Step-out calibration device and motor control method

Abstract

The application relates to the motor technical field and discloses a step loss calibration device and a motor control method. The device comprises a positioning indication component, a step loss detection component and a calibration component. The positioning indication component is connected with an output shaft of a motor and rotates synchronously with the output shaft of the motor. The positioning indication component has at least two different positioning features along the circumference of the output shaft, which are used for indicating at least two gears. The step loss detection component is configured to determine the position deviation information of the motor according to the different positioning features during the operation of the motor. The position deviation information comprises the position deviation amount between the actual position and the target position of the motor. The calibration component is signal-connected with the step loss detection component and signal-connected with the motor. The calibration component is configured to control the motor to perform step loss calibration according to the position deviation information. The step loss calibration device and the motor control method disclosed by the application can timely find the step loss condition of the motor and perform step loss calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a step loss calibration device and an electric machine control method. BACKGROUND

[0002] Electric vehicles generally drive wheels through electric machines, and then realize the movement of the vehicle. Stepping motors are widely used in electric vehicles due to their low price and simple structure.

[0003] The current stepping motor is prone to step loss during operation. If the step loss cannot be detected in time and the electric machine is not adjusted according to the step loss, the electric machine is prone to damage, and the normal operation of the electric machine may be affected to different degrees. SUMMARY

[0004] Therefore, the present application provides a step loss calibration device and an electric machine control method, which can detect the step loss of the electric machine in time and calibrate the step loss.

[0005] Specifically, the present application includes the following technical solutions:

[0006] The first aspect of the present application provides a step loss calibration device, which comprises a positioning indication component, a step loss detection component and a calibration component;

[0007] The positioning indication component is connected with the output shaft of the electric machine and rotates synchronously with the output shaft of the electric machine, and along the circumference of the output shaft, the positioning indication component has at least two different positioning features for indicating at least two gears.

[0008] The step loss detection component is configured to determine the position deviation information of the electric machine according to the different positioning features during the operation of the electric machine, and the position deviation information includes the position deviation amount between the actual position and the target position of the electric machine.

[0009] The calibration component is signal connected with the step loss detection component and signal connected with the electric machine, and the calibration component is configured to control the electric machine to calibrate the step loss according to the position deviation information.

[0010] Optionally, the positioning indication component is a positioning wheel disc, the positioning wheel disc has an axle hole, and the output shaft of the electric machine is arranged in the axle hole.

[0011] At least two groups of gear sets are arranged on the outer circumferential wall of the positioning wheel disc in a circumferential direction, and at least one of the number of gear teeth, the gear tooth thickness and the gear tooth groove width of each group of gear sets is different.

[0012] Optionally, the arc length corresponding to any two of the at least two groups of tooth sets in the index circle is equal.

[0013] Optionally, the positioning wheel disc comprises at least two first tooth grooves, the number of the first tooth grooves is equal to the number of the tooth sets, and two adjacent tooth sets are spaced by the first tooth grooves.

[0014] Optionally, the at least two groups of tooth sets comprise at least two of a first tooth set, a second tooth set, a third tooth set and a fourth tooth set, wherein,

[0015] The first tooth set comprises a first tooth, a second tooth, a third tooth and a fourth tooth arranged in sequence along the circumference of the positioning wheel disc, and the tooth thickness of at least one of the first tooth, the second tooth, the third tooth and the fourth tooth is different from the tooth thickness of the other tooth;

[0016] The second tooth set comprises a fifth tooth;

[0017] The third tooth set comprises a sixth tooth and a seventh tooth arranged in sequence along the circumference of the positioning wheel disc, and the tooth thickness of the sixth tooth is different from the tooth thickness of the seventh tooth;

[0018] The fourth tooth set comprises an eighth tooth, a ninth tooth and a tenth tooth arranged in sequence along the circumference of the positioning wheel disc, and the tooth thickness of at least one of the eighth tooth, the ninth tooth and the tenth tooth is different from the tooth thickness of the other tooth.

[0019] Optionally, the first tooth groove is respectively arranged between the fourth tooth and the fifth tooth, between the fifth tooth and the sixth tooth, between the seventh tooth and the eighth tooth, and between the first tooth and the tenth tooth.

[0020] Optionally, when the number of teeth in the tooth set is more than one, a second tooth groove is arranged between adjacent teeth, and the width of the second tooth groove is smaller than the width of the first tooth groove.

[0021] The second aspect of the present application provides a motor control method applied to the step loss calibration device, and the method comprises:

[0022] Obtaining the position deviation information, wherein the position deviation information comprises a position deviation between the current position and the target position of the motor;

[0023] According to the position deviation information, the motor is controlled to perform step loss calibration.

[0024] Optionally, the step loss calibration of the motor according to the position deviation information comprises:

[0025] when the position deviation is greater than a first threshold, controlling the motor to perform step-out calibration according to a first strategy;

[0026] when the position deviation is less than or equal to the first threshold and greater than a second threshold, controlling the motor to perform step-out calibration according to a second strategy, wherein the first threshold is greater than the second threshold, and the first strategy is different from the second strategy.

[0027] Optionally, the controlling the motor to perform step-out calibration according to the first strategy comprises:

[0028] controlling the motor to continue rotating and stop rotating after receiving a gear signal sent by the step-out detection component for a second time, wherein the step-out detection component sends a gear signal each time a complete gear is collected, and the gear signal carries a current gear identifier;

[0029] determining a shortest reset path of the motor to reset to a target gear according to the current gear identifier in the gear signal sent by the step-out detection component for the second time, wherein the shortest reset path comprises a target rotating direction and a target rotating angle;

[0030] controlling the motor to rotate according to the target rotating direction and the target rotating angle to perform step-out calibration.

[0031] Optionally, the second strategy is a zero reset calibration.

[0032] Optionally, the position deviation information further comprises a current position of the motor.

[0033] The controlling the motor to perform step-out calibration according to the second strategy comprises:

[0034] determining a shortest reset path of the motor to reset to a reference zero according to the current position of the motor, wherein the shortest reset path comprises a target rotating direction and a target rotating angle;

[0035] controlling the motor to rotate according to the target rotating direction and the target rotating angle to perform step-out calibration.

[0036] Optionally, after the controlling the motor to perform step-out calibration, the method further comprises:

[0037] obtaining calibrated position deviation information of the motor, wherein the calibrated position deviation information comprises a position deviation between a current position of the motor after calibration and a target position;

[0038] When the position deviation amount is greater than the first threshold value or greater than the second threshold value, repeating the step of controlling the motor to perform step-out calibration until the position deviation amount of the motor is less than or equal to the second threshold value.

[0039] Optionally, the obtaining the position deviation information comprises:

[0040] In response to the step-out detection component determining that the motor steps out, obtaining the position deviation information, wherein the step-out detection component is configured to detect step-out of the motor to determine the position deviation information after the motor is powered on or zeroed or gear adjusted or step-out calibrated, and determine whether the motor steps out according to the position deviation information;

[0041] In response to the motor receiving a diagnostic homing request, obtaining the position deviation information, wherein the diagnostic homing request is used to instruct the motor to rotate to a specified position.

[0042] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0043] In the step-out detection device provided by the embodiments of the present application, the positioning indication component is arranged on the output shaft of the motor, and the step-out detection component can determine the position passed by the motor in the rotating process according to different types of positioning features on the positioning indication component in the process of rotating with the output shaft, so as to determine whether the motor steps out and the position deviation amount when the motor steps out. Then, the position deviation information is sent to the calibration component, and the calibration component can selectively perform step-out calibration on the motor according to the step-out condition and the position deviation amount, so as to timely adjust the motor when the motor steps out, avoid damage to the motor caused by step-out, and avoid the influence of step-out on the normal operation of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical scheme 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.

[0045] Figure 1 A first structural schematic diagram of the step-out calibration device provided by the embodiments of the present application is shown;

[0046] Figure 2 A connection relationship schematic diagram of the motor, the calibration component and the step-out detection component provided by the embodiments of the present application is shown;

[0047] Figure 3A second structural schematic diagram of the step-loss calibration device provided by the embodiment of the application is shown.

[0048] Figure 4 A connection relationship schematic diagram of the receiving part and the information processing part provided by the embodiment of the application is shown.

[0049] Figure 5 A waveform diagram collected by the step-loss detection device provided by the embodiment of the application when the motor enters the first gear from the zero gear is shown.

[0050] Figure 6 A waveform diagram collected by the step-loss detection device provided by the embodiment of the application when the motor enters the second gear from the first gear is shown.

[0051] Figure 7 A waveform diagram collected by the step-loss detection device provided by the embodiment of the application when the motor enters the third gear from the second gear is shown.

[0052] Figure 8 A waveform diagram collected by the step-loss detection device provided by the embodiment of the application when the motor enters the zero gear from the third gear is shown.

[0053] Figure 9 A flowchart of a motor control method provided by the embodiment of the application is shown.

[0054] Figure 10 A flowchart of another motor control method provided by the embodiment of the application is shown.

[0055] 1, positioning indication part; 11, positioning wheel disc; 111, shaft hole; 112, first tooth groove; 113, first set of wheel teeth; 1131, first wheel tooth; 1132, second wheel tooth; 1133, third wheel tooth; 1134, fourth wheel tooth; 114, second set of wheel teeth; 1141, fifth wheel tooth; 115, third set of wheel teeth; 1151, sixth wheel tooth; 1152, seventh wheel tooth; 116, fourth set of wheel teeth; 1161, eighth wheel tooth; 1162, ninth wheel tooth; 1163, tenth wheel tooth; 117, second tooth groove;

[0056] 2, step-loss detection part; 21, light-emitting part; 22, receiving part; 23, information processing part;

[0057] 3, calibration part;

[0058] 4, output shaft.

[0059] The specific embodiments of the application have been shown in the above drawings, and will be described in more detail hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the application in any way, but to illustrate the concept of the application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application. In order to make the technical solutions and advantages of the present application clearer, the step-out detection device and the motor control method will be described in detail below with reference to the drawings.

[0061] The present application provides a step-out calibration device, as shown in Figure 1 and Figure 2 The device can include a position indication component 1, a step-out detection component 2 and a calibration component 3. The position indication component 1 is connected with the output shaft 4 of the motor and rotates synchronously with the output shaft 4 of the motor. Along the circumference of the output shaft 4, the position indication component has at least two different positioning features for indicating at least two gears. The step-out detection component 2 is configured to determine the position deviation information of the motor according to the different positioning features during the operation of the motor. The position deviation information includes the position deviation between the actual position and the target position of the motor. The calibration component 3 is signal connected with the step-out detection component 2 and signal connected with the motor. The calibration component 3 is configured to control the motor to perform step-out calibration according to the position deviation information.

[0062] In the step-out calibration device provided in the embodiments of the present application, the position indication component 1 is arranged on the output shaft 4 of the motor. During the rotation of the output shaft 4, the step-out detection component 2 can determine the gear passed by the motor during the rotation according to the different positioning features on the position indication component 1, so as to determine whether the motor has step-out and the position deviation amount when the step-out occurs. After the position deviation information is sent to the calibration component 3, the calibration component 3 can selectively perform step-out calibration on the motor according to the step-out and the position deviation information, so as to timely adjust the motor when the motor has step-out, avoid the damage of the motor caused by the step-out, and avoid the influence of the step-out on the normal operation of the motor.

[0063] It should be noted that the target position refers to the position that the motor shaft should reach at a specific moment during the operation of the motor. The actual position refers to the position actually reached by the motor shaft at the specific moment. The position deviation amount refers to the deviation value between the target position and the actual position. Corresponding to the actual position of the motor shaft exceeding the target position and not reaching the target position at the specific moment, the position deviation amount is positive and negative, respectively.

[0064] For example, the positioning indication component has four positioning features, corresponding to four gears, i.e. 0th gear (also referred to as OFF gear) to 3rd gear. According to the pre-designed motor control logic, the motor shaft should rotate from the 0th gear to the 1st gear after a set time (e.g. 500 ms), and the 1st gear at this time is the target position. If the actual position of the motor shaft is not at the 1st gear (e.g. between the 0th gear and the 1st gear, or beyond the 1st gear), the motor has a step loss.

[0065] In some embodiments, the number of types of positioning features can be selected and adjusted by those skilled in the art according to the accuracy requirement of step loss detection. For example, when the detection accuracy and calibration accuracy are high, the number of types of positioning features can be increased; when the detection accuracy and calibration accuracy are low, the number of types of positioning features can be reduced.

[0066] Optionally, the calibration component 3 is a controller, which can be part of the motor controller or can be another control device independent of the motor controller. When the calibration component 3 is independent of the motor controller, it can communicate with the motor controller and send a calibration control signal to the motor controller, and the motor controller can arbitrate the calibration control signal and its own control signal to output an arbitrated control signal to the motor.

[0067] In some embodiments of the present application, as shown in Figure 1 The positioning indication component 1 is a positioning wheel disc 11, the output shaft 4 of the motor passes through the shaft hole 111 and is fixedly connected with the positioning wheel disc 11. The outer peripheral wall of the positioning wheel disc 11 is circumferentially spaced apart and provided with at least two groups of gear teeth, and at least one of the number of gear teeth, the gear tooth thickness and the gear tooth groove width of each group of gear teeth is different.

[0068] At least two groups of gear teeth are arranged on the positioning wheel disc 11 to form at least two types of positioning features along the circumferential direction of the positioning wheel disc 11, thereby forming at least two gears, so as to facilitate the step loss detection component 2 to detect the step loss of the motor. Moreover, the positioning features are formed by arranging the gear teeth, which has low manufacturing difficulty and is suitable for mass production.

[0069] Optionally, the position deviation amount can be the central angle between the actual position and the target position, or can be the arc length of the actual position and the target position in the circumferential direction of the positioning wheel disc 11.

[0070] In some embodiments, as shown in Figure 1 and Figure 4As shown, the step-out detection component 2 can include a light-emitting portion 21, a receiving portion 22, and an information processing portion 23; the light-emitting portion 21 and the receiving portion 22 are respectively located on opposite sides of at least two groups of tooth sets in the tooth thickness direction, the light-emitting portion 21 is configured to continuously emit light to the receiving portion 22, and a light path is formed between the light-emitting portion 21 and the receiving portion 22, and the at least two groups of tooth sets can pass through the light path;

[0071] The receiving portion 21 is configured to output a first level signal to the information processing portion 23 when no light is received, and output a second level signal to the information processing portion 23 when light is received, and the information processing portion 23 forms a waveform diagram according to the received first level signal and second level signal, and determines whether the motor is out of step according to the waveform diagram, wherein the first level signal is high, and the second level signal is low.

[0072] In an embodiment, a plurality of groups of tooth sets are arranged at intervals on the positioning disc 11, and the number of teeth in each group of tooth sets is different. For example, along the circumference of the positioning disc 11, each group of tooth sets sequentially includes 1 tooth, 2 teeth, 3 teeth, and 4 teeth, and when the plurality of groups of tooth sets sequentially pass through the light path, the waveform diagram formed by the level signals output by the receiving portion sequentially includes 1 high level, 2 high levels, 3 high levels, and 4 high levels, which sequentially correspond to 0 gear, 1 gear, 2 gear, and 3 gear.

[0073] In some embodiments, a plurality of groups of tooth sets are arranged at intervals on the positioning disc 11, and the tooth slot widths of each group of tooth sets are different. For example, along the circumference of the positioning disc 11, each group of tooth sets includes two teeth, and the two teeth have a tooth slot therebetween, and the tooth slot widths of each group of tooth sets are different. When the plurality of groups of tooth sets sequentially pass through the light path, the waveform diagram formed by the level signals output by the receiving portion all includes 2 high levels and 1 low level, but the duration of the low level is different, and can correspond to different gears.

[0074] Regarding the tooth thickness, the principle is the same as the examples of the number of teeth and the tooth slot width, and will not be described in detail here.

[0075] It should be noted that when the tooth thickness of a tooth in one group of tooth sets is different from the tooth thickness of any tooth in another group of tooth sets, it is considered that the tooth thickness of the two groups of tooth sets is different. Similarly, when the tooth slot width between a pair of teeth in one group of tooth sets is different from the tooth slot width between any pair of teeth in another group of tooth sets, it is considered that the tooth slot width of the two groups of tooth sets is different. The tooth slot width refers to the width of the tooth slot between two adjacent teeth in a tooth set.

[0076] In some embodiments, the step-out detection component 2 comprises a light-emitting part, a receiving part, and an information processing part, the light-emitting part and the receiving part are located on the same side of the positioning indication component 1, or the light-emitting part and the receiving part are integrated on one device arranged on one side of the positioning indication component 1; the positioning indication component 1 is a positioning wheel disc 11, each tooth of the positioning wheel disc 11 is provided with a light-reflecting part, the light-reflecting part is configured to reflect the light emitted by the light-emitting part to the receiving part, the receiving part is configured to output a first level signal to the information processing part when receiving the light, and output a second level signal to the information processing part when not receiving the light, the step-out detection component 2 forms a waveform diagram according to the received first level signal and second level signal, and determines whether the motor is out of step according to the waveform diagram, wherein the first level signal is high level, and the second level signal is low level.

[0077] In some embodiments, the step-out detection component 2 comprises a photographing part, and the positioning indication component 1 is a positioning wheel disc 11, the photographing part is located on one side of the positioning wheel disc 11, and the positioning wheel disc 11 is arranged with at least two groups of positioning patterns on the side facing the photographing part in a circumferential direction, the shapes, sizes, and lengths of the patterns in each group of patterns are different from at least one of the shapes, sizes, and lengths of the patterns in the other groups of patterns, so as to correspond to different types of positioning features. By identifying the positioning patterns in the photos taken by the photographing part, the actual position of the output shaft of the motor can be determined.

[0078] Those skilled in the art can select and adjust the type of the step-out detection component 2 and the type of the positioning feature according to actual needs, manufacturing difficulty, and production cost, etc.

[0079] In the above embodiments, the number of teeth, the tooth thickness, or the tooth groove width of each group of teeth is different, which may result in that the lengths of the waveform diagrams generated by the tooth groups are inconsistent, and the division is relatively complex, which may affect the subsequent calibration step.

[0080] Therefore, in some embodiments of the present application, the arc lengths corresponding to any two groups of teeth in the at least two groups of teeth in the reference circle are equal. That is, the waveforms in the waveform diagram generated by the receiving part are consistent when any one group of teeth passes through the light path, which is more convenient for dividing the gears on the positioning wheel disc 11.

[0081] For example, the positioning wheel disc 11 is arranged with four groups of teeth in a circumferential direction, and the arc lengths corresponding to each group of teeth in the reference circle are one-fourth of a circle, and the corresponding radian is 90°. When the positioning wheel disc 11 rotates clockwise or counterclockwise by one-fourth of a circle from a gear, it reaches the previous gear or the next gear.

[0082] In order to make the division of the gears more clear, in some embodiments, as shown in FIG. 10, the positioning wheel disc 11 is arranged with four groups of teeth in a circumferential direction, and the arc lengths corresponding to each group of teeth in the reference circle are one-fourth of a circle, and the corresponding radian is 90°. When the positioning wheel disc 11 rotates clockwise or counterclockwise by one-fourth of a circle from a gear, it reaches the previous gear or the next gear. Figure 3The positioning wheel 11 shown may include at least two first tooth grooves 112. The number of first tooth grooves 112 is equal to the number of gear tooth sets, and two adjacent gear tooth sets are separated by the first tooth grooves 112. Whenever the first tooth groove 112 on the positioning wheel 11 passes through the optical path between the light-emitting part and the receiving part, it can be determined that the motor has completed the previous gear and entered the next gear.

[0083] In some embodiments, such as Figure 3 As shown, at least two sets of gear teeth include at least two of the following: a first gear tooth set 113, a second gear tooth set 114, a third gear tooth set 115, and a fourth gear tooth set 116. The first gear tooth set 113 includes a first gear tooth 1131, a second gear tooth 1132, a third gear tooth 1133, and a fourth gear tooth 1134 arranged sequentially and at intervals along the circumference of the positioning disc 11. The tooth thickness of at least one of the first gear tooth 1131, the second gear tooth 1132, the third gear tooth 1133, and the fourth gear tooth 1134 is different from the tooth thickness of the other gear teeth. The second gear tooth set 114... 14 includes a fifth gear tooth 1141; the third gear group 115 includes a sixth gear tooth 1151 and a seventh gear tooth 1152 arranged circumferentially along the positioning wheel 11, the tooth thickness of the sixth gear tooth 1151 and the tooth thickness of the seventh gear tooth 1152 are different; the fourth gear group 116 includes an eighth gear tooth 1161, a ninth gear tooth 1162 and a tenth gear tooth 1163 arranged circumferentially along the positioning wheel 11, the tooth thickness of at least one of the eighth gear tooth 1161, the ninth gear tooth 1162 and the tenth gear tooth 1163 is different from the tooth thickness of the other gear teeth.

[0084] If the first tooth groove 112 between the fifth gear tooth 1141 and the sixth gear tooth 1151 is considered to be in position 0, or OFF, when passing through the optical path, then the waveform generated when the fifth gear tooth 1141 passes through the optical path is as follows: Figure 5 As shown, the current gear corresponding to the waveform at this time is gear 0.

[0085] The voltage levels in the waveform diagram generated when the sixth gear tooth 1151 and the seventh gear tooth 1152 pass through the optical path in sequence are as follows: Figure 6 As shown, the current gear indicator corresponding to the waveform at this time is gear 1.

[0086] The waveforms generated when the eighth gear tooth 1161, the ninth gear tooth 1162, and the tenth gear tooth 1163 pass through the optical path in sequence are shown in the figure below. Figure 7 As shown, the current gear indicator corresponding to the waveform at this time is gear 2.

[0087] The waveform diagram generated when the first gear tooth 1131, the second gear tooth 1132, the third gear tooth 1133, and the fourth gear tooth 1134 pass through the optical path in sequence is as follows: Figure 8 As shown, the current gear indicator corresponding to the waveform at this time is gear 3.

[0088] It should be noted that the tooth thickness of at least one tooth in each tooth set is different from the tooth thickness of other teeth, so as to ensure that the arc lengths corresponding to any two groups of tooth sets in the index circle are equal, thereby facilitating the division of gears.

[0089] Optionally, as shown in Figure 3 The first tooth gap 112 is respectively arranged between the fourth tooth 1134 and the fifth tooth 1141, between the fifth tooth 1141 and the sixth tooth 1151, between the seventh tooth 1152 and the eighth tooth 1161, and between the first tooth 1131 and the tenth tooth 1163.

[0090] When the first tooth gap 112 between the fifth tooth 1141 and the sixth tooth 1151 passes through the light path, the motor is located at 0 gear (i.e., OFF gear); when the first tooth gap 112 between the seventh tooth 1152 and the eighth tooth 1161 passes through the light path, the motor is located at 1 gear; when the first tooth gap 112 between the first tooth 1131 and the tenth tooth 1163 passes through the light path, the motor is located at 2 gear; and when the first tooth gap 112 between the fourth tooth 1134 and the fifth tooth 1141 passes through the light path, the motor is located at 3 gear.

[0091] In some embodiments, as shown in Figure 3 When the number of teeth in a tooth set is more than one, the second tooth gap 117 is arranged between adjacent teeth, and the width of the second tooth gap 117 is smaller than the width of the first tooth gap 112.

[0092] The two groups of tooth sets are spaced apart by the first tooth gap 112, that is, adjacent positioning features and adjacent gears are spaced apart by the first tooth gap 112, and the width of the second tooth gap 117 is smaller than the width of the first tooth gap 112, so that the first tooth gap 112 and the second tooth gap 117 between adjacent two teeth in a gear set can be distinguished, thereby avoiding affecting the division of gears.

[0093] The application also provides a motor control method applied to the step loss calibration device, and the motor control method can be executed by the calibration component in the step loss calibration device. As shown in Figure 9 The method comprises the following steps:

[0094] In step S901, position deviation information is obtained, and the position deviation information comprises a position deviation between a current position and a target position of the motor.

[0095] In step S902, the motor is controlled to perform step loss calibration according to the position deviation information.

[0096] Therefore, the calibration component 3 can determine the position deviation amount in the position deviation information after the position deviation information is acquired, and determine the step-out calibration control strategy of the motor according to the position deviation amount, so that the motor can be adjusted in time when the motor steps out, to avoid damage of the motor caused by the step-out, and avoid the step-out affecting the normal operation of the motor.

[0097] Figure 10 A flowchart of another motor control method provided by the embodiments of the application is shown. The motor control method is executed by the calibration component 3 in the step-out detection device, and as shown in the flowchart, the motor control method comprises the following steps. Figure 10

[0098] In step S1001, in response to the determination of the step-out detection component 2 that the motor steps out, position deviation information is acquired.

[0099] The step-out detection component 2 is configured to detect the step-out of the motor to determine the position deviation information after the motor is powered on or zeroed or gear adjustment is performed or step-out calibration is performed, and determine whether the motor steps out according to the position deviation information.

[0100] Specifically, after the motor executes any one of the power-on, zeroing, gear adjustment and step-out calibration instructions each time, the step-out detection component 2 needs to detect the step-out to determine whether the motor steps out, and determine the position deviation amount in the case where the motor steps out.

[0101] For example, after the motor is powered on or zeroed or step-out calibration is performed, the position of the motor should be at the reference zero position (hereinafter referred to as “zero point”); if the receiving part in the step-out detection component does not receive the light emitted by the light-emitting part at this time, i.e., there are teeth between the light-emitting part and the receiving part, it indicates that the motor is not at the zero point at this time, i.e., there is a position deviation between the actual position of the motor and the zero point, and it can be determined that the motor steps out.

[0102] Generally, after receiving the gear adjustment instruction, the motor needs to rotate to the specified gear within a set time. Therefore, after the motor performs the gear adjustment, the information processing part 23 in the step-out detection component 2 can determine whether the current actual gear of the motor is the specified gear according to the generated waveform diagram, and if the actual gear of the motor does not match the specified gear, it can be determined that the motor steps out.

[0103] In step S1002, in response to the motor receiving a diagnostic homing request, position deviation information is acquired, wherein the diagnostic homing request is used to indicate that the motor rotates to a specified position.

[0104] ​It should be noted that before the motor is shipped, the tester will perform a diagnostic homing test on the motor and trigger a diagnostic homing request. After receiving the diagnostic homing request, the motor will rotate to a specified position, such as a specified gear or zero position, within a set time period, and then perform fault diagnosis, calibration, or monitor the operation of the motor, so that the tester can detect the performance of the motor before it is shipped.

[0105] Therefore, after the motor receives the diagnostic homing request, in order to ensure the accuracy of the motor, the calibration component 3 will actively obtain position deviation information from the component for motor position detection in the diagnostic homing test. The component for motor position detection can be the step loss detection component 2 or other components.

[0106] The position deviation information includes the position deviation between the current position of the motor and the target position.

[0107] After the step loss detection component 2 determines the position deviation information, it sends the position deviation information carrying the position deviation to the calibration component 3, and the calibration component 3 obtains the position deviation information.

[0108] In some embodiments, the position deviation can be the central angle between the actual position and the target position, or the arc length of the actual position and the target position in the circumferential direction of the positioning wheel 11.

[0109] Optionally, after the step loss detection component 2 determines the position deviation information each time, whether the position deviation is zero or not, the step loss detection component 2 sends the position deviation information to the calibration component 3, so that the calibration component 3 determines whether to control the motor to perform step loss calibration according to the position deviation in the position deviation information, and determines the corresponding step loss calibration control strategy.

[0110] Optionally, when the step loss detection component 2 determines that the motor has not lost steps (i.e., the position deviation is zero) according to the position deviation information, the step loss detection component 2 does not actively send the position deviation information to the calibration component 3; when the step loss detection component 2 determines that the motor has lost steps (i.e., the position deviation is not zero) according to the position deviation information, the step loss detection component 2 sends the position deviation information to the calibration component 3, so that the calibration component 3 determines the corresponding step loss calibration control strategy according to the position deviation in the position deviation information, thereby saving data volume.

[0111] It should be noted that the steps S1001 and S1002 are two independent steps.

[0112] After the calibration component 3 obtains the position deviation information, it can determine the strategy for calibrating the motor according to the relationship between the position deviation in the position deviation information and the pre-set threshold. Specifically, it can include steps S1003-S1004.

[0113] Step S1003, when the position deviation amount is greater than the first threshold value, the motor is controlled to perform step-out calibration according to the first strategy.

[0114] After the calibration component 3 obtains the position deviation information, the position deviation amount is analyzed and compared with the first threshold value. When it is determined that the position deviation amount is greater than the first threshold value, the first strategy pre-stored in the calibration component 3 is called, and the motor is controlled to rotate for calibration according to the first strategy.

[0115] In some embodiments, the calibration component 3 can be loaded with a processing chip, and the first strategy can be pre-written in the processing chip, so that during the actual step-out calibration process, the calibration component 3 can directly call the first strategy according to the position deviation amount in the obtained position deviation information and perform step-out calibration.

[0116] In some embodiments, the position deviation amount is the difference between the actual position and the target position, and the first threshold value can be 10°. Those skilled in the art can select and adjust the first threshold value according to the step-out detection requirements of the motor. For example, it can be 15°, 20°, etc.

[0117] In implementation, when the calibration component executes step S1003, it can be executed according to the following flow:

[0118] Step S10031, control the motor to continue rotating and stop rotating after receiving the gear signal sent by the step-out detection component 2 for the second time.

[0119] Among them, the step-out detection component 2 sends a gear signal every time it collects a complete gear, and the gear signal carries the current gear identification.

[0120] After the calibration component 3 calls the first strategy, the motor is controlled to rotate, and at this time the step-out detection component 2 generates a gear signal with the current gear identification according to the different types of positioning features passed, and sends the gear signal to the calibration component 3. The calibration component 3 controls the motor to stop rotating according to the number of received gear signals.

[0121] It should be noted that during the operation of the motor, the motor shaft is rotating continuously. If the motor runs to a certain gear position, the step loss detection component 2 has determined the step loss of the motor according to the position deviation information. At this time, the motor can be stopped rotating after receiving the gear signal sent by the step loss detection component 2 for the first time, and the current position of the motor can be determined. However, in most cases, the motor may run between two adjacent gear positions, and the step loss of the motor is determined at this time. At this time, the current position of the motor cannot be determined according to the gear signal sent by the step loss detection component 2 for the first time, so the motor can be stopped rotating after receiving the gear signal for the second time. At this time, the motor must pass through a complete gear position during the rotation process, which is more convenient for determining the current position of the motor.

[0122] In step S10032, the current gear position in the gear signal sent by the step loss detection component 2 is determined according to the gear signal received for the second time, and the shortest reset path of the motor to the target gear position is determined, the shortest reset path including the target rotation direction and the target rotation angle.

[0123] After the calibration component 3 receives the gear signal sent by the step loss detection component 2 for the second time, the current gear position in the gear signal is analyzed according to the gear signal to determine the current gear position of the motor (i.e., the current position of the motor), and then the calibration component 3 determines the shortest reset path of the motor according to the current gear position and the target gear position.

[0124] In some embodiments, the calibration component 3 determines the current position of the motor according to the current gear position in the gear signal received for the second time, generates a first reset path and a second reset path according to the current position, wherein the first reset path is a path for rotating clockwise to the target gear position, and the second reset path is a path for rotating counterclockwise to the target gear position; and then compares the rotation angles of the first reset path and the second reset path, and takes the reset path with the smaller rotation angle as the shortest reset path.

[0125] In step S10033, the motor is controlled to rotate according to the target rotation direction and the target rotation angle for step loss calibration.

[0126] After the calibration component 3 retrieves the first strategy, the motor is controlled to continue rotating, and the motor is controlled to stop rotating according to the gear signal sent by the step loss detection component 2, and the current gear position is determined, so that the shortest reset path can be determined according to the current gear position and the target gear position, and the motor can be controlled to reset in the shortest path in time when the motor loses steps, thereby avoiding the influence of step loss on the normal operation of the motor.

[0127] In step S1004, when the position deviation is less than or equal to the first threshold value and greater than the second threshold value, the motor is controlled to perform step loss calibration according to a second strategy, wherein the first threshold value is greater than the second threshold value, and the first strategy is different from the second strategy.

[0128] After the calibration component 3 obtains the position deviation information, the position deviation amount is analyzed and compared with the first threshold and the second threshold. If the position deviation amount is less than or equal to the first threshold and greater than the second threshold, the second strategy pre-stored in the calibration component 3 is called to control the motor rotation for step loss calibration.

[0129] Optionally, the second strategy is zero return calibration. Therefore, when the step loss angle of the motor is small, the first strategy is not used for step loss calibration, but the second strategy with lower control difficulty is used for small-angle step loss reset; and when the step loss angle is less than the second threshold, step loss calibration is not needed, which simplifies the calibration process and improves the calibration accuracy.

[0130] In some embodiments, the calibration component 3 can be loaded with a processing chip, and the second strategy can be pre-written in the processing chip, so that in the actual step loss calibration process, the calibration component 3 can directly call the second strategy according to the position deviation amount in the obtained position deviation information for step loss calibration.

[0131] In some embodiments, the position deviation amount is the central angle difference between the actual position and the target position, and the second threshold can be 5°. Those skilled in the art can select and adjust the second threshold according to the step loss detection requirements of the motor. For example, it can be 3°.

[0132] In implementation, when the calibration component executes step S1004, it can specifically execute the following process:

[0133] Step S10041, according to the current position of the motor, determine the shortest reset path of the motor to the reference zero position, the shortest reset path includes the target rotation direction and the target rotation angle.

[0134] The position deviation information also includes the current position of the motor. The calibration component 3 analyzes the current position of the motor from the position deviation information sent by the step loss detection component 2, and then determines the shortest reset path of the motor according to the current position and the reference zero position.

[0135] Since the position deviation amount is less than or equal to the first threshold, the step loss angle of the motor is small at this time, and it must be near the reference zero position. Therefore, the shortest reset path can be directly determined according to the current position of the motor and the position deviation amount. Compared with the first strategy suitable for large angles, the step of controlling the motor rotation and determining the current position according to the gear signal is omitted. Different reset strategies can be selected according to different step loss angles, which improves the calibration efficiency.

[0136] The reference zero position can be a position artificially specified, i.e., the position to which the motor should rotate after power-on or calibration or zero return.

[0137] In some embodiments, the calibration component 3 determines the current position of the motor according to the position deviation information sent by the step-loss detection component 2, generates a first reset path and a second reset path according to the current position and the position of the reference zero position, wherein the first reset path is a path in which the motor rotates clockwise from the current position to the reference zero position, and the second reset path is a path in which the motor rotates counterclockwise from the current position to the reference zero position; and then compares the rotation angles of the first reset path and the second reset path, and takes the reset path with the smaller rotation angle as the shortest reset path.

[0138] Step S10042, control the motor to rotate according to the target rotation direction and the target rotation angle to perform step-loss calibration.

[0139] After retrieving the second strategy, the calibration component 3 determines the current position of the motor according to the position deviation information sent by the step-loss detection component 2, so as to determine the shortest reset path according to the current position and the reference zero position, and then control the motor to reset in the shortest path in time when the motor loses steps, thereby avoiding the influence of step-loss on the normal operation of the motor.

[0140] Optionally, after the motor is controlled to perform step-loss calibration, the motor may still lose steps, and therefore, in order to avoid the influence on the normal operation of the motor, after step S1003 and step S1004, the motor control method can further include steps S1005-S1006:

[0141] Step S1005, obtain the calibrated position deviation information of the motor, the calibrated position deviation information including the position deviation amount between the current position of the calibrated motor and the target position.

[0142] After the motor is calibrated, the step-loss detection component 2 determines the position deviation information, and then sends the position deviation information carrying the position deviation amount to the calibration component 3 again, and the calibration component 3 obtains the position deviation information at this time.

[0143] Optionally, after determining the position deviation information each time, whether the position deviation amount is zero or not, the step-loss detection component 2 sends the position deviation information to the calibration component 3, so that the calibration component 3 determines whether to control the motor to perform step-loss calibration according to the position deviation amount, and determines the corresponding step-loss calibration control strategy.

[0144] Optionally, when the step-out detection component 2 determines that the motor has not stepped out according to the position deviation information (i.e., the position deviation amount is zero), the step-out detection component 2 does not actively send the position deviation information to the calibration component 3; when the step-out detection component 2 determines that the motor has stepped out according to the position deviation information (i.e., the position deviation amount is not zero), the step-out detection component 2 sends the position deviation information to the calibration component 3, so that the calibration component 3 determines the corresponding step-out calibration control strategy according to the position deviation amount therein, thereby saving the amount of data.

[0145] In step S1006, when the position deviation amount is greater than the first threshold value or greater than the second threshold value, the step of controlling the motor to perform step-out calibration is repeated until the position deviation amount of the motor is less than or equal to the second threshold value.

[0146] After the calibration component 3 obtains the position deviation information, the position deviation amount therein is analyzed, and the position deviation amount is compared with the first threshold value and the second threshold value. Then, the calibration component 3 retrieves the first strategy or the second strategy according to the comparison result. After the calibration component 3 executes the first strategy or the second strategy, the calibration component 3 continues to obtain the position deviation information of the motor after calibration. When the position deviation amount in the position deviation information analyzed by the calibration component is less than the second threshold value, the step-out calibration is no longer performed, thereby avoiding the situation that the motor still has step-out after calibration by the first strategy or the second strategy. In addition, a remedial measure is provided to repeat the first strategy or the second strategy, so that when the position deviation amount of the motor is within an acceptable range (e.g., less than the second threshold value), subsequent work is performed, thereby avoiding the influence of step-out on the normal operation of the motor.

[0147] In the present application, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance. The term "a plurality of" refers to two or more, unless otherwise explicitly limited.

[0148] Other embodiments of the 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 application be limited only by the scope of the claims, including any amendments thereof, and other equivalents to the claims. It is intended that the specification and examples be considered exemplary only, with the true scope of the application being indicated only by the following claims.

[0149] It should be understood that the application is not limited to the precise construction that has been described above and shown 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.

Claims

1. A step-skipping calibration apparatus, characterized by, The device comprises a positioning indication component (1), a step loss detection component (2) and a calibration component (3); The positioning indication component (1) is connected with the output shaft (4) of the motor and rotates synchronously with the output shaft (4) of the motor, and along the circumference of the output shaft (4), the positioning indication component has at least two different positioning features for indicating at least two gears; The step loss detection component (2) is configured to determine the position deviation information of the motor according to the different positioning features during the operation of the motor, and the position deviation information includes the position deviation between the actual position and the target position of the motor; The calibration component (3) is signal connected with the step loss detection component (2) and signal connected with the motor, and the calibration component (3) is configured to control the motor to perform step loss calibration according to the position deviation information; The positioning indication component (1) is a positioning wheel disc (11), and the output shaft (4) of the motor is arranged in the shaft hole (111) of the positioning wheel disc (11); At least two groups of gear sets are arranged on the outer circumferential wall of the positioning wheel disc (11) in a circumferential direction, and at least one of the number, tooth thickness and tooth groove width of the gears of each group of gear sets is different; The positioning wheel disc (11) comprises at least two first tooth grooves (112), and the number of the first tooth grooves (112) is equal to the number of the gear sets, and two adjacent groups of gear sets are spaced apart by the first tooth grooves (112); The at least two groups of gear sets comprise at least two of a first gear set (113), a second gear set (114), a third gear set (115) and a fourth gear set (116), wherein The first gear set (113) comprises a first gear (1131), a second gear (1132), a third gear (1133) and a fourth gear (1134) arranged in sequence and spaced apart along the circumference of the positioning wheel disc (11), and at least one of the first gear (1131), the second gear (1132), the third gear (1133) and the fourth gear (1134) has a tooth thickness different from that of the other gears; The second gear set (114) comprises a fifth gear (1141); The third gear set (115) comprises a sixth gear (1151) and a seventh gear (1152) arranged in sequence and spaced apart along the circumference of the positioning wheel disc (11), and the tooth thickness of the sixth gear (1151) is different from that of the seventh gear (1152); The fourth gear set (116) comprises an eighth gear (1161), a ninth gear (1162) and a tenth gear (1163) arranged in sequence and spaced apart along the circumference of the positioning wheel disc (11), and at least one of the eighth gear (1161), the ninth gear (1162) and the tenth gear (1163) has a tooth thickness different from that of the other gears.

2. The step calibration apparatus of claim 1, wherein The arc lengths corresponding to any two groups of gear sets in the at least two groups of gear sets in the reference circle are equal.

3. The step calibration apparatus of claim 1, wherein The fourth tooth (1134) and the fifth tooth (1141), the fifth tooth (1141) and the sixth tooth (1151), the seventh tooth (1152) and the eighth tooth (1161), the first tooth (1131) and the tenth tooth (1163) have the first tooth groove (112) between them respectively.

4. The step calibration apparatus of claim 1, wherein When the number of teeth in the tooth group is more than one, the second tooth groove (117) is provided between adjacent teeth, and the width of the second tooth groove (117) is smaller than the width of the first tooth groove (112).

5. A method of controlling an electric machine, applied to the slip calibration device according to any one of claims 1 to 4, characterized in that, The method comprises: obtaining position deviation information, the position deviation information comprising a position deviation between a current position and a target position of the motor; controlling the motor to perform step loss calibration according to the position deviation information.

6. The motor control method according to claim 5, characterized by, The step of controlling the motor to perform step loss calibration according to the position deviation information comprises: when the position deviation is greater than a first threshold, controlling the motor to perform step loss calibration according to a first strategy; when the position deviation is less than or equal to the first threshold and greater than a second threshold, controlling the motor to perform step loss calibration according to a second strategy, wherein the first threshold is greater than the second threshold, and the first strategy is different from the second strategy.

7. The motor control method according to claim 6, characterized by, The step of controlling the motor to perform step loss calibration according to the first strategy comprises: controlling the motor to continue rotating and stop rotating after receiving a gear signal sent by the step loss detection component (2) for the second time, wherein the step loss detection component (2) sends a gear signal every time it collects a complete gear, and the gear signal carries a current gear identifier; determining a shortest reset path of the motor to reset to a target gear according to the current gear identifier in the gear signal sent by the step loss detection component (2) for the second time, the shortest reset path comprising a target rotation direction and a target rotation angle; controlling the motor to rotate according to the target rotation direction and the target rotation angle to perform step loss calibration.

8. The motor control method of claim 6, wherein, The second strategy is zero calibration.

9. The motor control method according to claim 8, characterized by, The position deviation information further comprises a current position of the motor. The step of controlling the motor to perform step loss calibration according to the second strategy comprises: determining a shortest reset path of the motor to reset to a reference zero position according to the current position of the motor, the shortest reset path comprising a target rotation direction and a target rotation angle; controlling the motor to rotate according to the target rotation direction and the target rotation angle to perform step loss calibration.

10. The motor control method of claim 6, wherein, After the step of controlling the motor to perform step loss calibration, the method further comprises: obtaining calibrated position deviation information of the motor, the calibrated position deviation information comprising a position deviation between a current position and a target position of the motor after calibration; when the position deviation is greater than the first threshold or greater than the second threshold, repeating the step of controlling the motor to perform step loss calibration until the position deviation of the motor is less than or equal to the second threshold.

11. The motor control method of claim 5, wherein, The step of obtaining the position deviation information comprises: In response to the step-out detection component (2) determining that the motor steps out, the position deviation information is acquired, wherein the step-out detection component (2) is configured to detect step-out of the motor to determine the position deviation information after the motor is powered on or zeroed or gear adjusted or step-out calibrated, and determine whether the motor steps out according to the position deviation information; In response to the motor receiving a diagnostic homing request, the position deviation information is acquired, wherein the diagnostic homing request is used to instruct the motor to rotate to a specified position.

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