Automatic configuration method and system for speed loop gain and storage medium

Abstract

The invention provides an automatic configuration method and system for speed loop gain and a storage medium, and the method comprises the steps: firstly, determining first gain information for configuring a motor according to automatically recognized first motor parameter information, and enabling the first gain information to drive the motor to operate and rotate; then, the speed difference value between the first speed information of the motor and the target speed is calculated, and whether motor speed adjustment operation needs to be executed or not is judged according to the speed difference value and a preset speed difference value threshold value; when the motor speed is adjusted, first speed information is collected and recorded according to a preset time period so as to obtain second speed information and first time information; and finally, adjusting the first gain information according to the second speed information and the first time information. Through the method, the automatic configuration function of the motor speed loop gain is realized, and the purposes of improving the stability of motor speed control and the debugging experience of a user are achieved.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and more specifically, to an automatic configuration method, system and storage medium for a speed loop gain. Background Art

[0002] In order to achieve more stable motor speed control and faster motor speed control, especially for three-phase motors such as ACIM (AC induction motor) and PMSM (permanent magnet synchronous motor), speed loop gain is usually used to adjust the motor speed. Speed ​​loop gain is a key parameter in the click system, and its adjustment has a significant impact on the performance of the motor. Appropriate speed loop gain can improve the rigidity of the motor drive system and ensure the performance of the system in steady state and transient operation; but when the speed loop gain does not match the motor electrical parameters, problems such as motor speed oscillation and unstable operation are likely to occur.

[0003] At present, the specific speed loop gain value range varies depending on the motor system, motor model and load conditions. When adjusting, it is necessary to refer to the specific equipment manual or consult professional technicians for advice. In addition, the electrical characteristics of the motor will also change during operation, and the set speed loop gain cannot be well adapted to the running motor. It takes a lot of manpower to debug the motor's speed loop gain. Therefore, there is an urgent need for a technology for automatic configuration of the speed loop gain to improve the stability of motor speed control and the user's debugging experience. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a method, system and storage medium for automatically configuring the gain of a speed loop. First, first gain information is configured according to the automatically identified motor information to drive the motor to rotate; then, when the motor speed is adjusted, the first gain information is adjusted according to the second speed information and the first time information when the motor speed is adjusted; the automatic configuration function of the motor speed loop gain is realized through the above scheme, so as to achieve the purpose of improving the stability of the motor speed control and the user's debugging experience.

[0005] A first aspect of the present invention provides a method for automatically configuring a speed loop gain, the method comprising:

[0006] Obtaining parameter information of the first motor;

[0007] Determine first gain information according to the first motor parameter information;

[0008] Configuring the motor to run the motor according to the first gain information;

[0009] Obtaining first speed information;

[0010] Obtaining first speed difference information according to a difference between the first speed information and a target speed;

[0011] Determining whether the first speed difference information exceeds a preset speed difference threshold;

[0012] If yes, collecting and recording the first speed information according to a preset time period;

[0013] Obtaining second speed information and first time information according to the recorded first speed information;

[0014] The first gain information is adjusted according to the second speed information and the first time information.

[0015] In this solution, the first gain information is determined according to the first motor parameter information, specifically:

[0016] Determining whether the first motor model information exists according to the first motor parameter information;

[0017] If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information;

[0018] If not, the first gain information is obtained according to the first motor type information and the first electrical parameter information of the first motor parameter information.

[0019] In this solution, adjusting the first gain information according to the second speed information and the first time information is specifically:

[0020] According to the second speed information, searching a preset proportional weight correspondence table to obtain first weight information;

[0021] According to the first time information, searching a preset integral weight corresponding table to obtain second weight information;

[0022] The first gain information is adjusted according to the first weight information and the second weight information.

[0023] This plan also includes:

[0024] The first gain information is a gain calculation parameter for speed regulation, and includes at least the first weight information and the second weight information;

[0025] Calculating a first speed adjustment amount according to the first speed difference information and the first weight information;

[0026] Obtaining first difference integral information according to the first speed difference information;

[0027] Calculating a second speed adjustment amount according to the first difference integral information and the second weight information;

[0028] The motor running speed is set according to the first speed adjustment amount and the second speed adjustment amount.

[0029] This plan also includes:

[0030] acquiring the second speed information;

[0031] Determining whether the second speed information exceeds a preset first speed threshold;

[0032] If so, the first weight information is adjusted downward.

[0033] This plan also includes:

[0034] Acquire the first time information;

[0035] Determining whether the first time information exceeds a preset time threshold;

[0036] If so, the second weight information is adjusted downward.

[0037] A second aspect of the present invention provides a speed loop gain automatic configuration system, including a speed loop gain automatic configuration method program, wherein the speed loop gain automatic configuration method program implements the following steps when executed by the processor:

[0038] Obtaining parameter information of the first motor;

[0039] Determine first gain information according to the first motor parameter information;

[0040] Configuring the motor to run the motor according to the first gain information;

[0041] Obtaining first speed information;

[0042] Obtaining first speed difference information according to a difference between the first speed information and a target speed;

[0043] Determining whether the first speed difference information exceeds a preset speed difference threshold;

[0044] If yes, collecting and recording the first speed information according to a preset time period;

[0045] Obtaining second speed information and first time information according to the recorded first speed information;

[0046] The first gain information is adjusted according to the second speed information and the first time information.

[0047] In this solution, the first gain information is determined according to the first motor parameter information, specifically:

[0048] Determining whether the first motor model information exists according to the first motor parameter information;

[0049] If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information;

[0050] If not, the first gain information is obtained according to the first motor type information and the first electrical parameter information of the first motor parameter information.

[0051] In this solution, adjusting the first gain information according to the second speed information and the first time information is specifically:

[0052] According to the second speed information, searching a preset proportional weight correspondence table to obtain first weight information;

[0053] According to the first time information, searching a preset integral weight corresponding table to obtain second weight information;

[0054] The first gain information is adjusted according to the first weight information and the second weight information.

[0055] A third aspect of the present invention provides a computer-readable storage medium, which includes a method program for automatically configuring a speed loop gain. When the method program for automatically configuring a speed loop gain is executed by a processor, the steps of the method for automatically configuring a speed loop gain as described in any one of the above items are implemented.

[0056] The present invention provides a method, system and storage medium for automatically configuring a speed loop gain. First, according to automatically identified first motor parameter information, first gain information for configuring a motor is determined to drive the motor to rotate; then, a speed difference between the first speed information of the motor and a target speed is calculated, and whether a motor speed adjustment operation needs to be performed is determined according to the size of the speed difference and a preset speed difference threshold; when the motor speed performs an adjustment operation, the first speed information is collected and recorded according to a preset time period to obtain second speed information and first time information; finally, the first gain information is adjusted according to the second speed information and the first time information; the above method realizes the automatic configuration function of the motor speed loop gain, so as to achieve the purpose of improving the stability of motor speed control and the debugging experience of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope.

[0058] Figure 1 A flow chart of an automatic configuration method of a speed loop gain of the present invention is shown;

[0059] Figure 2 A flow chart of determining first gain information according to first motor parameter information provided by an embodiment of the present invention is shown;

[0060] Figure 3 A flow chart for adjusting first gain information provided by an embodiment of the present invention is shown;

[0061] Figure 4 A block diagram of an automatic configuration system for a speed loop gain of the present invention is shown. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Unless otherwise defined, all terms (including technical and scientific terms) used in the embodiments of the present invention have the same meanings as commonly understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless the embodiments of the present invention are clearly defined in this way.

[0064] The words "first", "second" and similar words used in the embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one", "an" or "the" and similar words do not indicate a quantity limitation, but indicate the existence of at least one. Similarly, words such as "include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The steps before or after the method of the embodiment of the present invention are not necessarily carried out in order. On the contrary, various steps can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or a step or several steps can be removed from these processes.

[0065] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0066] Figure 1 A flow chart of an automatic configuration method of a speed loop gain of the present invention is shown.

[0067] like Figure 1 As shown, the present invention discloses a method for automatically configuring a speed loop gain, the method comprising:

[0068] S102, obtaining parameter information of a first motor;

[0069] S104, determining first gain information according to the first motor parameter information;

[0070] S106, configuring the motor according to the first gain information to make the motor run;

[0071] S108, obtaining first speed information;

[0072] S110, obtaining first speed difference information according to a difference between the first speed information and a target speed;

[0073] S112, determining whether the first speed difference information exceeds a preset speed difference threshold;

[0074] S114, if yes, collecting and recording the first speed information according to a preset time period;

[0075] S116, obtaining second speed information and first time information according to the recorded first speed information;

[0076] S118: Adjust the first gain information according to the second speed information and the first time information.

[0077] It should be noted that the first motor parameter information includes the identification information of the motor and the electrical parameters of the motor, which are used to configure the motor operating parameters after identifying the motor; the first gain information is the speed loop gain of the motor, which is a weighted calculation parameter when the motor speed is adjusted, and is used to calculate the running speed of the motor; the first speed information is the real-time running speed value of the motor; the second speed information is the maximum speed value of the motor in a speed regulation process; the first time information is the total time for the motor to complete a speed regulation process. First, after identifying the motor, the first motor parameter information is analyzed and obtained; wherein, the present invention is mainly applied to ACIM (AC induction motor) and PMSM (permanent magnet synchronous motor); for ACIM (AC induction motor), the motor parameter information also includes at least the number of poles, rotor resistance, stator resistance, stator series inductance, and rated rotor flux; for PMSM (permanent magnet synchronous motor), the motor parameter information also includes at least the number of pole pairs, stator resistance, stator direct inductance, stator orthogonal inductance, and rated flux. According to the first motor parameter information, a record table preset in the memory is searched to obtain first gain information corresponding to the first motor parameter information, which is used as the initialization setting of the motor speed loop gain to drive the motor to rotate.

[0078] Then, when the motor performs the rotation work, the real-time rotation speed of the motor is measured and recorded as the first speed information. The difference between the first speed information and the target speed is calculated and recorded as the first speed difference information, which is used to represent the speed error value between the real-time running speed of the motor and the target speed. When the first speed difference information exceeds the preset speed difference threshold, it is necessary to perform the speed automatic adjustment operation to make the motor running speed close to the preset target speed and realize automatic speed regulation. When the motor speed automatic adjustment operation is performed, the first speed information is collected and recorded according to the preset time period until the motor rotation speed has reached stability at the preset target speed value, then the first speed information is stopped from being recorded; the maximum value is extracted according to the size relationship of the recorded first speed information, which is recorded as the second speed information; the first time information is obtained according to the number of the recorded first speed information and the length of the collected time period. The second speed information reflects the oscillation amplitude during the motor speed adjustment process, and the first time information reflects the duration of the motor speed adjustment. Therefore, the first gain information is adjusted according to the second speed information and the first time information, so that the oscillation amplitude and adjustment time during the motor speed adjustment process reach the preset targets, and the automatic configuration function of the motor speed loop gain is realized, thereby achieving the purpose of improving the stability of the motor speed control and the user's debugging experience.

[0079] Figure 2 A flow chart of determining first gain information according to first motor parameter information provided by an embodiment of the present invention is shown.

[0080] According to an embodiment of the present invention, Figure 2As shown, the first gain information is determined according to the first motor parameter information, specifically:

[0081] S202, determining whether there is first motor model information according to the first motor parameter information;

[0082] S204: If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information;

[0083] S206: If not, obtaining the first gain information according to the first motor type information and the first electrical parameter information of the first motor parameter information.

[0084] It should be noted that the first motor model information is the specific model of the motor, which is used to index and search for configuration parameters; the first motor type information is the type of the motor, including at least AC induction motor (ACIM) and permanent magnet synchronous motor (PMSM); the first electrical parameter information includes at least rotor resistance, stator resistance, and rated magnetic flux, which are used to drive the motor to run stably. The memory stores some preset motor models, namely the first motor model information, and the motor model stored after the processor identifies and runs; the motor model can be used as an index to query the corresponding first gain information in the memory. After the motor is identified, it is analyzed whether there is a matching motor model in the memory. If so, the gain correspondence table preset in the memory can be searched according to the first motor model information to obtain the first gain information; if not, it is necessary to select the data list in the memory according to the motor type, and then search for matching corresponding parameters according to the electrical parameters of the motor, and finally obtain the first gain information.

[0085] Figure 3 A flow chart of adjusting first gain information provided by an embodiment of the present invention is shown.

[0086] According to an embodiment of the present invention, Figure 3 As shown, adjusting the first gain information according to the second speed information and the first time information is specifically:

[0087] S302, searching a preset proportional weight correspondence table according to the second speed information to obtain first weight information;

[0088] S304, searching a preset integral weight corresponding table according to the first time information to obtain second weight information;

[0089] S306: Adjust the first gain information according to the first weight information and the second weight information.

[0090] It should be noted that the first weight information is a proportional weighted parameter of the speed adjustment amount; the second weight information is an integral weighted parameter of the speed adjustment amount. The second speed information reflects the oscillation amplitude during the motor speed adjustment process. According to the oscillation amplitude, the preset proportional weight correspondence table is searched to obtain the proportional weight adjustment amount, which is used to adjust the first weight information. The first time information reflects the duration of the motor speed adjustment. According to the speed adjustment duration, the preset integral weight correspondence table is searched to obtain the integral weight adjustment amount, which is used to adjust the second weight information. Finally, according to the first weight information and the second weight information, the first gain information is updated and configured to achieve the effect of automatically adjusting and configuring the motor speed loop gain.

[0091] According to an embodiment of the present invention, it also includes:

[0092] The first gain information is a gain calculation parameter for speed regulation, and includes at least the first weight information and the second weight information;

[0093] Calculating a first speed adjustment amount according to the first speed difference information and the first weight information;

[0094] Obtaining first difference integral information according to the first speed difference information;

[0095] Calculating a second speed adjustment amount according to the first difference integral information and the second weight information;

[0096] The motor running speed is set according to the first speed adjustment amount and the second speed adjustment amount.

[0097] It should be noted that the speed loop gain includes at least the first weight information and the second weight information, that is, the proportional weighted parameter of the speed regulation amount and the integral weighted parameter of the speed regulation amount. According to the first speed difference information and the first weight information, the first speed regulation amount, that is, the proportional regulation amount of the motor speed, is calculated. According to the acquisition of the real-time speed of the motor and the speed regulation cycle, the first speed difference calculated in each cycle is superimposed and integrated to obtain the first difference integral information; then, according to the first difference integral information and the second weight information, the second speed regulation amount, that is, the integral regulation amount of the motor speed, is calculated. Finally, the motor drive is adjusted according to the first speed regulation amount and the second speed regulation amount to adjust the motor speed.

[0098] According to an embodiment of the present invention, it also includes:

[0099] acquiring the second speed information;

[0100] Determining whether the second speed information exceeds a preset first speed threshold;

[0101] If so, the first weight information is adjusted downward.

[0102] It should be noted that the second speed information is the maximum speed value of the motor in a speed regulation process. When the second speed information exceeds the preset first speed threshold, it means that the speed amplitude in the adjustment process has exceeded the limit range. In order to avoid the motor from affecting the stability of the working system using the motor due to overspeed operation, it is necessary to adjust the first weight information downward to achieve the effect of reducing the amplitude; wherein, the first speed threshold is set according to the target speed in actual application, for example, the target speed is increased by 10%, 20%, etc. as the threshold.

[0103] According to an embodiment of the present invention, it also includes:

[0104] Acquire the first time information;

[0105] Determining whether the first time information exceeds a preset time threshold;

[0106] If so, the second weight information is adjusted downward.

[0107] It should be noted that the first time information is the total time it takes for the motor to complete a speed adjustment process. When the first time information exceeds the preset time threshold, it means that the adjustment process of the motor speed is too long, the motor speed repeatedly oscillates near the target speed, and it is difficult to reach a stable state of speed, and the instability of the working system using the motor due to the unstable motor speed is not avoided. Then, the second weight information needs to be adjusted downward to achieve the effect of shortening the speed adjustment time; wherein, in actual applications, the time threshold is usually obtained by looking up the corresponding time threshold corresponding table based on the difference between the first speed information and the target speed information at the beginning of the adjustment; that is, the larger the speed span to be adjusted, the longer the allowed adjustment time.

[0108] It is worth mentioning that obtaining the first speed information;

[0109] Determining whether the first speed information exceeds a preset second speed threshold;

[0110] If so, the first weight information is adjusted downward.

[0111] It should be noted that the second speed threshold is the upper limit of the operating speed set by the working system using the motor, that is, when the motor speed exceeds the second speed threshold, it will affect the working system using the motor. In normal use, usually only during the automatic speed regulation of the motor, the motor speed will reach the second speed threshold, which means that the amplitude of the motor speed regulation is too high. Therefore, by adjusting the first weight information downward, the effect of reducing the amplitude is achieved.

[0112] It is worth mentioning that it also includes:

[0113] Acquire first temperature information and second temperature information;

[0114] Obtaining second stator resistance information according to a preset resistance-temperature relationship formula based on the first stator resistance information of the first electrical parameter information and the first temperature information and the second temperature information;

[0115] adjusting the first electrical parameter information according to the second stator resistance information;

[0116] The first gain information is obtained according to the first motor type information and the first electrical parameter information.

[0117] It should be noted that during normal rotation of the motor, the current passes through the stator coil resistor, which will inevitably generate heat; due to the change in temperature, the resistance of the stator resistor will also change, that is, the first electrical parameter information of the motor needs to be adjusted. After the first electrical parameter information of the motor is adjusted, the corresponding data list is searched according to the first motor type information and the first electrical parameter information to obtain the corresponding first gain information.

[0118] Since the common material for stator windings is copper, there is an approximately linear relationship between resistance and temperature:

[0119] R2=R1*[1+α*(T2-T1)]

[0120] R2 is the first stator resistance information, that is, the resistance value of the stator resistance when the motor is running;

[0121] R1 is the second stator resistance information, that is, the resistance value of the stator resistance before the motor runs;

[0122] α is the temperature information of the material;

[0123] T2 is the second temperature information, that is, the temperature of the stator resistance when the motor is running;

[0124] T1 is the first temperature information, that is, the temperature of the stator resistance before the motor runs, that is, the ambient temperature value before the motor runs.

[0125] For example, the stator resistance of a copper winding is 10Ω at 25°C; the temperature coefficient of copper is usually 0.00393°C. -1 When the operating temperature of the stator resistance reaches 75°C, the current resistance of the stator resistance can be obtained as 11.96Ω according to the above approximate linear relationship.

[0126] Figure 4 A block diagram of an automatic configuration system for a speed loop gain of the present invention is shown.

[0127] like Figure 4 As shown, the present invention discloses an automatic configuration system 4 for speed loop gain, comprising a memory 41 and a processor 42, wherein the memory comprises an automatic configuration method program for speed loop gain, and when the automatic configuration method program for speed loop gain is executed by the processor, the following steps are implemented:

[0128] Obtaining parameter information of the first motor;

[0129] Determine first gain information according to the first motor parameter information;

[0130] Configuring the motor to run the motor according to the first gain information;

[0131] Obtaining first speed information;

[0132] Obtaining first speed difference information according to a difference between the first speed information and a target speed;

[0133] Determining whether the first speed difference information exceeds a preset speed difference threshold;

[0134] If yes, collecting and recording the first speed information according to a preset time period;

[0135] Obtaining second speed information and first time information according to the recorded first speed information;

[0136] The first gain information is adjusted according to the second speed information and the first time information.

[0137] It should be noted that the first motor parameter information includes the identification information of the motor and the electrical parameters of the motor, which are used to configure the motor operating parameters after identifying the motor; the first gain information is the speed loop gain of the motor, which is a weighted calculation parameter when the motor speed is adjusted, and is used to calculate the running speed of the motor; the first speed information is the real-time running speed value of the motor; the second speed information is the maximum speed value of the motor in a speed regulation process; the first time information is the total time for the motor to complete a speed regulation process. First, after identifying the motor, the first motor parameter information is analyzed and obtained; wherein, the present invention is mainly applied to ACIM (AC induction motor) and PMSM (permanent magnet synchronous motor); for ACIM (AC induction motor), the motor parameter information also includes at least the number of poles, rotor resistance, stator resistance, stator series inductance, and rated rotor flux; for PMSM (permanent magnet synchronous motor), the motor parameter information also includes at least the number of pole pairs, stator resistance, stator direct inductance, stator orthogonal inductance, and rated flux. According to the first motor parameter information, a record table preset in the memory is searched to obtain first gain information corresponding to the first motor parameter information, which is used as the initialization setting of the motor speed loop gain to drive the motor to rotate.

[0138] Then, when the motor performs the rotation work, the real-time rotation speed of the motor is measured and recorded as the first speed information. The difference between the first speed information and the target speed is calculated and recorded as the first speed difference information, which is used to represent the speed error value between the real-time running speed of the motor and the target speed. When the first speed difference information exceeds the preset speed difference threshold, it is necessary to perform the speed automatic adjustment operation to make the motor running speed close to the preset target speed and realize automatic speed regulation. When the motor speed automatic adjustment operation is performed, the first speed information is collected and recorded according to the preset time period until the motor rotation speed has reached stability at the preset target speed value, then the first speed information is stopped from being recorded; the maximum value is extracted according to the size relationship of the recorded first speed information, which is recorded as the second speed information; the first time information is obtained according to the number of the recorded first speed information and the length of the collected time period. The second speed information reflects the oscillation amplitude during the motor speed adjustment process, and the first time information reflects the duration of the motor speed adjustment. Therefore, the first gain information is adjusted according to the second speed information and the first time information, so that the oscillation amplitude and adjustment time during the motor speed adjustment process reach the preset targets, and the automatic configuration function of the motor speed loop gain is realized, thereby achieving the purpose of improving the stability of the motor speed control and the user's debugging experience.

[0139] According to an embodiment of the present invention, determining the first gain information according to the first motor parameter information is specifically:

[0140] Determining whether the first motor model information exists according to the first motor parameter information;

[0141] If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information;

[0142] If not, the first gain information is obtained according to the first motor type information and the first electrical parameter information of the first motor parameter information.

[0143] It should be noted that the first motor model information is the specific model of the motor, which is used to index and search for configuration parameters; the first motor type information is the type of the motor, including at least AC induction motor (ACIM) and permanent magnet synchronous motor (PMSM); the first electrical parameter information includes at least rotor resistance, stator resistance, and rated magnetic flux, which are used to drive the motor to run stably. The memory stores some preset motor models, namely the first motor model information, and the motor model stored after the processor identifies and runs; the motor model can be used as an index to query the corresponding first gain information in the memory. After the motor is identified, it is analyzed whether there is a matching motor model in the memory. If so, the gain correspondence table preset in the memory can be searched according to the first motor model information to obtain the first gain information; if not, it is necessary to select the data list in the memory according to the motor type, and then search for matching corresponding parameters according to the electrical parameters of the motor, and finally obtain the first gain information.

[0144] According to an embodiment of the present invention, adjusting the first gain information according to the second speed information and the first time information is specifically:

[0145] According to the second speed information, searching a preset proportional weight correspondence table to obtain first weight information;

[0146] According to the first time information, searching a preset integral weight corresponding table to obtain second weight information;

[0147] The first gain information is adjusted according to the first weight information and the second weight information.

[0148] It should be noted that the first weight information is a proportional weighted parameter of the speed adjustment amount; the second weight information is an integral weighted parameter of the speed adjustment amount. The second speed information reflects the oscillation amplitude during the motor speed adjustment process. According to the oscillation amplitude, the preset proportional weight correspondence table is searched to obtain the proportional weight adjustment amount, which is used to adjust the first weight information. The first time information reflects the duration of the motor speed adjustment. According to the speed adjustment duration, the preset integral weight correspondence table is searched to obtain the integral weight adjustment amount, which is used to adjust the second weight information. Finally, according to the first weight information and the second weight information, the first gain information is updated and configured to achieve the effect of automatically adjusting and configuring the motor speed loop gain.

[0149] According to an embodiment of the present invention, it also includes:

[0150] The first gain information is a gain calculation parameter for speed regulation, and includes at least the first weight information and the second weight information;

[0151] Calculating a first speed adjustment amount according to the first speed difference information and the first weight information;

[0152] Obtaining first difference integral information according to the first speed difference information;

[0153] Calculating a second speed adjustment amount according to the first difference integral information and the second weight information;

[0154] The motor running speed is set according to the first speed adjustment amount and the second speed adjustment amount.

[0155] It should be noted that the speed loop gain includes at least the first weight information and the second weight information, that is, the proportional weighted parameter of the speed regulation amount and the integral weighted parameter of the speed regulation amount. According to the first speed difference information and the first weight information, the first speed regulation amount, that is, the proportional regulation amount of the motor speed, is calculated. According to the acquisition of the real-time speed of the motor and the speed regulation cycle, the first speed difference calculated in each cycle is superimposed and integrated to obtain the first difference integral information; then, according to the first difference integral information and the second weight information, the second speed regulation amount, that is, the integral regulation amount of the motor speed, is calculated. Finally, the motor drive is adjusted according to the first speed regulation amount and the second speed regulation amount to adjust the motor speed.

[0156] According to an embodiment of the present invention, it also includes:

[0157] acquiring the second speed information;

[0158] Determining whether the second speed information exceeds a preset first speed threshold;

[0159] If so, the first weight information is adjusted downward.

[0160] It should be noted that the second speed information is the maximum speed value of the motor in a speed regulation process. When the second speed information exceeds the preset first speed threshold, it means that the speed amplitude in the adjustment process has exceeded the limit range. In order to avoid the motor from affecting the stability of the working system using the motor due to overspeed operation, it is necessary to adjust the first weight information downward to achieve the effect of reducing the amplitude; wherein, the first speed threshold is set according to the target speed in actual application, for example, the target speed is increased by 10%, 20%, etc. as the threshold.

[0161] According to an embodiment of the present invention, it also includes:

[0162] Acquire the first time information;

[0163] Determining whether the first time information exceeds a preset time threshold;

[0164] If so, the second weight information is adjusted downward.

[0165] It should be noted that the first time information is the total time it takes for the motor to complete a speed adjustment process. When the first time information exceeds the preset time threshold, it means that the adjustment process of the motor speed is too long, the motor speed repeatedly oscillates near the target speed, and it is difficult to reach a stable state of speed, and the instability of the working system using the motor due to the unstable motor speed is not avoided. Then, the second weight information needs to be adjusted downward to achieve the effect of shortening the speed adjustment time; wherein, in actual applications, the time threshold is usually obtained by looking up the corresponding time threshold corresponding table based on the difference between the first speed information and the target speed information at the beginning of the adjustment; that is, the larger the speed span to be adjusted, the longer the allowed adjustment time.

[0166] It is worth mentioning that obtaining the first speed information;

[0167] Determining whether the first speed information exceeds a preset second speed threshold;

[0168] If so, the first weight information is adjusted downward.

[0169] It should be noted that the second speed threshold is the upper limit of the operating speed set by the working system using the motor, that is, when the motor speed exceeds the second speed threshold, it will affect the working system using the motor. In normal use, usually only during the automatic speed regulation of the motor, the motor speed will reach the second speed threshold, which means that the amplitude of the motor speed regulation is too high. Therefore, by adjusting the first weight information downward, the effect of reducing the amplitude is achieved.

[0170] It is worth mentioning that it also includes:

[0171] Acquire first temperature information and second temperature information;

[0172] Obtaining second stator resistance information according to a preset resistance-temperature relationship formula based on the first stator resistance information of the first electrical parameter information and the first temperature information and the second temperature information;

[0173] adjusting the first electrical parameter information according to the second stator resistance information;

[0174] The first gain information is obtained according to the first motor type information and the first electrical parameter information.

[0175] It should be noted that during normal rotation of the motor, the current passes through the stator coil resistor, which will inevitably generate heat; due to the change in temperature, the resistance of the stator resistor will also change, that is, the first electrical parameter information of the motor needs to be adjusted. After the first electrical parameter information of the motor is adjusted, the corresponding data list is searched according to the first motor type information and the first electrical parameter information to obtain the corresponding first gain information.

[0176] Since the common material for stator windings is copper, there is an approximately linear relationship between resistance and temperature:

[0177] R2=R1*[1+α*(T2-T1)]

[0178] R2 is the first stator resistance information, that is, the resistance value of the stator resistance when the motor is running;

[0179] R1 is the second stator resistance information, that is, the resistance value of the stator resistance before the motor runs;

[0180] α is the temperature information of the material;

[0181] T2 is the second temperature information, that is, the temperature of the stator resistance when the motor is running;

[0182] T1 is the first temperature information, that is, the temperature of the stator resistance before the motor runs, that is, the ambient temperature value before the motor runs.

[0183] For example, the stator resistance of a copper winding is 10Ω at 25°C; the temperature coefficient of copper is usually 0.00393°C. -1 When the operating temperature of the stator resistance reaches 75°C, the current resistance of the stator resistance can be obtained as 11.96Ω according to the above approximate linear relationship.

[0184] A third aspect of the present invention provides a computer-readable storage medium, which includes a method program for automatically configuring a speed loop gain. When the method program for automatically configuring a speed loop gain is executed by a processor, the steps of the method for automatically configuring a speed loop gain as described in any one of the above items are implemented.

[0185] The present invention provides a method, system and storage medium for automatically configuring a speed loop gain, thereby improving the user experience.

[0186] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0187] 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. An automatic configuration method for speed loop gain, It is characterized in that The method comprises: Obtaining parameter information of the first motor; Determine first gain information according to the first motor parameter information; Configuring the motor to run the motor according to the first gain information; Obtaining first speed information; Obtaining first speed difference information according to a difference between the first speed information and a target speed; Determining whether the first speed difference information exceeds a preset speed difference threshold; If yes, collecting and recording the first speed information according to a preset time period; Obtaining second speed information and first time information according to the recorded first speed information; adjusting the first gain information according to the second speed information and the first time information; The first motor parameter information includes identification information of the motor and electrical parameters of the motor, which are used to configure motor operating parameters after identifying the motor; The first gain information is the speed loop gain of the motor, which is a weighted calculation parameter when the motor speed is adjusted and is used to calculate the running speed of the motor; The first speed information is the real-time running speed value of the motor; The second speed information is the maximum speed value of the motor in a speed regulation process; The first time information is the total time it takes for the motor to complete a speed regulation process.

2. The automatic configuration method of a speed loop gain according to claim 1, It is characterized in that The determining of the first gain information according to the first motor parameter information is specifically: Determining whether the first motor model information exists according to the first motor parameter information; If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information; If not, obtaining the first gain information according to the first motor type information and the first electrical parameter information of the first motor parameter information; The first motor model information is a specific model of the motor, and is used to index and search for configuration parameters; The first motor type information is the type of the motor, including at least an alternating current induction motor (ACIM) and a permanent magnet synchronous motor (PMSM); The first electrical parameter information includes at least rotor resistance, stator resistance, and rated magnetic flux, which are used to drive the motor to run stably.

3. The automatic configuration method of a speed loop gain according to claim 1, It is characterized in that The adjusting the first gain information according to the second speed information and the first time information is specifically: According to the second speed information, searching a preset proportional weight correspondence table to obtain first weight information; According to the first time information, searching a preset integral weight corresponding table to obtain second weight information; adjusting the first gain information according to the first weight information and the second weight information; The first weight information is a proportional weighted parameter of the speed adjustment amount; The second weight information is an integral weighted parameter of the speed adjustment amount.

4. The automatic configuration method of a speed loop gain according to claim 1, It is characterized in that Also includes: The first gain information is a gain calculation parameter for speed regulation, and includes at least the first weight information and the second weight information; Calculating a first speed adjustment amount according to the first speed difference information and the first weight information; Obtaining first difference integral information according to the first speed difference information; Calculating a second speed adjustment amount according to the first difference integral information and the second weight information; The motor running speed is set according to the first speed adjustment amount and the second speed adjustment amount.

5. According to the automatic configuration method of the speed loop gain described in claims 1 and 4, It is characterized in that Also includes: acquiring the second speed information; Determining whether the second speed information exceeds a preset first speed threshold; If so, the first weight information is adjusted downward.

6. The automatic configuration method of a speed loop gain according to claim 1, It is characterized in that Also includes: Acquire the first time information; Determining whether the first time information exceeds a preset time threshold; If so, the second weight information is adjusted downward.

7. An automatic configuration system for speed loop gain, It is characterized in that The system includes a memory and a processor, wherein the memory includes a speed loop gain automatic configuration method program, and when the speed loop gain automatic configuration method program is executed by the processor, the following steps are implemented: Obtaining parameter information of the first motor; Determine first gain information according to the first motor parameter information; Configuring the motor to run the motor according to the first gain information; Obtaining first speed information; Obtaining first speed difference information according to a difference between the first speed information and a target speed; Determining whether the first speed difference information exceeds a preset speed difference threshold; If yes, collecting and recording the first speed information according to a preset time period; Obtaining second speed information and first time information according to the recorded first speed information; The first gain information is adjusted according to the second speed information and the first time information.

8. The automatic configuration system of a speed loop gain according to claim 7, It is characterized in that The determining of the first gain information according to the first motor parameter information is specifically: Determining whether the first motor model information exists according to the first motor parameter information; If yes, searching a preset gain correspondence table according to the first motor model information to obtain the first gain information; If not, the first gain information is obtained according to the first motor type information and the first electrical parameter information of the first motor parameter information.

9. The automatic configuration system of a speed loop gain according to claim 7, It is characterized in that The adjusting the first gain information according to the second speed information and the first time information is specifically: According to the second speed information, searching a preset proportional weight correspondence table to obtain first weight information; According to the first time information, searching a preset integral weight corresponding table to obtain second weight information; The first gain information is adjusted according to the first weight information and the second weight information.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that The computer-readable storage medium includes a method program for automatically configuring a speed loop gain. When the method program for automatically configuring a speed loop gain is executed by a processor, the steps of the method for automatically configuring a speed loop gain as claimed in any one of claims 1 to 6 are implemented.

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