A high-power DC motor control and regulation method

Abstract

The present invention relates to the field of control and regulation technology, and in particular to a high-power DC motor control and regulation method, the method comprising: obtaining the output voltage, input voltage, output current, temperature data and speed data of the motor to be regulated in the current time period; determining the current load deviation factor and the current speed deviation factor; obtaining the historical load deviation factor and the historical speed deviation factor, and determining the current error increment according to the current load deviation factor, the historical load deviation factor, the current speed deviation factor and the historical speed deviation factor; correcting the proportional gain at the current moment according to the temperature fluctuation difference between the current time period and the previous time period, and the current error increment; and controlling and regulating the motor to be regulated according to the target proportional gain. The present invention realizes the control and regulation of the high-power DC motor, and improves the rationality of the proportional gain setting and the rationality of the control and regulation of the high-power DC motor.

Description

Technical Field

[0001] The invention relates to the technical field of control and regulation, and in particular to a high-power DC motor control and regulation method. Background Art

[0002] High-power DC motors are widely used in many fields, such as mechanical manufacturing, automation equipment, aerospace, and energy. At present, the method commonly used to control and adjust the motor is to control and adjust the motor through a PID (Proportional-Integral-Derivative) controller. When controlling through a PID controller, the performance and response of the motor are often adjusted through proportional gain. In general, before the motor is officially put into use, the proportional gain that is relatively suitable for the current situation of the motor is adjusted, and the proportional gain is subsequently used as a fixed proportional gain during the use of the motor.

[0003] However, when a fixed proportional gain is used to control and adjust a high-power DC motor, the following technical problems often occur:

[0004] During the use of high-power DC motors, there may be certain time periods when certain indicators of the high-power DC motors deviate greatly. This may cause the PID controller to reduce its control response speed for the motor. For example, the deviation of the load will often reduce the control response speed of the PID controller for the motor, while the fixed proportional gain will not adaptively increase the response speed when the response speed decreases. At this time, the rationality of the proportional gain setting is poor, which often makes it difficult to adjust the response speed in time, resulting in poor rationality in the control and adjustment of the high-power DC motor. Summary of the invention

[0005] In order to solve the technical problem that the rationality of controlling and adjusting a high-power DC motor is poor due to the poor rationality of proportional gain setting, the present invention proposes a high-power DC motor control and adjustment method.

[0006] In a first aspect, the present invention provides a high-power DC motor control and regulation method, the method comprising:

[0007] Obtain the output voltage, input voltage, output current, temperature data and speed data of the motor to be adjusted in the current time period, wherein the end time of the current time period is the current time;

[0008] Determine a current load deviation factor corresponding to the current time period according to a difference between an output current and a preset current in the current time period, and fluctuations between output voltages and input voltages in the current time period;

[0009] Determining a current speed deviation factor corresponding to the current time period according to a difference between the speed data in the current time period and a preset speed;

[0010] Obtaining a historical load deviation factor and a historical speed deviation factor corresponding to a time period before the current time period, and determining a current error increment according to a difference between the current load deviation factor and the historical load deviation factor, and a difference between the current speed deviation factor and the historical speed deviation factor;

[0011] According to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, the proportional gain at the current moment is corrected to obtain a target proportional gain;

[0012] The motor to be adjusted is controlled and adjusted according to the target proportional gain.

[0013] In combination with the first aspect, in a possible implementation, determining the current load deviation factor corresponding to the current time period according to the difference between the output current and the preset current in the current time period, and the fluctuation between the output voltage and the input voltage in the current time period, includes:

[0014] Determine the absolute value of the difference between every two output voltages in the current time period as the output voltage difference, and determine the average value of all output voltage differences as the output voltage fluctuation factor;

[0015] Determine the average of the absolute values ​​of the differences between all output currents and the preset current in the current time period as the output current deviation factor;

[0016] Determining load fluctuation complexity according to the output voltage fluctuation factor and the output current deviation factor, wherein both the output voltage fluctuation factor and the output current deviation factor are positively correlated with the load fluctuation complexity;

[0017] Determine the variance of all input voltages in the current time period as an input voltage fluctuation factor;

[0018] According to the load fluctuation complexity and the input voltage fluctuation factor, a current load deviation factor corresponding to the current time period is determined, wherein the load fluctuation complexity is positively correlated with the current load deviation factor, and the input voltage fluctuation factor is negatively correlated with the current load deviation factor.

[0019] In combination with the first aspect, in a possible implementation, determining the current speed deviation factor corresponding to the current time period according to the difference between the speed data in the current time period and the preset speed includes:

[0020] The absolute value of the difference between the average of all the rotational speed data in the current time period and the preset rotational speed is determined as the current rotational speed deviation factor corresponding to the current time period.

[0021] In combination with the first aspect, in a possible implementation manner, determining the current error increment according to the difference between the current load deviation factor and the historical load deviation factor, and the difference between the current speed deviation factor and the historical speed deviation factor, includes:

[0022] determining a load deviation increment according to a relative difference between the current load deviation factor and the historical load deviation factor;

[0023] determining a speed deviation increment according to a relative difference between the current speed deviation factor and the historical speed deviation factor;

[0024] The product of the load deviation increment and the rotation speed deviation increment is determined as the current error increment.

[0025] In combination with the first aspect, in a possible implementation manner, determining the load deviation increment according to the relative difference between the current load deviation factor and the historical load deviation factor includes:

[0026] The ratio of the current load correction factor to the historical load correction factor is determined as the load deviation increment, wherein the current load correction factor is the sum of the current load deviation factor and a first preset positive factor, and the historical load correction factor is the sum of the historical load deviation factor and the first preset positive factor.

[0027] In combination with the first aspect, in a possible implementation manner, determining the speed deviation increment according to the relative difference between the current speed deviation factor and the historical speed deviation factor includes:

[0028] The ratio of the current speed correction factor to the historical speed correction factor is determined as the speed deviation increment, wherein the current speed correction factor is the sum of the current speed deviation factor and a second preset positive factor, and the historical speed correction factor is the sum of the historical speed deviation factor and the second preset positive factor.

[0029] In combination with the first aspect, in a possible implementation, the proportional gain at the current moment is corrected according to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, to obtain the target proportional gain, including:

[0030] Acquire temperature data of the motor to be adjusted in a time period before the current time period, and determine both the current time period and the time period before it as marked time periods;

[0031] Based on all the temperature data in each marked time period, draw a temperature change curve corresponding to each marked time period;

[0032] Determine the temperature fluctuation factor corresponding to each marked time period according to the slope of the line connecting the coordinate points on the temperature change curve corresponding to each marked time period;

[0033] Determine a temperature fluctuation difference factor according to a relative difference between the temperature fluctuation factor corresponding to the current time period and the temperature fluctuation factor corresponding to the previous time period;

[0034] Determining a target adjustment factor according to the current error increment and the temperature fluctuation difference factor;

[0035] The proportional gain at the current moment is corrected according to the target adjustment factor to obtain a target proportional gain, wherein the target adjustment factor and the proportional gain at the current moment are both positively correlated with the target proportional gain.

[0036] In combination with the first aspect above, in a possible implementation, determining the temperature fluctuation factor corresponding to each marked time period according to the slope of a line connecting coordinate points on a temperature change curve corresponding to each marked time period includes:

[0037] Determine the coordinate point corresponding to each temperature data on the temperature change curve to which it belongs as the target coordinate point corresponding to each temperature data;

[0038] The slope of the line connecting the target coordinate points corresponding to each two adjacent temperature data in each marked time period is determined as the target slope, and a target slope sequence corresponding to each marked time period is obtained;

[0039] The average of the absolute values ​​of the differences between all adjacent target slopes in the target slope sequence corresponding to each marked time period is determined as the temperature fluctuation factor corresponding to each marked time period.

[0040] In combination with the first aspect, in a possible implementation manner, determining the temperature fluctuation difference factor according to the relative difference between the temperature fluctuation factor corresponding to the current time period and the temperature fluctuation factor corresponding to the previous time period includes:

[0041] The ratio of the current temperature correction fluctuation to the historical temperature correction fluctuation is determined as the temperature fluctuation difference factor, wherein the current temperature correction fluctuation is the sum of the temperature fluctuation factor corresponding to the current time period and a third preset positive factor, and the historical temperature correction fluctuation is the sum of the temperature fluctuation factor corresponding to the time period before the current time period and the third preset positive factor.

[0042] In combination with the first aspect, in a possible implementation manner, determining a target adjustment factor according to the current error increment and the temperature fluctuation difference factor includes:

[0043] The product of the current error increment and the temperature fluctuation difference factor is normalized to obtain a target adjustment factor.

[0044] In a second aspect, the present invention provides a high-power DC motor control and regulation system, the system comprising:

[0045] A data acquisition module, used to acquire the output voltage, input voltage, output current, temperature data and speed data of the motor to be adjusted in the current time period, wherein the end time of the current time period is the current time;

[0046] A load deviation determination module, configured to determine a current load deviation factor corresponding to the current time period according to a difference between an output current and a preset current in the current time period, and fluctuations between output voltages and input voltages in the current time period;

[0047] A speed deviation determination module, used to determine a current speed deviation factor corresponding to the current time period according to a difference between the speed data in the current time period and a preset speed;

[0048] an acquisition and determination module, configured to acquire a historical load deviation factor and a historical speed deviation factor corresponding to a time period before the current time period, and determine a current error increment according to a difference between the current load deviation factor and the historical load deviation factor, and a difference between the current speed deviation factor and the historical speed deviation factor;

[0049] A proportional gain correction module, used to correct the proportional gain at the current moment according to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, to obtain a target proportional gain;

[0050] A control and adjustment module is used to control and adjust the motor to be adjusted according to the target proportional gain.

[0051] In a third aspect, a server is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes the method in the first aspect or any possible implementation of the first aspect.

[0052] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0053] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0054] The present invention has the following beneficial effects:

[0055] A high-power DC motor control and regulation method of the present invention realizes the control and regulation of the high-power DC motor, solves the technical problem that the rationality of the control and regulation of the high-power DC motor is poor due to the poor rationality of the proportional gain setting, thereby improving the rationality of the proportional gain setting, and further improving the rationality of the control and regulation of the high-power DC motor. Compared with the use of a fixed proportional gain to control and regulate the high-power DC motor, the present invention comprehensively considers multiple factors related to the response speed when controlling and regulating the high-power DC motor, such as the current load deviation factor, the current speed deviation factor, the historical load deviation factor, the historical speed deviation factor and the current error increment, thereby realizing the adaptive adjustment of the proportional gain, improving the rationality of the adaptive setting of the proportional gain, and further improving the rationality of the control and regulation of the high-power DC motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A flow chart of a high-power DC motor control and regulation method of the present invention;

[0058] Figure 2 This is a schematic diagram of the process of controlling the rotation of the motor by a PID controller in the present invention;

[0059] Figure 3 A schematic diagram of the structure of a high-power DC motor control and regulation system of the present invention;

[0060] Figure 4 The figure is a schematic diagram of the structure of a computer device of the present invention. DETAILED DESCRIPTION

[0061] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the technical solutions proposed by the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0062] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0063] refer to Figure 1 , shows the process of some embodiments of a high-power DC motor control and regulation method according to the present invention. The high-power DC motor control and regulation method comprises the following steps:

[0064] Step S1, obtaining the output voltage, input voltage, output current, temperature data and speed data of the motor to be adjusted in the current time period.

[0065] Among them, the motor to be adjusted can be a high-power DC motor to be adjusted and controlled. A high-power DC motor is an electric motor that can convert DC electrical energy into mechanical energy. It has good speed regulation performance and is therefore widely used in electric traction. The end time of the current time period can be the current time. The current time is also called the current time. The duration corresponding to the current time period can be a preset duration, for example, the duration corresponding to the current time period can be 5 minutes. The output voltage, input voltage, output current, temperature data and speed data of the embodiment of the present invention can respectively characterize the output voltage, input voltage, output current, temperature and speed of the motor to be adjusted that are collected.

[0066] It should be noted that the driving circuit of a high-power DC motor usually includes a power amplifier, a driver, and a protection circuit. The power amplifier is used to amplify the control signal and drive the motor. The driver is used to convert the format of the control signal to make it suitable for the driving requirements of the motor. The protection circuit is used to protect the motor and the driving circuit to prevent overcurrent, overvoltage and other faults.

[0067] As an example, the output voltage and input voltage of the motor to be adjusted can be collected every 1 second in the current time period through a voltage sensor; the output current of the motor to be adjusted can be collected every 1 second in the current time period through a current sensor; the temperature of the motor to be adjusted can be collected every 1 second in the current time period as temperature data through a temperature sensor; the speed of the motor to be adjusted can be collected every 1 second in the current time period as speed data through an incremental encoder. Among them, the incremental encoder can be a sensor for measuring the speed. The data collected by the sensor can be called monitoring data.

[0068] It should be noted that during the operation of the motor, the position of the motor is often measured by an absolute encoder. Among them, the absolute encoder is a sensor used to measure the position. In general, absolute encoders and incremental encoders can often be installed on the motor shaft of a DC motor to accurately measure the position or speed of the rotor. The output signal of the sensor is connected to the sensor interface or module of the control system. Usually, these signals are transmitted to the controller through a digital input or analog input interface; there is a signal processing module inside the control system, which is responsible for receiving and processing data from the sensor. It can perform signal filtering and noise reduction to clean the data obtained from the sensor, thereby improving the accuracy of data acquisition; the real-time monitoring data obtained is often transmitted to the feedback loop of the PID (Proportional-Integral-Derivative) controller.

[0069] Step S2, determining a current load deviation factor corresponding to the current time period according to a difference between the output current and the preset current in the current time period, and fluctuations between the output voltage and the input voltage in the current time period.

[0070] The preset current may be a preset output current that meets the working requirements of the motor to be adjusted. For example, the preset current may be the rated output current of the motor to be adjusted.

[0071] As an example, this step may include the following steps:

[0072] In the first step, the absolute value of the difference between every two output voltages in the current time period is determined as the output voltage difference, and the average value of all output voltage differences is determined as the output voltage fluctuation factor.

[0073] For example, the formula for determining the output voltage fluctuation factor may be:

[0074] ; Where JU is the output voltage fluctuation factor. n is the number of data collection moments in the current time period. i and j are the serial numbers of different data collection moments in the current time period. It is the absolute value function. It is the output voltage at the i-th data collection moment in the current time period. It is the output voltage at the jth data collection moment in the current time period. is the output voltage difference.

[0075] It should be noted that the change in voltage often reflects the change in load to a certain extent. When JU is larger, it often means that the fluctuation of the output voltage of the motor to be adjusted in the current time period is relatively more drastic, and the load fluctuation of the motor to be adjusted in the current time period is relatively larger, which often means that it is more likely to have a greater impact on the speed of the motor to be adjusted in the current time period, and it often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period.

[0076] In the second step, the average of the absolute values ​​of the differences between all output currents and the preset current in the current time period is determined as the output current deviation factor.

[0077] For example, the formula for determining the output current deviation factor may be:

[0078] ; Where JI is the output current deviation factor. n is the number of data collection moments in the current time period. i is the sequence number of the data collection moment in the current time period. It is the absolute value function. is the output current at the i-th data collection moment in the current time period. BI is the preset current.

[0079] It should be noted that, generally speaking, the change in current often reflects the change in load, power and speed to a certain extent. When JI is larger, it often means that the output current of the motor to be adjusted is more likely to deviate from the preset current representing the expected output current in the current time period, and it often means that its output power is more likely to fail to meet expectations, and it often means that the load fluctuation of the motor to be adjusted in the current time period is relatively larger, and it often means that the speed of the motor to be adjusted in the current time period is more likely to fail to meet expectations, and it often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period.

[0080] In the third step, the load fluctuation complexity is determined according to the output voltage fluctuation factor and the output current deviation factor.

[0081] The output voltage fluctuation factor and the output current deviation factor may both be positively correlated with the load fluctuation complexity.

[0082] For example, the formula for determining the complexity of load fluctuation can be:

[0083] ; Where JP is the load fluctuation complexity. JU is the output voltage fluctuation factor. JI is the output current deviation factor.

[0084] It should be noted that when JU is larger, it often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period. When JI is larger, it often means that the load fluctuation of the motor to be adjusted in the current time period is relatively larger, which often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period. Therefore, when JP is larger, it often means that the load fluctuation of the motor to be adjusted in the current time period is relatively larger, which often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period, which often means that the proportional gain at the current moment needs to be increased.

[0085] In the fourth step, the variance of all input voltages in the current time period is determined as the input voltage fluctuation factor.

[0086] The fifth step is to determine the current load deviation factor corresponding to the current time period according to the load fluctuation complexity and the input voltage fluctuation factor.

[0087] The load fluctuation complexity may be positively correlated with the current load deviation factor, and the input voltage fluctuation factor may be negatively correlated with the current load deviation factor.

[0088] For example, the formula for determining the current load deviation factor may be:

[0089] ; Where JK is the current load deviation factor and JP is the load fluctuation complexity. is the input voltage fluctuation factor, which is the variance of all input voltages in the current time period. It is a pre-set factor greater than 0, mainly used to prevent the denominator from being 0, such as, It can be 0.001.

[0090] It should be noted that when JP is larger, it often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period, which often means that the proportional gain at the current moment needs to be increased. The smaller it is, the more stable the input voltage of the motor to be adjusted is in the current time period. The smaller it is, that is, when JK is larger, it often means that the input voltage fluctuation of the motor to be adjusted is relatively stable in the current time period, while the actual load fluctuation is more violent, which often means that the credibility of the driving load of the motor to be adjusted on the motor speed is higher at this time; it often means that in the current time period, the response speed of the motor to be adjusted is more likely to be reduced due to load changes, which often means that the proportional gain at the current moment needs to be increased.

[0091] Step S3, determining a current speed deviation factor corresponding to the current time period according to the difference between the speed data in the current time period and the preset speed.

[0092] The preset speed may be a speed that is preset to meet the working requirements of the motor to be adjusted. For example, the preset speed may be a speed that is manually set according to the working requirements. The current speed deviation factor may represent the speed deviation in the current time period.

[0093] As an example, the absolute value of the difference between the average of all rotation speed data in the current time period and the preset rotation speed may be determined as the current rotation speed deviation factor corresponding to the current time period.

[0094] For example, the formula for determining the current speed deviation factor may be:

[0095] ; Wherein, JV is the current speed deviation factor. It is the absolute value function. is the average value of all speed data in the current time period. V is the preset speed.

[0096] It should be noted that, when JV is larger, it often means that the speed of the motor to be adjusted in the current time period is more likely to not reach the preset speed representing the expected speed, which often means that the speed of the motor to be adjusted needs to be adjusted to the expected speed, which often means that the control response speed of the PID controller to the motor needs to be increased, which often means that the proportional gain at the current moment needs to be increased.

[0097] Step S4, obtaining the historical load deviation factor and the historical speed deviation factor corresponding to the time period before the current time period, and determining the current error increment based on the difference between the current load deviation factor and the historical load deviation factor, and the difference between the current speed deviation factor and the historical speed deviation factor.

[0098] The previous moment of the start moment of the current time period may be the end moment of the previous time period, and the duration corresponding to the current time period may be equal to the duration corresponding to the previous time period.

[0099] As an example, this step may include the following steps:

[0100] The first step is to obtain the historical load deviation factor and the historical speed deviation factor corresponding to the previous time period of the current time period.

[0101] The historical load deviation factor may represent the load deviation of the previous time period before the current time period, and the historical speed deviation factor may represent the speed deviation of the previous time period before the current time period.

[0102] It should be noted that the method for obtaining the historical load deviation factor is the same as the method for obtaining the current load deviation factor, and the method for obtaining the historical speed deviation factor is the same as the method for obtaining the current speed deviation factor. Therefore, the specific method for obtaining the historical load deviation factor and the historical speed deviation factor will not be repeated here.

[0103] In the second step, the load deviation increment is determined according to the relative difference between the current load deviation factor and the historical load deviation factor.

[0104] For example, the ratio of the current load correction factor to the historical load correction factor can be determined as the load deviation increment. The current load correction factor can be the sum of the current load deviation factor and the first preset positive factor. The historical load correction factor can be the sum of the historical load deviation factor and the first preset positive factor. The first preset positive factor can be a pre-set factor greater than 0, mainly used to prevent the denominator from being 0. For example, the first preset positive factor can be 1.

[0105] In the third step, the speed deviation increment is determined according to the relative difference between the current speed deviation factor and the historical speed deviation factor.

[0106] For example, the ratio of the current speed correction factor to the historical speed correction factor can be determined as the speed deviation increment. The current speed correction factor can be the sum of the current speed deviation factor and the second preset positive factor. The historical speed correction factor can be the sum of the historical speed deviation factor and the second preset positive factor. The second preset positive factor can be a pre-set factor greater than 0, mainly used to prevent the denominator from being 0. For example, the second preset positive factor can be 1.

[0107] In the fourth step, the product of the load deviation increment and the speed deviation increment is determined as the current error increment.

[0108] For example, the formula for determining the current error increment can be:

[0109] ; Where, JH is the current error increment. JV is the current speed deviation factor. is the historical speed deviation factor. It is the first preset positive factor, mainly used to prevent the denominator from being 0, such as, Can be 1. JK is the current load deviation factor. is the historical load deviation factor. It is the second preset positive factor, mainly used to prevent the denominator from being 0, such as, Can be 1. is the current speed correction factor. is the historical speed correction factor. is the current load correction factor. is the historical load correction factor. is the speed deviation increment. is the load deviation increment.

[0110] It should be noted that when JK is larger, it often means that the response speed of the motor to be adjusted is more likely to be reduced due to load changes in the current time period, which often means that the proportional gain at the current moment needs to be increased. When JV is larger, it often means that the speed of the motor to be adjusted in the current time period is more likely to not reach the preset speed representing the expected speed, which often means that the proportional gain at the current moment needs to be increased. or The larger it is, the more it is necessary to increase the proportional gain in the time period before the current time period. Therefore, when JH is larger, it often means that the proportional gain at the current moment should be increased compared with the past.

[0111] Step S5, according to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, the proportional gain at the current moment is corrected to obtain the target proportional gain.

[0112] The proportional gain at the current moment may be a proportional gain that has not been corrected at the current moment. For example, if the proportional gain is corrected in real time, the proportional gain at the current moment may be a proportional gain after the proportional gain is corrected at the moment before the current moment. In a motor control system, the proportional gain is a control parameter that is usually used to adjust the performance and response of the motor.

[0113] As an example, this step may include the following steps:

[0114] The first step is to obtain the temperature data of the motor to be adjusted in a time period before the current time period, and determine the current time period and the time period before it as the marked time period.

[0115] The method for acquiring the temperature data in the time period before the current time period may be: using a temperature sensor, collecting the temperature of the motor to be adjusted once every 1 second in the time period before the current time period as the temperature data.

[0116] The second step is to draw a temperature change curve corresponding to each marked time period based on all the temperature data in each marked time period.

[0117] For example, curve fitting is performed with the data collection time in the marked time period as the horizontal axis and the temperature data in the marked time period as the vertical axis, and the fitting curve obtained at this time is used as the temperature change curve corresponding to the marked time period.

[0118] The third step, according to the slope of the line connecting the coordinate points on the temperature change curve corresponding to each marked time period, determines the temperature fluctuation factor corresponding to each marked time period, which may include the following sub-steps:

[0119] In the first sub-step, the coordinate point corresponding to each temperature data on the temperature change curve to which it belongs is determined as the target coordinate point corresponding to each temperature data.

[0120] The target coordinate point corresponding to the temperature data may be a coordinate point whose ordinate is the temperature data on the temperature change curve to which it belongs.

[0121] In the second sub-step, the slope of the line between the target coordinate points corresponding to each two adjacent temperature data in each marked time period is determined as the target slope, so as to obtain a target slope sequence corresponding to each marked time period.

[0122] For example, if three temperature data are collected in sequence within the marked time period, namely the first temperature data, the second temperature data and the third temperature data, then the target slope sequence corresponding to the marked time period can be {the slope of the line between the target coordinate point corresponding to the first temperature data and the target coordinate point corresponding to the second temperature data, the slope of the line between the target coordinate point corresponding to the second temperature data and the target coordinate point corresponding to the third temperature data}.

[0123] In the third sub-step, the average of the absolute values ​​of the differences between all adjacent target slopes in the target slope sequence corresponding to each marked time period is determined as the temperature fluctuation factor corresponding to each marked time period.

[0124] For example, if the target slope sequence corresponding to the marked time period is {first target slope, second target slope, third target slope}, then the method for obtaining the temperature fluctuation factor corresponding to the marked time period can be: determining the absolute value of the difference between the first target slope and the second target slope as the first difference absolute value, and determining the absolute value of the difference between the second target slope and the third target slope as the second difference absolute value, and determining the average of the first difference absolute value and the second difference absolute value as the temperature fluctuation factor corresponding to the marked time period.

[0125] The fourth step is to determine the temperature fluctuation difference factor according to the relative difference between the temperature fluctuation factor corresponding to the current time period and the temperature fluctuation factor corresponding to the previous time period.

[0126] For example, the ratio of the current temperature correction fluctuation to the historical temperature correction fluctuation can be determined as the temperature fluctuation difference factor. The current temperature correction fluctuation can be the sum of the temperature fluctuation factor corresponding to the current time period and the third preset positive factor. The historical temperature correction fluctuation can be the sum of the temperature fluctuation factor corresponding to the previous time period of the current time period and the third preset positive factor. The third preset positive factor can be a pre-set factor greater than 0, mainly used to prevent the denominator from being 0. For example, the third preset positive factor can be 1.

[0127] The fifth step is to determine the target adjustment factor according to the current error increment and the temperature fluctuation difference factor.

[0128] For example, the product of the current error increment and the temperature fluctuation difference factor is normalized to obtain the formula corresponding to the target adjustment factor:

[0129] ; where T is the target adjustment factor. is a hyperbolic tangent function, which is mainly used for normalization in the embodiment of the present invention. JH is the current error increment. F is the temperature fluctuation factor corresponding to the current time period. It is the temperature fluctuation factor corresponding to the time period before the current time period. It is the third preset positive factor, mainly used to prevent the denominator from being 0, such as, Can be 1. is the current temperature correction fluctuation. is the historical temperature correction fluctuation. is the temperature fluctuation difference factor.

[0130] It should be noted that when JH is larger, it often means that the current proportional gain should be adjusted larger than before. In actual situations, changes in motor temperature often affect the internal electrical characteristics of the motor, such as the resistance and flux characteristics of the motor. These changes may cause fluctuations in the performance of the motor, thereby affecting the control response speed of the PID controller to the motor. The larger the value, the greater the temperature change of the motor in the current time period. This often means that the PID controller should be adjusted to increase the control response speed of the motor, and the proportional gain at the current moment should be increased. Therefore, the larger the value of T, the greater the proportional gain at the current moment should be adjusted.

[0131] The sixth step is to correct the proportional gain at the current moment according to the target adjustment factor to obtain the target proportional gain.

[0132] The target adjustment factor and the proportional gain at the current moment may both be positively correlated with the target proportional gain.

[0133] For example, correcting the proportional gain at the current moment may include the following sub-steps:

[0134] In the first sub-step, if the current proportional gain is less than or equal to a preset correction threshold, the preset proportional gain is determined as the target proportional gain.

[0135] The preset correction threshold may be a preset threshold. For example, the preset correction threshold may be 0.5. The preset proportional gain may be an optimal proportional gain obtained by adjusting the motor to be adjusted when it is put into use. For example, the preset proportional gain may be a proportional gain that meets working requirements when the motor is operating normally and is set by manual experience.

[0136] In the second sub-step, if the current proportional gain is greater than the preset correction threshold, the formula for determining the target proportional gain can be:

[0137] ;in, is the target proportional gain. T is the target adjustment factor. Q is the preset proportional gain.

[0138] It should be noted that the larger T is, the larger the proportional gain should be adjusted at the current moment. The adjusted proportional gain can be characterized.

[0139] Step S6: controlling and adjusting the motor to be adjusted according to the target proportional gain.

[0140] As an example, the proportional gain of the PID controller can be set to a target proportional gain, and the PID controller can be used to control the motor to rotate, thereby achieving control and regulation of the motor to be regulated. The process of controlling the motor rotation by the PID controller can be as follows: Figure 2 shown.

[0141] refer to Figure 3 Based on the same inventive concept as the above method embodiment, the present invention provides a high-power DC motor control and regulation system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the above computer program is executed by the processor, the steps of implementing a high-power DC motor control and regulation method may specifically include:

[0142] The data acquisition module 301 is used to acquire the output voltage, input voltage, output current, temperature data and speed data of the motor to be adjusted in the current time period, wherein the end time of the current time period is the current time;

[0143] The load deviation determination module 302 is used to determine the current load deviation factor corresponding to the current time period according to the difference between the output current and the preset current in the current time period, and the fluctuation between the output voltage and the input voltage in the current time period;

[0144] The speed deviation determination module 303 is used to determine the current speed deviation factor corresponding to the current time period according to the difference between the speed data in the current time period and the preset speed;

[0145] The acquisition and determination module 304 is used to acquire a historical load deviation factor and a historical speed deviation factor corresponding to a time period before the current time period, and determine a current error increment according to a difference between the current load deviation factor and the historical load deviation factor, and a difference between the current speed deviation factor and the historical speed deviation factor;

[0146] The proportional gain correction module 305 is used to correct the proportional gain at the current moment according to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, to obtain a target proportional gain;

[0147] The control and adjustment module 306 is used to control and adjust the motor to be adjusted according to the target proportional gain.

[0148] Figure 4 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. Figure 4 As shown, the computer device 400 includes: a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and running on the processor 402, wherein when the processor 402 executes the computer program 403, the computer device can execute any one of the high-power DC motor control and regulation methods introduced above.

[0149] Based on the same inventive concept as the above method embodiment, the present invention provides a server, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes any one of the above high-power DC motor control and regulation methods.

[0150] Based on the same inventive concept as the above method embodiment, the present invention provides a computer program product, which includes: computer program code, when the computer program code runs on a computer, the computer executes any one of the above high-power DC motor control and regulation methods.

[0151] Based on the same inventive concept as the above-mentioned method embodiment, the present invention provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes any one of the above-mentioned high-power DC motor control and regulation methods.

[0152] In summary, compared with using a fixed proportional gain to control and adjust a high-power DC motor, the present invention comprehensively considers multiple factors related to response speed when controlling and adjusting the high-power DC motor, such as the current load deviation factor, the current speed deviation factor, the historical load deviation factor, the historical speed deviation factor and the current error increment, thereby realizing adaptive adjustment of the proportional gain, improving the rationality of the adaptive setting of the proportional gain, and further improving the rationality of the control and adjustment of the high-power DC motor.

[0153] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A high-power DC motor control and regulation method, characterized in that: The following steps are involved: Obtain the output voltage, input voltage, output current, temperature data and speed data of the motor to be adjusted in the current time period, wherein the end time of the current time period is the current time; Determine a current load deviation factor corresponding to the current time period according to a difference between an output current and a preset current in the current time period, and fluctuations between output voltages and input voltages in the current time period; Determining a current speed deviation factor corresponding to the current time period according to a difference between the speed data in the current time period and a preset speed; Obtaining a historical load deviation factor and a historical speed deviation factor corresponding to a time period before the current time period, and determining a current error increment according to a difference between the current load deviation factor and the historical load deviation factor, and a difference between the current speed deviation factor and the historical speed deviation factor; According to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, the proportional gain at the current moment is corrected to obtain a target proportional gain; Controlling and adjusting the motor to be adjusted according to the target proportional gain; Determining the current error increment according to the difference between the current load deviation factor and the historical load deviation factor, and the difference between the current speed deviation factor and the historical speed deviation factor, comprises: determining a load deviation increment according to a relative difference between the current load deviation factor and the historical load deviation factor; determining a speed deviation increment according to a relative difference between the current speed deviation factor and the historical speed deviation factor; Determine the product of the load deviation increment and the speed deviation increment as the current error increment; The method of correcting the proportional gain at the current moment according to the fluctuation difference between the temperature data in the current time period and the temperature data in the previous time period, and the current error increment, to obtain the target proportional gain includes: Acquire temperature data of the motor to be adjusted in a time period before the current time period, and determine both the current time period and the time period before it as marked time periods; Based on all the temperature data in each marked time period, draw a temperature change curve corresponding to each marked time period; Determine the temperature fluctuation factor corresponding to each marked time period according to the slope of the line connecting the coordinate points on the temperature change curve corresponding to each marked time period; Determine a temperature fluctuation difference factor according to a relative difference between the temperature fluctuation factor corresponding to the current time period and the temperature fluctuation factor corresponding to the previous time period; Determining a target adjustment factor according to the current error increment and the temperature fluctuation difference factor; The proportional gain at the current moment is corrected according to the target adjustment factor to obtain a target proportional gain, wherein the target adjustment factor and the proportional gain at the current moment are both positively correlated with the target proportional gain.

2. A high-power DC motor control and regulation method according to claim 1, characterized in that: Determining the current load deviation factor corresponding to the current time period according to the difference between the output current and the preset current in the current time period, and the fluctuation between the output voltage and the fluctuation between the input voltage in the current time period, includes: Determine the absolute value of the difference between every two output voltages in the current time period as the output voltage difference, and determine the average value of all output voltage differences as the output voltage fluctuation factor; Determine the average of the absolute values ​​of the differences between all output currents and the preset current in the current time period as the output current deviation factor; Determining load fluctuation complexity according to the output voltage fluctuation factor and the output current deviation factor, wherein both the output voltage fluctuation factor and the output current deviation factor are positively correlated with the load fluctuation complexity; Determine the variance of all input voltages in the current time period as an input voltage fluctuation factor; According to the load fluctuation complexity and the input voltage fluctuation factor, a current load deviation factor corresponding to the current time period is determined, wherein the load fluctuation complexity is positively correlated with the current load deviation factor, and the input voltage fluctuation factor is negatively correlated with the current load deviation factor.

3. A high-power DC motor control and regulation method according to claim 1, characterized in that: The determining, according to the difference between the speed data in the current time period and the preset speed, a current speed deviation factor corresponding to the current time period includes: The absolute value of the difference between the average of all the rotational speed data in the current time period and the preset rotational speed is determined as the current rotational speed deviation factor corresponding to the current time period.

4. A high-power DC motor control and regulation method according to claim 1, characterized in that: The determining the load deviation increment according to the relative difference between the current load deviation factor and the historical load deviation factor comprises: The ratio of the current load correction factor to the historical load correction factor is determined as the load deviation increment, wherein the current load correction factor is the sum of the current load deviation factor and a first preset positive factor, and the historical load correction factor is the sum of the historical load deviation factor and the first preset positive factor.

5. A high-power DC motor control and regulation method according to claim 1, characterized in that: The determining the speed deviation increment according to the relative difference between the current speed deviation factor and the historical speed deviation factor comprises: The ratio of the current speed correction factor to the historical speed correction factor is determined as the speed deviation increment, wherein the current speed correction factor is the sum of the current speed deviation factor and a second preset positive factor, and the historical speed correction factor is the sum of the historical speed deviation factor and the second preset positive factor.

6. A high-power DC motor control and regulation method according to claim 1, characterized in that: Determining the temperature fluctuation factor corresponding to each marked time period according to the slope of the line connecting the coordinate points on the temperature change curve corresponding to each marked time period includes: Determine the coordinate point corresponding to each temperature data on the temperature change curve to which it belongs as the target coordinate point corresponding to each temperature data; The slope of the line connecting the target coordinate points corresponding to each two adjacent temperature data in each marked time period is determined as the target slope, and a target slope sequence corresponding to each marked time period is obtained; The average of the absolute values ​​of the differences between all adjacent target slopes in the target slope sequence corresponding to each marked time period is determined as the temperature fluctuation factor corresponding to each marked time period.

7. A high-power DC motor control and regulation method according to claim 1, characterized in that: Determining the temperature fluctuation difference factor according to the relative difference between the temperature fluctuation factor corresponding to the current time period and the temperature fluctuation factor corresponding to the previous time period includes: The ratio of the current temperature correction fluctuation to the historical temperature correction fluctuation is determined as the temperature fluctuation difference factor, wherein the current temperature correction fluctuation is the sum of the temperature fluctuation factor corresponding to the current time period and a third preset positive factor, and the historical temperature correction fluctuation is the sum of the temperature fluctuation factor corresponding to the time period before the current time period and the third preset positive factor.

8. A high-power DC motor control and regulation method according to claim 1, characterized in that: The determining of the target adjustment factor according to the current error increment and the temperature fluctuation difference factor includes: The product of the current error increment and the temperature fluctuation difference factor is normalized to obtain a target adjustment factor.

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