Brushless motor control method, system and motor

Abstract

The present invention relates to the technical field of motor energy-saving control, and specifically discloses a brushless motor control method, system and motor. The method first monitors the working current of the brushless motor, and integrates the working environment information of the brushless motor to match and obtain a set of parameters that require energy-saving adjustment for the brushless motor, thereby performing energy-saving control adjustment operations on the brushless motor. By adjusting the energy-saving of the brushless motor, the operating impact of environmental factors on the brushless motor can be reduced, thereby reducing the operating energy consumption cost of the brushless motor. The energy-saving control adjustment degree of the brushless motor is analyzed, and the actual energy consumption of the brushless motor can be accurately adjusted. Finally, the energy-saving control adjustment state of the brushless motor is determined, which can not only improve the energy-saving operation efficiency of the brushless motor, but also improve the energy-saving control effect of the brushless motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor energy-saving control, and in particular to a brushless motor control method, system and motor. Background Art

[0002] With the energy crisis and the improvement of environmental awareness, energy saving has become an important goal of motor design and control. Brushless motors are easily affected by environmental factors such as temperature and electromagnetic interference, which makes their energy-saving effect poor. However, if the operating state of the brushless motor can be adjusted to achieve the purpose of energy-saving control, it can not only effectively reduce the energy consumption cost of the motor, but also improve the operating efficiency of the brushless motor. Therefore, developing energy-saving control strategies is the key to improving the overall performance of brushless motors.

[0003] For example, the invention patent with announcement number CN111501636B is an energy-saving control system for a road sweeper and its control method. The energy-saving control system includes a fan motor driver, a fan motor, a fan, a hydraulic pump motor driver, a hydraulic pump motor, a hydraulic pump, a controller, an unloading valve, a suction nozzle solenoid valve, and a display. The fan motor driver, the hydraulic pump motor driver, the controller, and the display are communicatively connected. The fan motor driver is electrically connected to the fan motor, the fan motor is directly connected to the fan mechanically, the hydraulic pump motor driver is electrically connected to the hydraulic pump motor, the hydraulic pump motor is directly connected to the hydraulic pump mechanically, and the controller is electrically connected to the unloading valve and the suction nozzle solenoid valve, respectively. The system uses dual-motor independent control to automatically detect the operating status of the equipment. The fan motor is adaptively controlled according to the suction nozzle lifting status, and the oil pump motor is adaptively controlled according to the power supply status of the hydraulic unloading valve.

[0004] For example, the invention patent with announcement number CN111856976B is a control system and method for the hydraulic motor of an electric loader, which includes a first displacement switch, a second displacement switch, a third displacement switch, a fourth displacement switch, an accelerator pedal, a vehicle speed sensor, and a controller. The input end of the controller is respectively connected to the first displacement switch, the second displacement switch, the third displacement switch, the fourth displacement switch, the vehicle speed sensor, and the accelerator pedal, and its output end is used to connect to the control end of the hydraulic motor. The controller calculates the control signal of the hydraulic motor based on the output signals of the first displacement switch, the second displacement switch, the third displacement switch, the fourth displacement switch, the vehicle speed sensor, and the accelerator pedal, and outputs it to the hydraulic motor to realize control of the hydraulic motor. This can solve the problems of the hydraulic motor of existing pure electric loaders that cannot be accurately controlled, energy saving, and comfort are poor.

[0005] Combined with the above technical solutions, it is found that the current technical solutions for implementing energy-saving control will combine energy-saving equipment associated with the control device, and adjust the operation of the energy-saving equipment to achieve the requirements of energy-saving control. However, most energy-saving control processes usually rely on small-dimensional data evaluation, which may make it difficult to accurately adjust the actual energy consumption of the motor equipment, resulting in poor energy-saving effects of the motor equipment. Therefore, developing energy-saving control adjustment strategies is the key to improving the overall performance of brushless motors. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a brushless motor control method, system and motor, which can effectively solve the problems involved in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: The first aspect of the present invention provides a brushless motor control method, including: S1. Monitoring the working current of the brushless motor, and integrating the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor; S2. According to the energy-saving adjustment parameter set of the brushless motor, performing the energy-saving control adjustment operation of the brushless motor, analyzing the energy-saving control adjustment degree of the brushless motor, and performing energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor. If the judgment result is effective energy saving, the energy-saving control adjustment operation is terminated. If the judgment result is invalid energy saving, S2 is executed cyclically, and the energy-saving control adjustment operation is performed on the brushless motor again.

[0008] As a further method, the matching obtains the brushless motor's energy-saving adjustment parameter set, and the specific matching process is:

[0009] The abnormal working control index of the brushless motor is analyzed and matched with the energy-saving adjustment parameter set corresponding to each abnormal working control index interval defined in the motor energy-saving platform to obtain the energy-saving adjustment parameter set of the brushless motor.

[0010] As a further method, the specific analysis process of the abnormal working control index of the brushless motor is as follows:

[0011] The abnormal working current index of the brushless motor and the average temperature barrier index of the brushless motor are evaluated and added together to obtain the abnormal working control index of the brushless motor.

[0012] As a further method, the energy-saving control adjustment degree of the brushless motor is specifically formulated as follows:

[0013]

[0014] Where Z is the energy-saving control adjustment degree of the brushless motor, S P D is the speed adjustment proportional gain of the brushless motor during the energy-saving adjustment period. Pis the current adjustment proportional gain of the brushless motor during the energy-saving adjustment period, gain1 is the correction factor corresponding to the proportional gain, S I D is the speed adjustment integral gain of the brushless motor during the energy-saving adjustment period. I is the current adjustment integral gain of the brushless motor during the energy-saving adjustment period, and gain2 is the correction factor corresponding to the integral gain.

[0015] As a further method, the energy-saving cycle adjustment determination is performed based on the energy-saving control adjustment degree of the brushless motor, and the specific determination process is:

[0016] The energy-saving adjustment judgment subsystem compares the energy-saving control adjustment degree of the brushless motor with the energy-saving control adjustment threshold defined in the motor energy-saving platform. If the energy-saving control adjustment degree of the brushless motor is higher than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is effective energy saving, and the energy-saving adjustment judgment subsystem terminates the energy-saving control adjustment operation. If the energy-saving control adjustment degree of the brushless motor is equal to or lower than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is invalid energy saving, and the energy-saving adjustment judgment subsystem performs energy-saving control adjustment operation on the brushless motor again.

[0017] As a further method, the energy-saving control adjustment operation of the brushless motor is implemented, and the specific operation process is as follows:

[0018] According to the energy-saving adjustment parameter set of the brushless motor, which includes the speed and output power; by implementing the energy-saving control adjustment operation of the brushless motor, the energy-saving control adjustment information of the brushless motor is obtained, wherein the energy-saving control adjustment information is the speed and output power of the brushless motor at each energy-saving adjustment time point monitored by the speed sensor and power sensor built into the brushless motor.

[0019] As a further method, the energy-saving control adjustment degree of the brushless motor is analyzed in detail as follows:

[0020] The speed of the brushless motor at each energy-saving adjustment time point is obtained, and the speed of the brushless motor at the initial time point of the energy-saving adjustment is obtained at the same time, and the difference processing is performed to obtain the speed adjustment value of the brushless motor at each energy-saving adjustment time point. The screened out maximum speed adjustment value is formulated through data to obtain the speed adjustment range of the brushless motor. The speed adjustment proportional gain and speed adjustment integral gain of the brushless motor in the energy-saving adjustment cycle are obtained through data processing; the output power of the brushless motor at each energy-saving adjustment time point is divided by the rated voltage defined in the motor energy-saving platform to obtain the output current value of the brushless motor at each energy-saving adjustment time point, and the difference processing is performed with the instantaneous current value of the brushless motor at each working time point to obtain the current adjustment value of the brushless motor at each energy-saving adjustment time point. The screened out maximum current adjustment value is formulated through data to obtain the current adjustment range of the brushless motor. The current adjustment proportional gain and current adjustment integral gain of the brushless motor in the energy-saving adjustment cycle are obtained through data processing.

[0021] The second aspect of the present invention provides a system for a brushless motor control method, including an energy-saving adjustment matching module for monitoring the working current of the brushless motor, and integrating the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor, thereby entering the energy-saving control adjustment analysis module; the energy-saving control adjustment analysis module is used to perform energy-saving control adjustment operations on the brushless motor according to the energy-saving adjustment parameter set of the brushless motor, analyze the energy-saving control adjustment degree of the brushless motor, and perform energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor. If the judgment result is effective energy saving, the energy-saving control adjustment operation is terminated. If the judgment result is invalid energy saving, the energy-saving control adjustment analysis module is cyclically executed, and the energy-saving control adjustment operation is performed on the brushless motor again.

[0022] The third aspect of the present invention provides a motor of a brushless motor control method, characterized in that it includes: a brushless motor, a current sensor, a temperature sensor, a speed sensor, a power sensor, a data processor, and an energy-saving adjustment judgment subsystem; the brushless motor is used to install a current sensor, a temperature sensor, a speed sensor, and a power sensor; the current sensor is used to obtain the instantaneous current value of the brushless motor at each working time point; the temperature sensor is used to obtain the operating temperature value of each temperature collection point at each working time point; the speed sensor is used to monitor the speed of the brushless motor at each energy-saving adjustment time point; the power sensor is used to monitor the output power of the brushless motor at each energy-saving adjustment time point; the data processor is used to perform data processing on the instantaneous current value, operating temperature value, speed and output power to obtain the energy-saving control adjustment degree of the brushless motor; the energy-saving adjustment judgment subsystem is used to perform energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor in the data processor.

[0023] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0024] (1) The present invention provides a brushless motor control method, system and motor. First, the working current of the brushless motor is monitored, and the working environment information of the brushless motor is integrated to match the energy-saving adjustment parameter set of the brushless motor. The energy-saving control adjustment operation of the brushless motor is performed, the energy-saving control adjustment degree of the brushless motor is analyzed, and finally the energy-saving control adjustment state of the brushless motor is determined. This can not only improve the energy-saving operation efficiency of the brushless motor, but also reduce the ineffective energy-saving control adjustment operations of the brushless motor.

[0025] (2) The present invention monitors the working current of the brushless motor and integrates the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor. Through subsequent energy-saving adjustments to the brushless motor, the impact of environmental factors on the operation of the brushless motor can be reduced, thereby reducing the working energy consumption cost of the brushless motor.

[0026] (3) The present invention implements the energy-saving control adjustment operation of the brushless motor based on the energy-saving adjustment parameter set of the brushless motor, obtains the energy-saving control adjustment degree of the brushless motor through data analysis, and can accurately adjust the actual energy consumption of the brushless motor, thereby determining the energy-saving control adjustment state of the efficient brushless motor, and ultimately improving the energy-saving effect of the brushless motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described with reference to the accompanying drawings. However, the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative effort.

[0028] Figure 1 Schematic diagram of the method steps of the present invention.

[0029] Figure 2 This is a schematic diagram of system module connections of the present invention.

[0030] Figure 3 This is a current waveform diagram involved in the present invention.

[0031] Figure 1: 1. fundamental current waveform; 2. fundamental current effective straight line; 3. area of ​​the current waveform invalid working region. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Reference Figure 1 As shown, the first aspect of the present invention provides a brushless motor control method, including: S1. monitoring the working current of the brushless motor, and integrating the working environment information of the brushless motor to match and obtain the energy-saving adjustment parameter set of the brushless motor.

[0034] Specifically, the specific analysis process of the abnormal working current indicator of the brushless motor is as follows:

[0035] By monitoring the working current of the brushless motor, the instantaneous current value of the brushless motor at each working time point is obtained. The instantaneous current value is obtained through the current sensor in the brushless motor. The way to obtain each working time point is to divide the working cycle into each time point according to an equal number of seconds, and record it as each working time point. The average value is processed to obtain the current average of the brushless motor in the working cycle. The working cycle is a monitoring time period obtained based on the operating efficiency and energy consumption status of the brushless motor. It is the time length from the start of monitoring the operation of the brushless motor to the end of monitoring the operation of the brushless motor. It is ratioed with the reference current defined in the motor energy-saving platform, thereby analyzing the current average influencing factor of the brushless motor in the working cycle.

[0036] The fundamental current waveform of the brushless motor is extracted from the motor energy-saving platform, and the effective value of the fundamental current of the brushless motor is obtained through data processing. The calculation method of the effective value of the fundamental current is to find the fundamental current peak value in the fundamental current waveform diagram, where the waveform of the fundamental current waveform diagram is a sine waveform, and divide it by the square root of 2 to obtain the effective value of the fundamental current.

[0037] And through the instantaneous current value of the brushless motor at each working time point, the current waveform of the brushless motor is constructed, such as Figure 3 As shown, the horizontal axis is the working time point, the unit is second, the vertical axis is the instantaneous current value, the unit is ampere, the fundamental current waveform in the figure Figure 1 It is a sine waveform, so the effective value of the fundamental current can be obtained through effective value calculation. Therefore, a straight line corresponding to the effective value of the fundamental current is drawn in the current waveform diagram, which is recorded as the effective fundamental current straight line 2. The area covered by the waveform above the effective fundamental current straight line in the current waveform diagram of the brushless motor is extracted and recorded as the invalid working area area of ​​the current waveform of the brushless motor.

[0038] It should be explained that the invalid working area of ​​the current waveform of the brushless motor is specifically determined by Figure 3 The fundamental current effective straight line 2 in the current waveform diagram is obtained, and the area corresponding to the effective straight line of the fundamental current is obtained, and finally the invalid working area area 3 of the current waveform of the brushless motor is obtained.

[0039] In this embodiment, through the above Figure 3 It can be seen from the current waveform that if the value of the fundamental current effective straight line 2 is larger, the area of ​​the invalid working area of ​​the current waveform obtained is smaller, that is, the invalid working of the current is related to the normal operating efficiency of the brushless motor. Therefore, by analyzing the area of ​​the invalid working area of ​​the current waveform, the abnormal working condition of the brushless motor can be known, and the current parameter adjustment status can be provided for the subsequent adjustment of the energy-saving control of the brushless motor.

[0040] The invalid working area of ​​the brushless motor's current waveform is multiplied by the impact factor corresponding to the unit value of the invalid working area of ​​the current waveform to obtain the brushless motor's current invalid working factor, and then added to the current average impact factor of the brushless motor during the working cycle to obtain the brushless motor's working current abnormality index.

[0041] It should be explained that the impact factor corresponding to the unit value of the invalid working area of ​​the above-mentioned current waveform is obtained through summation and averaging data operations based on the historical current abnormality data of the brushless motor. It represents the degree of influence of the change in the invalid working area of ​​the current, and the value range is any rational number between 0 and 1.

[0042] In this embodiment, since the working current of the brushless motor will greatly affect the operating efficiency and energy loss of the brushless motor, by monitoring the working current of the brushless motor, analyzing the current average influencing factor of the brushless motor during the working cycle and the invalid working area of ​​the current waveform of the brushless motor, the operating efficiency and energy loss status of the brushless motor can be obtained more accurately, and ultimately provide a more comprehensive data basis for the subsequent energy-saving operation of the brushless motor.

[0043] Furthermore, the specific analysis process of the temperature barrier average index of the brushless motor is as follows:

[0044] According to the working environment information of the brushless motor, wherein the working environment information includes the ambient temperature value of the working area at each working time point, the acquisition method is the temperature sensor built into the brushless motor.

[0045] The temperature collection points of the brushless motor are randomly arranged to obtain the operating temperature values ​​of each temperature collection point at each working time point. The temperature values ​​are arranged in descending order, and the top-ranked operating temperature value is finally selected and recorded as the maximum surface temperature of the brushless motor at each working time point.

[0046] According to the ambient temperature value of the working area of ​​the brushless motor at each working time point, the difference between it and the maximum surface temperature of the brushless motor at each working time point is processed to obtain the temperature barrier difference of the brushless motor at each working time point. The average temperature barrier index of the brushless motor is obtained through the average operation.

[0047] In this exemplary embodiment, the temperature barrier difference of the brushless motor at each operating time point changes according to the changes in the ambient temperature value of the working area of ​​the brushless motor at each operating time point and the maximum surface temperature of the brushless motor at each operating time point. The numerical change results are shown in Table 1:

[0048] Table 1 Temperature barrier difference and the value change of corresponding parameters

[0049]

[0050] From the numerical changes in the temperature barrier difference in Table 1, it can be seen that when the temperature barrier difference value is 2, it means that the brushless motor has the best temperature treatment effect. That is, the ambient temperature of the working area of ​​the brushless motor can withstand the temperature emitted by the brushless motor during operation to the maximum extent. If the temperature treatment efficiency of the brushless motor is greater than or equal to 1 in most cases, it means that the working surface temperature of the brushless motor is within the ideal operating conditions, which will enable the brushless motor to maintain a normal working environment and ultimately improve the operating efficiency of the brushless motor.

[0051] In this embodiment, the brushless motor is extremely susceptible to environmental factors such as temperature, humidity, and electromagnetic interference during operation. The change in temperature makes the operation of the brushless motor more unstable. Therefore, by analyzing the difference between the temperature of the brushless motor itself and the ambient temperature, it can be clearly concluded that the temperature of the brushless motor cannot withstand the force, thereby obtaining the abnormal operation of the brushless motor and providing a more accurate abnormal operation period for the subsequent energy-saving control of the brushless motor, thereby making energy-saving adjustments.

[0052] Specifically, the specific analysis process of the abnormal operation control index of the brushless motor is as follows:

[0053] The abnormal working current index of the brushless motor and the average temperature barrier index of the brushless motor are evaluated and added together to obtain the abnormal working control index of the brushless motor.

[0054] In this embodiment, the brushless motor will be affected by its own energy loss and external factors during operation. Therefore, it is necessary to numerically analyze the abnormal working current index of the brushless motor and the average temperature barrier index of the brushless motor to obtain a more accurate abnormal working state, and finally to more specifically know the working state that needs to be adjusted for the brushless motor, so as to match a more detailed energy-saving adjustment parameter set.

[0055] Furthermore, the matching obtains the brushless motor's energy-saving adjustment parameter set, and the specific matching process is as follows:

[0056] The abnormal working control index of the brushless motor is analyzed and matched with the energy-saving adjustment parameter set corresponding to each abnormal working control index interval defined in the motor energy-saving platform to obtain the energy-saving adjustment parameter set of the brushless motor.

[0057] It should be explained that the matching process of the energy-saving adjustment parameter set of the brushless motor is as follows:

[0058] In this embodiment, the above-mentioned working abnormality control index interval is divided into three numerical intervals, and corresponds to three sets of energy-saving adjustment parameters, where the numerical range of the first working abnormality control index interval is (0, 0.5), corresponding to the first set of energy-saving adjustment parameters; the numerical range of the second working abnormality control index interval is [0.5, 0.9], corresponding to the second set of energy-saving adjustment parameters; the remaining values ​​are the third working abnormality control index interval, corresponding to the third set of energy-saving adjustment parameters; if the numerical value of the working abnormality control index of the brushless motor is 0.4, it belongs to the first working abnormality control index interval, and the final matching set of energy-saving adjustment parameters is the first set of energy-saving adjustment parameters, where the first set of energy-saving adjustment parameters includes speed, output power, etc., and the numerical values ​​therein will be adjusted according to the energy-saving requirements of the brushless motor, abnormal operating conditions and other influencing factors, and this embodiment does not make special limitations.

[0059] In a specific embodiment, the present invention monitors the working current of the brushless motor and integrates the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor. Through subsequent energy-saving adjustments to the brushless motor, the impact of environmental factors on the operation of the brushless motor can be reduced, thereby reducing the working energy consumption cost of the brushless motor.

[0060] S2. Based on the energy-saving adjustment parameter set of the brushless motor, the energy-saving control adjustment operation of the brushless motor is performed, the energy-saving control adjustment degree of the brushless motor is analyzed, and an energy-saving cycle adjustment judgment is performed based on the energy-saving control adjustment degree of the brushless motor. If the judgment result is effective energy saving, the energy-saving control adjustment operation is terminated. If the judgment result is invalid energy saving, S2 is executed in a loop, and the energy-saving control adjustment operation is performed on the brushless motor again.

[0061] Specifically, the energy-saving control and adjustment operation of the brushless motor is implemented, and the specific operation process is as follows:

[0062] According to the energy-saving adjustment parameter set of the brushless motor, the energy-saving adjustment parameter set includes the speed and output power. The speed is obtained by a speed sensor; the output power is obtained because the motor controller of the brushless motor usually has a built-in power module. The power module can provide real-time power output data, thereby obtaining the real-time output power.

[0063] By performing the energy-saving control adjustment operation of the brushless motor, energy-saving control adjustment information of the brushless motor is obtained, wherein the energy-saving control adjustment information includes the rotation speed and the output power at each energy-saving adjustment time point.

[0064] It should be explained that the above energy-saving adjustment cycle is a duration obtained by comprehensively considering factors such as the energy-saving needs of the brushless motor and abnormal operating conditions. Each energy-saving adjustment time point is obtained by dividing the energy-saving adjustment cycle into each time point according to an equal number of seconds, which is recorded as each energy-saving adjustment time point.

[0065] In this embodiment, by matching the energy-saving adjustment parameter set and the corresponding monitoring equipment in the brushless motor, the real-time values ​​of each energy-saving adjustment parameter in the brushless motor can be monitored in real time, providing more detailed data support for subsequent analysis of the energy-saving control adjustment degree of the brushless motor.

[0066] Furthermore, the energy-saving control adjustment degree of the brushless motor is specifically analyzed as follows:

[0067] The speed of the brushless motor at each energy-saving adjustment time point and the speed of the brushless motor at the initial time point of the energy-saving adjustment are used for difference processing, wherein the speed at the initial time point of the energy-saving adjustment refers to the speed value of the first energy-saving adjustment time point, and the speed adjustment value of the brushless motor at each energy-saving adjustment time point is obtained, and is arranged in order from large to small, thereby screening out the speed adjustment value ranked first, recorded as the maximum speed adjustment value, and the screened maximum speed adjustment value is formulated through data to obtain the speed adjustment range of the brushless motor, wherein the specific values ​​of the speed adjustment range are the positive and negative values ​​corresponding to the maximum speed adjustment value, and the speed adjustment proportional gain and speed adjustment integral gain of the brushless motor in the energy-saving adjustment period are obtained through data processing.

[0068] It should be explained that the specific processing process of the above speed adjustment proportional gain and speed adjustment integral gain is as follows:

[0069] The speed adjustment proportional gain and the speed adjustment integral gain can be obtained through the speed adjustment range of the brushless motor, that is, the positive and negative values ​​corresponding to the maximum speed adjustment value. For example, in one embodiment, if the maximum speed adjustment value is 5%, the speed adjustment range of the brushless motor is [-5%, +5%]. The positive and negative values ​​corresponding to the maximum speed adjustment value are added together to obtain the speed adjustment proportional gain of the brushless motor, which is 10%. Then, through the integral formula, the speed adjustment integral gain of the brushless motor is obtained, which is 1%.

[0070] The output power of the brushless motor at each energy-saving adjustment time point is divided by the rated voltage defined in the motor energy-saving platform to obtain the output current value of the brushless motor at each energy-saving adjustment time point, and the difference between the output current value and the instantaneous current value of the brushless motor at each working time point is processed. The number of time points of each energy-saving adjustment time point is equal to the number of time points of each working time point, that is, the length of the energy-saving adjustment cycle is the same as the length of the working cycle. Therefore, the output current value at each energy-saving adjustment time point can be differentiated from the instantaneous current value at each working time point.

[0071] The current adjustment value of the brushless motor at each energy-saving adjustment time point is obtained and arranged in order from large to small, thereby screening out the current adjustment value ranked first and recording it as the current adjustment maximum value. The screened current adjustment maximum value is formulated through data to obtain the current adjustment range of the brushless motor, wherein the specific values ​​of the current adjustment range are the positive and negative values ​​corresponding to the current adjustment maximum value. Thus, the current adjustment proportional gain and current adjustment integral gain of the brushless motor in the energy-saving adjustment cycle are obtained through data processing.

[0072] It should be explained that the specific processing process of the above current adjustment proportional gain and current adjustment integral gain is as follows:

[0073] The current adjustment proportional gain and the current adjustment integral gain can be obtained through the current adjustment range of the brushless motor, that is, the positive and negative values ​​corresponding to the maximum current adjustment value. For example, in one embodiment, if the maximum current adjustment value is 10%, the current adjustment range of the brushless motor is [-10%, +10%]. The positive and negative values ​​corresponding to the maximum current adjustment value are added together to obtain the current adjustment proportional gain of the brushless motor, which is 20%. Then, through the integral formula, the current adjustment integral gain of the brushless motor is obtained, which is 2%.

[0074] In this embodiment, since the working current of the brushless motor can easily affect the operating condition of the brushless motor, the energy-saving control of the brushless motor will also be affected. Therefore, it is necessary to consider the current adjustment of the brushless motor during the energy-saving adjustment process. At the same time, the speed of the brushless motor will affect the surrounding environment during the energy-saving effect. Therefore, by comprehensively analyzing the current and speed of the brushless motor, the energy-saving control effect of the brushless motor can be obtained more comprehensively, so as to accurately determine the energy-saving adjustment status of the brushless motor.

[0075] Specifically, the energy-saving control adjustment degree of the brushless motor is obtained by integrating the speed adjustment proportional gain, the speed adjustment integral gain, the current adjustment proportional gain, and the current adjustment integral gain. The specific formula is:

[0076]

[0077] Where Z is the energy-saving control adjustment degree of the brushless motor. In this embodiment, changes in the speed and current of the brushless motor will affect its energy-saving effect. Therefore, by evaluating the related gains of speed and current, the strength of the energy-saving control adjustment of the brushless motor during the current and speed adjustment processes can be more quantitatively determined, so that more targeted measures can be taken to further adjust the energy-saving control.

[0078] S P It is the speed adjustment proportional gain of the brushless motor during the energy-saving adjustment period, and refers to the degree of direct response to the current speed adjustment.

[0079] D P It is the current adjustment proportional gain of the brushless motor during the energy-saving adjustment cycle, which refers to the degree of direct response to the current adjustment.

[0080] gain1 is the correction factor corresponding to the proportional gain, S I It is the integral gain of the speed adjustment of the brushless motor during the energy-saving adjustment period, and refers to the response to the accumulated deviation of the speed adjustment.

[0081] D I This is the current adjustment integral gain of the brushless motor during the energy-saving adjustment cycle, and refers to the response to the accumulated deviation of the current adjustment.

[0082] gain2 is the correction factor corresponding to the integral gain.

[0083] It should be explained that the correction factor corresponding to the above-mentioned proportional gain and the correction factor corresponding to the integral gain are obtained by statistical analysis method based on the historical data of speed adjustment and the historical data of current adjustment, respectively; the correction factor corresponding to the proportional gain represents the degree of correction of the proportional gain change, and the numerical range is (0, 1); the correction factor corresponding to the integral gain represents the degree of correction of the integral gain change, and the numerical range is (0, 1).

[0084] In this exemplary embodiment, the correction factor corresponding to the proportional gain is set to 0.3, and the correction factor corresponding to the integral gain is set to 0.7. Then, by changing the values ​​of multiple gains, the change results of the energy-saving control adjustment degree of the brushless motor are shown in Table 2:

[0085] Table 2 Energy-saving control adjustment degree and the value change table of the corresponding parameters

[0086]

[0087]

[0088] From the changes in the energy-saving control adjustment degree in Table 2, it can be seen that if the value of the proportional gain is larger, the corresponding value of the integral gain will also be larger, which means that the larger the speed adjustment and current adjustment are, the greater the energy-saving control adjustment strength of the brushless motor will be. Therefore, by evaluating the speed adjustment strength and current adjustment strength, the energy-saving control adjustment capability of the brushless motor can be clearly obtained, and the energy-saving control adjustment state of the brushless motor can be finally achieved.

[0089] In this embodiment, the energy-saving control adjustment degree of the brushless motor is calculated through an algorithm, so that the proportional relationship between the energy-saving control adjustment degree of the brushless motor and the speed adjustment and current adjustment can be more clearly understood, thereby adjusting the energy-saving control of the brushless motor more quickly and ensuring the rationality and reliability of its adjustment.

[0090] Furthermore, the energy-saving cycle adjustment determination is performed based on the energy-saving control adjustment degree of the brushless motor, and the specific determination process is as follows:

[0091] The energy-saving adjustment judgment subsystem compares the energy-saving control adjustment degree of the brushless motor with the energy-saving control adjustment threshold defined in the motor energy-saving platform. If the energy-saving control adjustment degree of the brushless motor is higher than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is effective energy saving, and the energy-saving adjustment judgment subsystem terminates the energy-saving control adjustment operation. If the energy-saving control adjustment degree of the brushless motor is equal to or lower than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is invalid energy saving, and the energy-saving adjustment judgment subsystem performs energy-saving control adjustment operation on the brushless motor again.

[0092] It should be explained that the above energy-saving adjustment determination subsystem refers to a system for performing energy-saving adjustment determination on a brushless motor, and its specific contents include but are not limited to energy-saving adjustment determination and energy-saving adjustment control.

[0093] In a specific embodiment, the present invention implements energy-saving control adjustment operations of a brushless motor based on the energy-saving adjustment parameter set of the brushless motor. The energy-saving control adjustment degree of the brushless motor is obtained through data analysis, and the actual energy consumption of the brushless motor can be accurately adjusted to determine the energy-saving control adjustment state of the efficient brushless motor, thereby ultimately improving the energy-saving effect of the brushless motor.

[0094] Reference Figure 2 As shown, the second aspect of the present invention provides a system for a brushless motor control method, including: an energy-saving adjustment matching module and an energy-saving control adjustment analysis module.

[0095] The second aspect of the present invention provides a system for a brushless motor control method, which also includes a motor energy-saving platform for storing reference current, fundamental current waveform, energy-saving control adjustment threshold, rated voltage, and energy-saving adjustment parameter sets corresponding to each abnormal working control index interval.

[0096] In this embodiment, the numerical values ​​in the above-mentioned motor energy-saving platform are various numerical parameters suitable for brushless motor energy-saving adjustment obtained through historical energy-saving data of brushless motors of the same type, comprehensive statistical analysis methods, and expert opinion reports. The numerical values ​​will be adjusted with factors such as changes in the operating efficiency of existing brushless motors and energy loss, and this embodiment does not impose any special limitations.

[0097] The energy-saving adjustment and matching module is connected to the energy-saving control adjustment and analysis module, and both the energy-saving adjustment and matching module and the energy-saving control adjustment and analysis module are connected to the motor energy-saving platform.

[0098] The energy-saving adjustment matching module is used to monitor the working current of the brushless motor and integrate the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor, thereby entering the energy-saving control adjustment analysis module.

[0099] The energy-saving control adjustment analysis module is used to perform energy-saving control adjustment operations on the brushless motor according to the energy-saving adjustment parameter set of the brushless motor, analyze the energy-saving control adjustment degree of the brushless motor, and perform energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor. If the judgment result is effective energy saving, the energy-saving control adjustment operation is terminated. If the judgment result is invalid energy saving, the energy-saving control adjustment analysis module is cyclically executed, and the energy-saving control adjustment operation is performed on the brushless motor again.

[0100] The third aspect of the present invention provides a motor of a brushless motor control method, characterized in that it includes: a brushless motor, a current sensor, a temperature sensor, a speed sensor, a power sensor, a data processor, and an energy-saving adjustment judgment subsystem; the brushless motor is used to install a current sensor, a temperature sensor, a speed sensor, and a power sensor; the current sensor is used to obtain the instantaneous current value of the brushless motor at each working time point; the temperature sensor is used to obtain the operating temperature value of each temperature collection point at each working time point; the speed sensor is used to monitor the speed of the brushless motor at each energy-saving adjustment time point; the power sensor is used to monitor the output power of the brushless motor at each energy-saving adjustment time point; the data processor is used to perform data processing on the instantaneous current value, operating temperature value, speed and output power to obtain the energy-saving control adjustment degree of the brushless motor; the energy-saving adjustment judgment subsystem is used to perform energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor in the data processor.

[0101] In a specific embodiment, the present invention provides a brushless motor control method, system and motor. First, the working current of the brushless motor is monitored, and the working environment information of the brushless motor is integrated to match the energy-saving adjustment parameter set of the brushless motor. The energy-saving control adjustment operation of the brushless motor is performed, the energy-saving control adjustment degree of the brushless motor is analyzed, and finally the energy-saving control adjustment state of the brushless motor is determined. This can not only improve the energy-saving operation efficiency of the brushless motor, but also reduce the ineffective energy-saving control adjustment operations of the brushless motor.

[0102] The above content is merely an example and explanation of the structure of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the scope of protection of the present invention.

Claims

1. A brushless motor control method, characterized in that: include: S1. Monitor the operating current of the brushless motor and, based on the operating environment information of the brushless motor, obtain a set of parameters that require energy-saving adjustment for the brushless motor; S2. According to the energy-saving adjustment parameter set of the brushless motor, the energy-saving control adjustment operation of the brushless motor is implemented, the energy-saving control adjustment degree of the brushless motor is analyzed, and the energy-saving cycle adjustment determination is performed based on the energy-saving control adjustment degree of the brushless motor. If the determination result is effective energy saving, the energy-saving control adjustment operation is terminated. If the determination result is invalid energy saving, S2 is executed in a loop, and the energy-saving control adjustment operation of the brushless motor is performed again; The matching process obtains the brushless motor's energy-saving adjustment parameter set, and the specific matching process is as follows: Analyze the abnormal working control index of the brushless motor and match it with the energy-saving adjustment parameter set corresponding to each abnormal working control index interval defined in the motor energy-saving platform to obtain the energy-saving adjustment parameter set of the brushless motor; The specific analysis process of the abnormal working control index of the brushless motor is as follows: Evaluate the abnormal working current index of the brushless motor and the average temperature barrier index of the brushless motor, and perform an addition operation to obtain the abnormal working control index of the brushless motor; The specific analysis process of the brushless motor's temperature barrier average index is as follows: According to the working environment information of the brushless motor, wherein the working environment information includes the ambient temperature value of the working area at each working time point; Randomly arrange temperature collection points on the brushless motor. The operating temperature values ​​of each temperature collection point at each operating time point are obtained through the temperature sensor built into the brushless motor. The temperature values ​​are arranged in descending order, and the top-ranked operating temperature value is finally selected and recorded as the maximum surface temperature of the brushless motor at each operating time point. The temperature barrier difference of the brushless motor at each working time point is obtained by performing a difference processing based on the ambient temperature value of the working area of ​​the brushless motor at each working time point and the maximum surface temperature of the brushless motor at each working time point. The average temperature barrier index of the brushless motor is obtained by performing an average operation. The energy-saving control adjustment degree of the brushless motor is analyzed in detail as follows: The speed of the brushless motor at each energy-saving adjustment time point is obtained, and the speed of the brushless motor at the initial time point of the energy-saving adjustment is obtained at the same time, and the difference processing is performed to obtain the speed adjustment value of the brushless motor at each energy-saving adjustment time point. The maximum speed adjustment value selected is formulated through data to obtain the speed adjustment range of the brushless motor. The speed adjustment proportional gain and speed adjustment integral gain of the brushless motor in the energy-saving adjustment period are obtained through data processing; The output power of the brushless motor at each energy-saving adjustment time point is divided by the rated voltage defined in the motor energy-saving platform to obtain the output current value of the brushless motor at each energy-saving adjustment time point. The output current value of the brushless motor at each working time point is subtracted from the instantaneous current value of the brushless motor to obtain the current adjustment value of the brushless motor at each energy-saving adjustment time point. The selected maximum current adjustment value is calculated through data analysis to obtain the current adjustment range of the brushless motor. The current adjustment proportional gain and current adjustment integral gain of the brushless motor within the energy-saving adjustment period are thus obtained through data processing. The energy-saving control adjustment degree of the brushless motor is obtained by integrating the speed adjustment proportional gain, the speed adjustment integral gain, the current adjustment proportional gain, and the current adjustment integral gain.

2. A brushless motor control method according to claim 1, characterized in that: The specific analysis process of the abnormal working current indicator of the brushless motor is as follows: The operating current of the brushless motor is monitored, that is, the instantaneous current value of the brushless motor at each working time point is obtained through the current sensor built into the brushless motor, and the average current value of the brushless motor in the working cycle is obtained by average processing, and the current average value of the brushless motor in the working cycle is obtained by ratio processing with the reference current defined in the motor energy-saving platform, thereby analyzing the influence factor of the current average value of the brushless motor in the working cycle; Extract the fundamental current waveform of the brushless motor from the motor energy-saving platform, obtain the effective value of the fundamental current of the brushless motor through data processing, and construct the current waveform of the brushless motor through the instantaneous current value of the brushless motor at each working time point. Draw a straight line corresponding to the effective value of the fundamental current in the current waveform, which is recorded as the effective straight line of the fundamental current. Extract the area covered by the waveform above the effective straight line of the fundamental current in the current waveform of the brushless motor, which is recorded as the invalid working area area of ​​the current waveform of the brushless motor; The invalid working area of ​​the brushless motor's current waveform is multiplied by the impact factor corresponding to the unit value of the invalid working area of ​​the current waveform to obtain the brushless motor's current invalid working factor, and then added to the current average impact factor of the brushless motor during the working cycle to obtain the brushless motor's working current abnormality index.

3. The brushless motor control method according to claim 1, wherein: The energy-saving control adjustment degree of the brushless motor is specifically formulated as follows: Where Z is the energy-saving control adjustment degree of the brushless motor, S P D is the speed adjustment proportional gain of the brushless motor during the energy-saving adjustment period. P is the current adjustment proportional gain of the brushless motor during the energy-saving adjustment period, gain1 is the correction factor corresponding to the proportional gain, S I D is the speed adjustment integral gain of the brushless motor during the energy-saving adjustment period. I is the current adjustment integral gain of the brushless motor during the energy-saving adjustment period, and gain2 is the correction factor corresponding to the integral gain.

4. The brushless motor control method according to claim 1, wherein: The energy-saving cycle adjustment determination is performed based on the energy-saving control adjustment degree of the brushless motor. The specific determination process is as follows: The energy-saving adjustment judgment subsystem compares the energy-saving control adjustment degree of the brushless motor with the energy-saving control adjustment threshold defined in the motor energy-saving platform. If the energy-saving control adjustment degree of the brushless motor is higher than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is effective energy saving, and the energy-saving adjustment judgment subsystem terminates the energy-saving control adjustment operation. If the energy-saving control adjustment degree of the brushless motor is equal to or lower than the energy-saving control adjustment threshold defined in the motor energy-saving platform, the judgment result is invalid energy saving, and the energy-saving adjustment judgment subsystem performs energy-saving control adjustment operation on the brushless motor again.

5. The brushless motor control method according to claim 1, wherein: The energy-saving control and adjustment operation of the brushless motor is implemented as follows: According to the energy-saving adjustment parameter set of the brushless motor, which includes the speed and output power, the energy-saving adjustment parameter set obtained by matching and the corresponding monitoring equipment in the brushless motor can monitor the real-time values ​​of various energy-saving adjustment parameters in the brushless motor in real time; By implementing the energy-saving control adjustment operation of the brushless motor, the energy-saving control adjustment information of the brushless motor is obtained, wherein the energy-saving control adjustment information is the speed and output power of the brushless motor at each energy-saving adjustment time point monitored by the speed sensor and power sensor built into the brushless motor.

6. A system using a brushless motor control method according to any one of claims 1 to 5, characterized in that: include: The energy-saving adjustment matching module is used to monitor the working current of the brushless motor and integrate the working environment information of the brushless motor to match the energy-saving adjustment parameter set of the brushless motor, thereby entering the energy-saving control adjustment analysis module; The energy-saving control adjustment analysis module is used to perform the energy-saving control adjustment operation of the brushless motor according to the energy-saving adjustment parameter set of the brushless motor, analyze the energy-saving control adjustment degree of the brushless motor, and perform energy-saving cycle adjustment judgment based on the energy-saving control adjustment degree of the brushless motor. If the judgment result is effective energy saving, the energy-saving control adjustment operation is terminated. If the judgment result is invalid energy saving, the energy-saving control adjustment analysis module is cyclically executed and the energy-saving control adjustment operation is performed on the brushless motor again.

7. A motor using the brushless motor control method according to any one of claims 1 to 5, characterized in that: include: Brushless motor, current sensor, temperature sensor, speed sensor, power sensor, data processor, energy-saving adjustment and judgment subsystem; The brushless motor is used to install a current sensor, a temperature sensor, a speed sensor, and a power sensor; The current sensor is used to obtain the instantaneous current value of the brushless motor at each working time point; The temperature sensor is used to obtain the operating temperature value of each temperature collection point at each working time point; The speed sensor is used to monitor the speed of the brushless motor at each energy-saving adjustment time point; The power sensor is used to monitor the output power of the brushless motor at each energy-saving adjustment time point; The data processor is used to process the instantaneous current value, operating temperature value, rotation speed and output power to obtain the energy-saving control adjustment degree of the brushless motor; The energy-saving adjustment determination subsystem is used to perform energy-saving cycle adjustment determination based on the energy-saving control adjustment degree of the brushless motor in the data processor.

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