.

[0142] 2. PI: By performing proportional-integral (PI) control on the current error value ierr, the reference operating voltage value U is obtained. out Specifically, the current error value is subjected to proportional-integral control processing using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain the reference operating voltage value U. out .

[0143] Preset integral adjustment coefficient ki:

[0144]

[0145] Preset proportional adjustment coefficient ki:

[0146]

[0147] Proportional voltage Up = ierr·kp

[0148] Integral voltage Ui:

[0149] Ui=∫ki·ier

[0150] Reference operating voltage value U out :

[0151] U out =Up+Ui

[0152] 3. Compensation: Back electromotive force compensation and impedance-related bias compensation are performed on the reference operating voltage value to obtain the operating voltage value of the motor.

[0153] Back electromotive force U during motor operation BEMF :

[0154] U BEMF =n·coef BEMF

[0155] Impedance-related bias compensation factor SP OFS :

[0156]

[0157] The operating voltage value U of the motor s :

[0158] U s =U out +U BEMF +SP OFS

[0159] 4. Exercise planning

[0160] Obtain the motor planning angle θ input by the user. e .

[0161] 5. Voltage Transformation

[0162] Motor planning angle θ based on user input e and the applied voltage value U s Determine the current voltage value of the motor.

[0163] Current phase A voltage: U a =U s ·cosθ e

[0164] Current phase B voltage: U b =U s ·sinθ e

[0165] Therefore, the phase difference between the two phase voltages is 90 degrees.

[0166] 6.SVPWM

[0167] For the current phase A voltage U a After space vector pulse width modulation, four pulse width modulation signals are obtained, which are used to control the four switches of the first H-bridge circuit.

[0168] For the current phase B voltage U b After space vector pulse width modulation, four pulse width modulation signals are obtained, which are used to control the four switches of the second H-bridge circuit.

[0169] 7. H-bridge

[0170] For two-phase motors Figure 3 There are two H-bridges in the circuit: the first H-bridge circuit and the second H-bridge circuit. Each H-bridge circuit requires two connection lines to the motor; therefore, the two H-bridge circuits together constitute... Figure 3 The circuit consists of four connecting lines. Each H-bridge circuit is connected to the motor to drive it. The drains of the two lower transistors in the H-bridge circuit are connected to one end of the sampling resistor, and the other end of the sampling resistor is grounded. The feedback current value is obtained by sampling the current flowing through the sampling resistor while the motor is running.

[0171] For each of the two phases: During motor operation, the current flowing through the sampling resistor is sampled to obtain the current value, which is an instantaneous value. At this time, the feedback current value i... s unknown.

[0172] For either phase: When the motor is running, the voltage across the sampling resistor is detected to obtain the current voltage value, which is an instantaneous value. The applied voltage value U at this time... s Known.

[0173] 8. Calculate the feedback current value i s

[0174] For each of the two phases: When the motor is running, the counter starts counting when the absolute value of the current current of the motor is greater than the current comparison threshold, and stops counting when the absolute value of the current current of the motor reaches or falls below the current comparison threshold, thus obtaining the reference duration CNTa. The reference duration can be represented in the form of a count value, etc.

[0175] The reference angle θ corresponding to the current value being the current comparison threshold is determined based on the reference duration and the half-wave period of the motor. c :

[0176]

[0177] The feedback current value i can be determined by the ratio of the current comparison threshold to the sine of the reference angle. s :

[0178]

[0179] The feedback current value of phase A during motor operation is updated; the feedback current value of phase B during motor operation is also updated. Since the feedback current values ​​of phase A and phase B are acquired at different times, the two-phase motor can adjust the current more frequently.

[0180] Following the method described above for determining the feedback current value, the feedback current value will be obtained in the latter part of the half-wave cycle. If it is necessary to update the feedback current value when the current value is 0, the feedback current value can be updated every preset time interval, or the step of calculating the current error value between the target current value and the feedback current value can be returned every preset time interval.

[0181] In this embodiment, traditional motor current hysteresis control, which directly controls the current, can cause current oscillations, resulting in high-frequency vibrations and noise. This embodiment uses current feedback error to determine the motor's operating voltage value. Based on this operating voltage value, the motor is driven, thereby changing the motor current. This allows the motor to continuously approach the target current value without high-frequency vibrations, significantly reducing motor noise and achieving silent control. The proportional-integral (PI) control process essentially converts the current value into a voltage value. Therefore, the kp and ki values ​​are crucial, determining whether an accurate operating voltage value can be obtained and ultimately accurate current control. In this embodiment, the preset integral and proportional adjustment coefficients are determined based on the motor's properties, fully considering various usage scenarios and methods of the motor system. Through the kp and ki coefficients in this embodiment, the obtained operating voltage value, applied to the voltage, allows the motor's output current to approach the target current value infinitely, resulting in excellent silent control. Furthermore, compensation such as back EMF compensation, impedance-related bias compensation, and anti-saturation voltage compensation ensures that the motor maintains normal operation while remaining silent.

[0182] In one embodiment, a method for controlling the noise level of a motor includes:

[0183] Step (a1) is to obtain the target current value of the motor and the feedback current value of the motor.

[0184] Step (a2) determines the current error value between the target current value and the feedback current value.

[0185] Step (a3) ​​determines the proportional voltage based on the product of the preset proportional adjustment coefficient and the current error value.

[0186] Step (a4): Integrate the product of the preset integral adjustment coefficient and the current error value to determine the integral voltage; the ratio of the preset proportional adjustment coefficient and the preset integral adjustment coefficient is the carrier period value, and the expression for the preset integral adjustment coefficient is:

[0187]

[0188] Where ki represents the preset integral adjustment coefficient, U rated The value represents the rated voltage of the motor, inductor represents the phase inductance of the motor, and R represents the phase resistance of the motor.

[0189] Step (a5): When the sum of the proportional voltage and the integral voltage is greater than the preset maximum voltage value, the preset maximum voltage value is used as the reference operating voltage value of the motor.

[0190] Step (a6): When the sum of the proportional voltage and the integral voltage is less than the preset minimum voltage value, the preset minimum voltage value is used as the reference operating voltage value of the motor.

[0191] Step (a7): When the sum of the proportional voltage and the integral voltage is within the range of the preset minimum voltage value and the preset maximum voltage value, the sum of the proportional voltage and the integral voltage is used as the reference operating voltage value of the motor.

[0192] Step (a8) involves performing back electromotive force compensation and impedance-related bias compensation on the reference operating voltage value to obtain the operating voltage value of the motor.

[0193] Step (a9) is to obtain the planned angle of the motor.

[0194] Step (a10) determines the current voltage of the motor based on the applied voltage value and the motor planning angle. The current voltage includes the current A-phase voltage and the current B-phase voltage. There is a phase difference between the current A-phase voltage and the current B-phase voltage.

[0195] Step (a11): The current phase A voltage is space vector pulse width modulated and then input into the first H-bridge circuit; the current phase B voltage is space vector pulse width modulated and then input into the second H-bridge circuit to drive the motor; both the first H-bridge circuit and the second H-bridge circuit are connected to the two-phase motor.

[0196] Step (a12) determines the difference between the reference operating voltage value, the proportional-integral voltage, and the sum of the integral voltages to obtain the anti-saturation voltage.

[0197] In step (a13), when calculating the reference action voltage value in the next calculation, the anti-saturation voltage is added to the sum of the proportional voltage and the integral voltage to obtain the reference action voltage value.

[0198] In this embodiment, traditional motor current hysteresis control, which directly controls the current, can cause current oscillations, resulting in high-frequency vibrations and noise. This embodiment uses current feedback error to determine the motor's operating voltage value, driving the motor based on this voltage value and thus changing the motor current. This allows the motor to continuously approach the target current value without high-frequency vibrations, significantly reducing motor noise and achieving silent control. The proportional-integral (PI) control process essentially converts the current value into a voltage value, making the kp and ki values ​​crucial for obtaining accurate operating voltage values ​​and ultimately achieving accurate current control. In this embodiment, the preset integral and proportional adjustment coefficients are determined based on the motor's properties, fully considering various usage scenarios and methods of the motor system. Through the kp and ki coefficients in this embodiment, the obtained operating voltage value, applied to the voltage, allows the motor's output current to approach the target current value infinitely, resulting in excellent silent control.

[0199] It should be understood that, although the above Figure 2 and Figure 3In the flowchart, the steps are shown sequentially according to the arrows, and the steps (a1) to (a13) are shown sequentially according to their numbers. However, these steps are not necessarily executed in the order indicated by the arrows or numbers. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps; they can be executed in other orders. Figure 2 and Figure 3 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0200] In one embodiment, a computer device is provided, which may be a terminal device, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for silent motor control. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0201] Those skilled in the art will understand that Figure 4 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 computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0202] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method embodiments.

[0203] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method embodiments.

[0204] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0205] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes described in the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0206] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for quiet control of an electric motor, characterized in that, The method includes: Obtain the target current value of the motor and the feedback current value of the motor; Determine the current error value between the target current value and the feedback current value; The current error value is processed by proportional-integral control using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain the operating voltage value of the motor. The motor is driven to operate based on the applied voltage value; The ratio of the preset proportional adjustment coefficient to the preset integral adjustment coefficient is the carrier period value, and the expression for the preset integral adjustment coefficient is: in, This represents the preset integral adjustment coefficient. This indicates the rated voltage of the motor. This represents the phase inductance of the motor. This represents the phase resistance of the motor.

2. The method according to claim 1, characterized in that, The step of performing proportional-integral control processing on the current error value using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain the operating voltage value of the motor includes: The current error value is processed by proportional-integral control using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain a reference operating voltage value. The reference operating voltage value is compensated for by back electromotive force to obtain the operating voltage value of the motor.

3. The method according to claim 1, characterized in that, The step of performing proportional-integral control processing on the current error value using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain the operating voltage value of the motor includes: The current error value is processed by proportional-integral control using a preset proportional adjustment coefficient and a preset integral adjustment coefficient to obtain a reference operating voltage value. The reference operating voltage value is subjected to impedance-related bias compensation to obtain the operating voltage value of the motor.

4. The method according to claim 2 or 3, characterized in that, The step of performing proportional-integral control processing on the current error value using preset proportional adjustment coefficients and preset integral adjustment coefficients to obtain a reference operating voltage value includes: The proportional voltage is determined based on the product of a preset proportional adjustment coefficient and the current error value; Integrate the product of the preset integral adjustment coefficient and the current error value to determine the integral voltage; The sum of the proportional voltage and the integral voltage is determined to obtain the reference operating voltage value of the motor.

5. The method according to claim 4, characterized in that, Determining the sum of the proportional voltage and the integral voltage to obtain the reference operating voltage value of the motor includes: When the sum of the proportional voltage and the integral voltage is greater than the preset maximum voltage value, the preset maximum voltage value is used as the reference operating voltage value of the motor. When the sum of the proportional voltage and the integral voltage is less than a preset minimum voltage value, the preset minimum voltage value is used as the reference operating voltage value of the motor. When the sum of the proportional voltage and the integral voltage is within the range of the preset minimum voltage value and the preset maximum voltage value, the sum of the proportional voltage and the integral voltage is used as the reference operating voltage value of the motor.

6. The method according to claim 5, characterized in that, The method further includes: The anti-saturation voltage is obtained by determining the difference between the reference operating voltage value, the sum of the proportional voltage and the integral voltage; In the next calculation of the reference action voltage value, the sum of the proportional voltage and the integral voltage is added to the anti-saturation voltage to obtain the reference action voltage value.

7. The method according to claim 1, characterized in that, The method of driving the motor to operate based on the applied voltage value includes: Obtain the planned angle of the motor; The current voltage of the motor is determined based on the applied voltage value and the planned motor angle; The current voltage is space vector pulse width modulated and then input into the H-bridge circuit to drive the motor.

8. The method according to claim 7, characterized in that, The motor is a two-phase motor; the H-bridge circuit includes a first H-bridge circuit and a second H-bridge circuit, both of which are connected to the motor; the current voltage includes the current A-phase voltage and the current B-phase voltage; there is a phase difference between the current A-phase voltage and the current B-phase voltage; The step of inputting the current voltage into the H-bridge circuit after space vector pulse width modulation to drive the motor includes: The current phase A voltage is subjected to space vector pulse width modulation and then input to the first H-bridge circuit. The current phase B voltage is subjected to space vector pulse width modulation and then input to the second H-bridge circuit to drive the motor to run.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

Images