Control method, control device, and non-volatile storage medium

Abstract

The invention provides a control method, a control device and a nonvolatile storage medium, the control method is suitable for a rotor of a motor, the rotor comprises an iron core structure and a detection coil wound on a bulge of the iron core structure, and the control method comprises the following steps: in an operation process of the rotor, obtaining an induced electromotive force of the detection coil; actual operation parameters of the rotor are determined according to the induced electromotive force of the detection coil; and correcting the control parameters of the rotor according to the actual operation parameters of the rotor. Through the technical scheme provided by the invention, the problem of low detection accuracy of the operation parameters of the rotor in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor rotor detection, and in particular to a control method, a control device and a non-volatile storage medium. Background Art

[0002] At present, in order to reduce the size and cost of the compressor and improve the power density of the compressor, sensorless rotor control technology is often used to estimate the rotor speed, direction and rotor position.

[0003] However, the above-mentioned sensorless control technology often has low accuracy in detecting rotor operating parameters, including poor position sensing accuracy and sensing delay, which in turn may lead to demagnetization of the rotor permanent magnet and reduced system energy efficiency due to weak magnetic angle mismatch. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method, a control device and a non-volatile storage medium to solve the problem of low detection accuracy of rotor operating parameters in the prior art.

[0005] In order to achieve the above object, according to one aspect of the present invention, a control method is provided. The control method is applicable to a rotor of a motor, the rotor comprising an iron core structure and a detection coil wound on a protrusion of the iron core structure, and the control method comprises:

[0006] During the operation of the rotor, the induced electromotive force of the detection coil is obtained;

[0007] Determine the actual operating parameters of the rotor based on the induced electromotive force of the detection coil;

[0008] The control parameters of the rotor are corrected according to the actual operating parameters of the rotor.

[0009] Furthermore, the actual operating parameters of the rotor are determined according to the induced electromotive force of the detection coil, including:

[0010] The actual speed of the rotor is determined based on the changing frequency of the induced electromotive force of the detection coil.

[0011] Furthermore, there are at least two protrusions, at least two detection coils, one of the at least two protrusions is wound with a detection coil, and another detection coil is wound with another of the at least two protrusions; determining the actual operating parameters of the rotor according to the induced electromotive force of the detection coils includes:

[0012] Acquiring waveforms and amplitudes of the induced electromotive force of at least two detection coils, and comparing the waveform and amplitude of the induced electromotive force of one of the at least two detection coils with the waveform and amplitude of the induced electromotive force of the other of the at least two detection coils to obtain a comparison result;

[0013] The direction of rotation of the rotor and the position of the rotor are determined based on the comparison result.

[0014] Furthermore, the control parameters of the rotor are corrected according to the actual operating parameters of the rotor, including:

[0015] comparing actual operating parameters of the rotor with controlled operating parameters of the rotor;

[0016] The control parameters of the rotor are corrected according to the comparison result between the actual operating parameters of the rotor and the control operating parameters of the rotor.

[0017] Furthermore, the control parameters of the rotor are corrected according to the comparison result between the actual operating parameters of the rotor and the preset operating parameters of the rotor, including:

[0018] Obtaining a deviation ratio of a difference between an actual operating parameter of the rotor and a controlled operating parameter of the rotor to the actual operating parameter of the rotor, and comparing the deviation ratio with a preset ratio;

[0019] When the deviation ratio is greater than or equal to the preset ratio, the parameter value corresponding to the control operating parameter of the rotor is adjusted to the parameter value corresponding to the actual operating parameter of the rotor;

[0020] When the deviation ratio is less than the preset ratio, the control operation parameters of the control rotor remain unchanged.

[0021] Furthermore, the rotor further comprises a magnetic steel structure; before the operation of the rotor, the control method further comprises: rotating the magnetic steel structure at a preset speed lower than the operating speed of the rotor, recording the initial waveform of the induced electromotive force corresponding to different positions of the detection coil under one rotation of the magnetic steel structure; determining the actual operating parameters of the rotor according to the induced electromotive force of the detection coil, including:

[0022] The waveform of the induced electromotive force of the detection coil is compared with the initial waveform, and the speed, direction and position of the rotor are determined according to the comparison result.

[0023] Furthermore, before the operation of the rotor, the control method further includes:

[0024] Test the detection coil to determine whether it is normal.

[0025] Furthermore, the rotor further comprises an energy coil, which is wound on the protrusion, and the energy coil is spaced apart from the detection coil; the detection coil is tested to determine whether the detection coil is normal, including:

[0026] Connect the energy coil to an external power source;

[0027] Obtaining the induced electromotive force of the detection coil, and comparing the induced electromotive force of the detection coil with a preset induced electromotive force;

[0028] According to the comparison result of the induced electromotive force of the detection coil and the preset induced electromotive force, it is judged whether the detection coil is normal.

[0029] Further, judging whether the detection coil is normal according to the comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force includes:

[0030] When the comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force is within the preset error range, the detection coil is judged to be normal;

[0031] When the comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force exceeds the preset error range, the detection coil is judged to be abnormal, and the detection coil is replaced.

[0032] According to another aspect of the present invention, a control device is provided. The control device is applicable to a rotor of a motor. The rotor includes an iron core structure and a detection coil wound on a protrusion of the iron core structure. The control device includes:

[0033] An acquisition module is configured to acquire the induced electromotive force of the detection coil during the operation of the rotor;

[0034] A determination module is configured to determine actual operating parameters of the rotor according to the induced electromotive force of the detection coil;

[0035] The control module is configured to correct the control parameters of the rotor according to the actual operating parameters of the rotor.

[0036] According to another aspect of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the control method provided above.

[0037] By applying the technical solution of the present invention, it is possible to determine the actual operating parameters of the rotor according to the induced electromotive force of the coil, thereby facilitating the correction of the control parameters of the rotor, thereby facilitating the improvement of the detection accuracy of the operating parameters of the rotor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 A schematic diagram of the structure of a motor provided according to an embodiment of the present invention is shown;

[0040] Figure 2 A schematic diagram of the topological structure of a rotor provided according to an embodiment of the present invention is shown;

[0041] Figure 3 Shows Figure 2 The waveform diagrams of the induced electromotive force corresponding to the four different quadrants;

[0042] Figure 4 shows a waveform diagram of the induced electromotive force of the detection coil provided according to an embodiment of the present invention;

[0043] Figure 5 Shows Figure 2 The induced electromotive force waveform of a set of detection coils;

[0044] Figure 6 Shows Figure 2 The induced electromotive force waveform of another set of detection coils in the figure;

[0045] Figure 7 A partial structural schematic diagram of a rotor provided according to an embodiment of the present invention is shown;

[0046] Figure 8 A flow chart of a control method provided according to an embodiment of the present invention is shown;

[0047] Fig. 9 An overall flow chart of a control method provided according to an embodiment of the present invention is shown.

[0048] The above drawings include the following reference numerals:

[0049] 10. Rotor; 11. Iron core structure; 111. Protrusion; 12. Detection coil; 13. Energy coil; 14. Magnetic steel structure; 141. First magnetic steel; 142. Second magnetic steel; 143. Third magnetic steel; 144. Fourth magnetic steel; 15. Core shaft; 16. Protective sleeve; 20. Thrust plate. DETAILED DESCRIPTION

[0050] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] like Figure 8As shown, a first embodiment of the present invention provides a control method, which is applicable to a rotor 10 of a motor. The rotor 10 includes an iron core structure 11 and a detection coil 12 wound on a protrusion 111 of the iron core structure 11. The control method includes: during the operation of the rotor 10, obtaining the induced electromotive force of the detection coil 12; determining actual operating parameters of the rotor 10 according to the induced electromotive force of the detection coil 12; and correcting the control parameters of the rotor 10 according to the actual operating parameters of the rotor 10.

[0052] By adopting such a control method, it is possible to determine the actual operating parameters of the rotor 10 according to the induced electromotive force of the coil, thereby facilitating the correction of the control parameters of the rotor 10, thereby facilitating the improvement of the detection accuracy of the operating parameters of the rotor 10. In addition, the control method has a simple structure, low cost, and is easy to install.

[0053] In this embodiment, determining the actual operating parameters of the rotor 10 according to the induced electromotive force of the detection coil 12 includes: determining the actual rotation speed of the rotor 10 according to the changing frequency of the induced electromotive force of the detection coil 12. This method can effectively improve the detection accuracy of the actual rotation speed of the rotor 10.

[0054] Specifically, there are at least two protrusions 111, at least two detection coils 12, one of the at least two protrusions 111 is wound with a detection coil 12, and the other of the at least two protrusions 111 is wound with another detection coil 12; the actual operating parameters of the rotor 10 are determined according to the induced electromotive force of the detection coil 12, including: obtaining the waveform and amplitude of the induced electromotive force of the at least two detection coils 12, comparing the waveform and amplitude of the induced electromotive force of one of the at least two detection coils 12 with the waveform and amplitude of the induced electromotive force of the other of the at least two detection coils 12 to obtain a comparison result; determining the direction of rotation of the rotor 10 and the position of the rotor 10 according to the comparison result. In this way, it is convenient to improve the detection accuracy of the direction of rotation of the rotor 10 and the position of the rotor 10.

[0055] Specifically, when there are at least two detection coils 12, the induced electromotive forces corresponding to the at least two detection coils 12 may be compared simultaneously to obtain a comparison result.

[0056] In this embodiment, the control parameters of the rotor 10 are corrected according to the actual operating parameters of the rotor 10, including: comparing the actual operating parameters of the rotor 10 with the control operating parameters of the rotor 10; and correcting the control parameters of the rotor 10 according to the comparison result between the actual operating parameters of the rotor 10 and the control operating parameters of the rotor 10. Such a method can facilitate better adaptive correction and adjustment of the control parameters of the rotor 10, thereby improving the accuracy of the control parameters.

[0057] Specifically, the control parameters of the rotor 10 are corrected according to the comparison result between the actual operating parameters of the rotor 10 and the preset operating parameters of the rotor 10, including: obtaining the difference between the actual operating parameters of the rotor 10 and the control operating parameters of the rotor 10 and the deviation ratio of the actual operating parameters of the rotor 10, and comparing the deviation ratio with the preset ratio; when the deviation ratio is greater than or equal to the preset ratio, adjusting the parameter value corresponding to the control operating parameter of the rotor 10 to the parameter value corresponding to the actual operating parameter of the rotor 10; when the deviation ratio is less than the preset ratio, controlling the control operating parameters of the rotor 10 to remain unchanged. Using such a method, it is convenient to better correct the control parameters of the rotor 10 to ensure that the control parameters of the rotor 10 are within a relatively accurate range.

[0058] Specifically, the deviation ratio may be 5% or a value less than 5%. Specifically, the deviation ratio may be set to 1%.

[0059] Specifically, the control parameters include a control speed and a rotor control position, the corresponding preset operating parameters include a preset speed and a rotor preset position, and the corresponding actual operating parameters include an actual speed and an actual rotor position.

[0060] In the present embodiment, the rotor 10 further includes a magnetic steel structure 14; before the operation of the rotor 10, the control method further includes: rotating the magnetic steel structure 14 at a preset speed lower than the operating speed of the rotor 10, and recording the initial waveform of the induced electromotive force corresponding to different positions of the detection coil 12 under one rotation of the magnetic steel structure 14; determining the actual operating parameters of the rotor 10 according to the induced electromotive force of the detection coil 12, including: comparing the waveform of the induced electromotive force of the detection coil 12 with the initial waveform, and determining the speed of the rotor 10, the direction of the rotor 10, and the position of the rotor 10 according to the comparison result. Such a method can facilitate accurate acquisition of the initial waveform, and facilitate better comparison of the waveform of the induced electromotive force of the detection coil 12 with the initial waveform in the future, so as to more accurately and quickly determine the corresponding speed, direction, and position of the rotor 10.

[0061] It should be noted that “before the rotor 10 is in operation” can be understood as before the rotor 10 enters operation.

[0062] Specifically, before the rotor 10 is in operation, the control method further includes: testing the detection coil 12 to determine whether the detection coil 12 is normal. In this way, the accuracy of the induced electromotive force subsequently detected by the detection coil 12 is ensured, thereby facilitating better accuracy in detecting the rotor 10.

[0063] In this embodiment, the rotor 10 also includes an energy coil 13, which is wound on the protrusion 111, and the energy coil 13 is spaced apart from the detection coil 12; the detection coil 12 is tested to determine whether the detection coil 12 is normal, including: connecting the energy coil 13 to an external power supply; obtaining the induced electromotive force of the detection coil 12, and comparing the induced electromotive force of the detection coil 12 with a preset induced electromotive force; judging whether the detection coil 12 is normal based on the comparison result between the induced electromotive force of the detection coil 12 and the preset induced electromotive force. In this way, it is convenient to accurately detect whether the detection coil 12 is normal, so as to ensure the accuracy of the induced electromotive force detected by the detection coil 12 in the future.

[0064] Specifically, the external power source here may be an alternating current power source.

[0065] Specifically, judging whether the detection coil 12 is normal or not according to the comparison result between the induced electromotive force of the detection coil 12 and the preset induced electromotive force includes: judging that the detection coil 12 is normal when the comparison result between the induced electromotive force of the detection coil 12 and the preset induced electromotive force is within the preset error range; judging that the detection coil 12 is abnormal when the comparison result between the induced electromotive force of the detection coil 12 and the preset induced electromotive force exceeds the preset error range, and replacing the detection coil 12. Such a method can facilitate rapid judgment of whether the detection coil 12 is in a normal state, thereby facilitating the subsequent detection accuracy of the detection coil 12.

[0066] like Figures 1 to 7 As shown, the induced electromotive force of the core structure 11 and the detection coil 12 and the energy coil 13 respectively corresponds to the situation. Specifically, the core structure 11 is shrink-fitted on the compressor housing, and the assembly position of the rotor 10 is directly above the thrust plate 20. Generally speaking, the thrust plate 20 plays the role of axial position adjustment, and the thrust plate 20 includes a magnetic core and a magnetic steel. The topological structure of the rotor 10 is as follows: Figure 2 As shown, the rotor 10 includes an iron core and a detection coil 12. Figure 2 As shown, the rotor 10 further includes an energy coil 13, and the detection coil 12 and the energy coil 13 are both wound around each protrusion 111. Specifically, the energy coil 13 can be at the bottom, and the detection coil 12 can be at the top.

[0067] Before the compressor is turned on, two or more detection coils 12 need to be tested. After power is turned on (at 50 Hz), the rotor 10 rotates. The rotor 10 will generate an induced electromotive force when passing through the detection coil 12. If the amplitude and frequency of the induced electromotive force are normal, it means that the detection coil 12 is normal. If any of them is abnormal, the detection coil 12 needs to be replaced. Ensure that the coil failure problem is eliminated before the compressor operates normally to avoid system failure.

[0068] Specifically, each group of detection coils 12 can be wound on a single protrusion 111 .

[0069] Alternatively, in order to improve the detection accuracy of each group of detection coils 12, each group of detection coils 12 can be divided into two branch coils, and the two branch coils are respectively arranged on two protrusions 111. Preferably, the two branch coils are respectively arranged on two oppositely arranged protrusions 111.

[0070] Specifically, Figure 2 and Figure 3 As shown, the detection coils 12 are divided into two groups, and the two branch coils of one group of the two detection coils 12 are respectively wrapped on two oppositely arranged protrusions 111, and the two branch coils of the other group of the two detection coils 12 are respectively wrapped on the other two oppositely arranged protrusions 111. The energy coils 13 are divided into one group, and the energy coils 13 are sequentially wrapped on the four protrusions 111 on which the two detection coils 12 are arranged. Two of the four protrusions 111 are oppositely arranged, and the other two of the four protrusions 111 are oppositely arranged, and the center angle corresponding to the interval range between the four protrusions 111 is 90°. The four protrusions 111 correspond to the 0° and 360° positions, the 90° position, the 180° position, and the 270° position in a circle, respectively. The area between 0° and 360° and 90° is quadrant I, the area between 90° and 180° is quadrant II, the area between 180° and 270° is quadrant III, and the area between 270° and 0° and 360° is quadrant IV. With such a structural arrangement, it is convenient to integrate and judge the induced electromotive force generated in the induction coil corresponding to each protrusion 111, thereby further improving the detection efficiency.

[0071] Specifically, in order to further enhance the detection accuracy of the position of the rotating member, when the core structure 11 includes eight protrusions 111, the eight protrusions 111 are respectively arranged at the positions of the four protrusions 111 drawn by solid lines in the figure and the four protrusions 111 drawn by dotted lines in the figure. The central angle corresponding to the interval range between the eight protrusions 111 is 45°.

[0072] Specifically, the rotor 10 further includes a core shaft 15 and a magnetic steel structure 14, and the thrust disc 20 is sleeved on the core shaft 15, and the core shaft 15 is used to drive the thrust disc 20 to rotate; wherein the thrust disc 20 and the core shaft 15 are eccentrically arranged. Specifically, the thrust disc 20, the magnetic steel structure 14 and the protective cover 16 are concentrically arranged. With such a structural arrangement, the distance between the thrust disc 20 and the core structure 11 can change when the thrust disc 20 rotates, so as to facilitate better detection of the rotation direction of the thrust disc 20.

[0073] Specifically, the magnetic steel structure 14 may include a first magnetic steel 141 , a second magnetic steel 142 , a third magnetic steel 143 and a fourth magnetic steel 144 . The first magnetic steel 141 may be spliced ​​with the second magnetic steel 142 , and the third magnetic steel 143 may be spliced ​​with the fourth magnetic steel 144 to finally form the magnetic steel structure 14 .

[0074] Specifically, in order to prevent the thrust disk 20 from coming out relative to the core shaft 15 , an interference fit is formed between the thrust disk 20 and the core shaft 15 .

[0075] Specifically, for the normal operation of the rotor 10, the thrust plate 20 and the core shaft 15 are both made of magnetic conductive materials, and the yield strength of the magnetic conductive materials is greater than or equal to 780 MPa.

[0076] like Fig. 9 As shown in FIG. 1 , when the compressor is operating normally, the rotor 10 rotates. Since the operating profile is an ellipse (i.e., the air gap between the rotor 10 and the iron core of the detection system is uneven), the magnetic steel structure 14 on the rotor 10 passes through the detection coil 12, generating an induced electromotive force on the detection coil 12. Figure 3 As shown, the closer the distance between the magnet and the iron core is, the greater the induced electromotive force of the detection coil 12 at the corresponding angle is, and the amplitude of the induced electromotive force of the detection coil 12 also increases accordingly. Conversely, the farther the distance between the magnet and the iron core is, the smaller the induced electromotive force of the detection coil 12 at the corresponding angle is, and the amplitude of the induced electromotive force of the detection coil 12 also decreases accordingly. Finally, the amplitude and frequency of the voltage waveforms of different detection coils 12 can be integrated by the controller to determine the rotation direction, angle and speed of the rotor 10. When the signal received by the controller is compared with the parameters calculated by the program (rotor 10 position, speed), if the deviation is greater than or equal to 1%, it is re-overwritten according to the measured parameters, and if the deviation is less than 1%, the control continues according to the existing parameters. Finally, this system can easily realize the position detection of the rotor 10 and precise control of the weak magnetic angle. The overall system has no redundancy, does not require iterative calculations, saves system volume and cost, has a fast response speed, and a deviation of less than 1%, which greatly improves the accuracy of engineering tests. Specifically, Fig. 9 The coils in the figure can all be understood as detection coils 12. Fig. 9 The unit in the figure can be understood as a motor. Specifically, after judging the motor speed according to the electromotive force frequency of the detection coil, the judged speed is fed back to the inverter to analyze the relationship between the control parameter and the actual parameter (the actual parameter here corresponds to the actual operating parameter, specifically including the speed and rotor position), and judge the relationship between the parameter deviation ratio (which can also be understood as the parameter deviation ratio) and the preset ratio. The corresponding correction coil can be understood as replacing or repairing the coil.

[0077] Embodiment 2 of the present invention provides a control device, which is applicable to a rotor 10 of a motor. The rotor 10 includes an iron core structure 11 and a detection coil 12 wound on a protrusion 111 of the iron core structure 11. The control device includes: an acquisition module, a determination module and a control module. The acquisition module is configured to acquire the induced electromotive force of the detection coil 12 during the operation of the rotor 10; the determination module is configured to determine the actual operating parameters of the rotor 10 based on the induced electromotive force of the detection coil 12; and the control module is configured to correct the control parameters of the rotor 10 based on the actual operating parameters of the rotor 10.

[0078] A third embodiment of the present invention provides a non-volatile storage medium, wherein the non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the control method provided above.

[0079] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: compared with the original sensorless control technology, it has the characteristics of high precision, high integration, easy assembly and low cost. It solves the problem of rotor position sensing delay, poor precision and weak magnetic angle mismatch in high-speed motors, which leads to demagnetization of rotor permanent magnets and reduced system energy efficiency. The method provided in this embodiment can sense the position of the rotor (the position of the rotor in the present invention can be understood as the corresponding rotation angle), speed and direction in real time; the corresponding structure has high integration and does not need to occupy the volume of the compressor alone; the corresponding structure has high precision, the system is simple and reliable, and the cost is low; in addition, the entire control logic of the present invention has no redundancy and no iterative calculation. It is easy to achieve fast response and extremely high precision of the entire system.

[0080] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0081] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0082] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0083] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0084] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method, characterized in that: The control method is applicable to a rotor of a motor, wherein the rotor comprises an iron core structure and a detection coil wound on a protrusion of the iron core structure, and the control method comprises: During the operation of the rotor, obtaining the induced electromotive force of the detection coil; Determine the actual operating parameters of the rotor according to the induced electromotive force of the detection coil; The control parameters of the rotor are corrected according to the actual operating parameters of the rotor.

2. The control method according to claim 1, characterized in that: The determining the actual operating parameters of the rotor according to the induced electromotive force of the detection coil comprises: The actual rotation speed of the rotor is determined according to the changing frequency of the induced electromotive force of the detection coil.

3. The control method according to claim 1, characterized in that: There are at least two protrusions, at least two detection coils, one of at least two protrusions is wound with one detection coil, and another of at least two protrusions is wound with another detection coil; determining the actual operating parameters of the rotor according to the induced electromotive force of the detection coils includes: Acquiring the waveform and amplitude of the induced electromotive force of at least two of the detection coils, and comparing the waveform and amplitude of the induced electromotive force of one of the at least two detection coils with the waveform and amplitude of the induced electromotive force of the other of the at least two detection coils, respectively, to obtain a comparison result; The rotation direction of the rotor and the position of the rotor are determined according to the comparison result.

4. The control method according to claim 1, characterized in that: The modifying of the control parameters of the rotor according to the actual operating parameters of the rotor comprises: comparing an actual operating parameter of the rotor with a controlled operating parameter of the rotor; The control parameters of the rotor are corrected according to the comparison result between the actual operating parameters of the rotor and the control operating parameters of the rotor.

5. The control method according to claim 4, characterized in that: The modifying of the control parameters of the rotor according to the comparison result between the actual operating parameters of the rotor and the preset operating parameters of the rotor comprises: Obtaining a deviation ratio of a difference between an actual operating parameter of the rotor and a controlled operating parameter of the rotor to the actual operating parameter of the rotor, and comparing the deviation ratio with a preset ratio; When the deviation ratio is greater than or equal to the preset ratio, adjusting the parameter value corresponding to the control operation parameter of the rotor to the parameter value corresponding to the actual operation parameter of the rotor; When the deviation ratio is less than the preset ratio, the control operation parameters of the rotor remain unchanged.

6. The control method according to claim 1, characterized in that: The rotor further comprises a magnetic steel structure; before the operation of the rotor, the control method further comprises: rotating the magnetic steel structure at a preset speed lower than the operating speed of the rotor, and recording the initial waveforms of the induced electromotive force corresponding to different positions of the detection coil during one rotation of the magnetic steel structure; determining the actual operating parameters of the rotor according to the induced electromotive force of the detection coil comprises: The waveform of the induced electromotive force of the detection coil is compared with the initial waveform, and the rotation speed of the rotor, the direction of rotation of the rotor and the position of the rotor are determined according to the comparison result.

7. The control method according to claim 1, characterized in that: Before the operation of the rotor, the control method further includes: The detection coil is tested to determine whether the detection coil is normal.

8. The control method according to claim 7, characterized in that: The rotor further includes an energy coil, which is wound around the protrusion and spaced apart from the detection coil; the testing of the detection coil to determine whether the detection coil is normal includes: Connecting the energy coil to an external power source; Acquire the induced electromotive force of the detection coil, and compare the induced electromotive force of the detection coil with a preset induced electromotive force; Whether the detection coil is normal is determined based on a comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force.

9. The control method according to claim 8, characterized in that: The step of judging whether the detection coil is normal according to a comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force comprises: When the comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force is within a preset error range, it is judged that the detection coil is normal; When the comparison result between the induced electromotive force of the detection coil and the preset induced electromotive force exceeds the preset error range, the detection coil is judged to be abnormal, and the detection coil is replaced.

10. A control device, characterized in that: The control device is applicable to a rotor of a motor, wherein the rotor comprises an iron core structure and a detection coil wound on a protrusion of the iron core structure, and the control device comprises: An acquisition module is configured to acquire the induced electromotive force of the detection coil during the operation of the rotor; A determination module, configured to determine actual operating parameters of the rotor according to the induced electromotive force of the detection coil; The control module is configured to correct the control parameters of the rotor according to the actual operating parameters of the rotor.

11. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the control method according to any one of claims 1 to 9.

Images