Method for controlling grain unloading motor, driver, grain unloading equipment and storage medium

Abstract

The invention discloses a method for controlling a grain unloading motor, a driver, grain unloading equipment and a storage medium, and belongs to the technical field of rice harvesting machinery. The method comprises the steps of obtaining a current position feedback value, a current running speed feedback value and a current current feedback value of a grain unloading motor under the condition that a target position instruction is received; determining a target running speed of the grain unloading motor according to the target position instruction and the current position feedback value; on the basis of a fuzzy control algorithm, target values of control parameters of a PID controller are determined according to the target running speed and the current running speed feedback value, and target three-phase current is output through the PID controller according to the target running speed, the current running speed feedback value and the current current feedback value so as to control the grain unloading motor to run. The control precision of the unloading system of the rice harvester can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of rice harvesting machinery, and in particular to a method for controlling a grain unloading motor, a driver, a grain unloading device and a storage medium. Background Art

[0002] The grain unloading system of rice harvesters currently generally uses a dedicated controller to directly drive a brushed DC motor to control the rotation of the grain unloading drum. The controller's H-bridge circuit uses software PWM to control the speed and direction of the brushed motor, and adds a sensor to detect the position. Although this solution has a sensor to detect the position, it has a problem of low control accuracy due to the control method and structure. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, a driver, a grain unloading device and a storage medium for controlling a grain unloading motor, so as to solve the problem of low control accuracy of the grain unloading motor in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for controlling a grain unloading motor, which is applied to a driver of the grain unloading motor, and the method comprises:

[0005] When receiving the target position command, the current position feedback value, the current running speed feedback value and the current current feedback value of the grain unloading motor are obtained;

[0006] Determine the target operating speed of the grain unloading motor according to the target position instruction and the current position feedback value;

[0007] Based on the fuzzy control algorithm, the target value of the control parameter of the PID controller is determined according to the target running speed and the current running speed feedback value;

[0008] Based on the target value of the control parameter, the PID controller outputs the target three-phase current according to the target operating speed, the current operating speed feedback value and the current current feedback value to control the operation of the grain unloading motor.

[0009] In an embodiment of the present application, a target three-phase current is output according to a target operating speed, a current operating speed feedback value, and a current current feedback value to control the operation of a grain unloading motor, including: performing a first coordinate transformation and a second coordinate transformation on the current current feedback value in sequence to obtain a d-axis current and a q-axis current of the grain unloading motor in a dq coordinate system; determining a target torque of the grain unloading motor according to the target operating speed and the current operating speed feedback value; determining a target value of the d-axis current of the grain unloading motor in the dq coordinate system according to the target torque; outputting a target three-phase current according to a preset target value of the q-axis current, a target value of the d-axis current, and the d-axis current and q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor.

[0010] In an embodiment of the present application, a target three-phase current is output based on a preset target value of the q-axis current, a target value of the d-axis current, the d-axis current and the q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor, including: determining the d-axis current difference and the q-axis current difference based on the d-axis current, the q-axis current and the corresponding target values ​​respectively; sending the d-axis current difference and the q-axis current difference to the corresponding PI controllers respectively, and outputting the corresponding d-axis voltage and q-axis voltage; performing a third coordinate transformation on the d-axis voltage and the q-axis voltage to obtain a target voltage; and performing space vector pulse width modulation on the target voltage to generate a target three-phase current to control the operation of the grain unloading motor.

[0011] In an embodiment of the present application, based on a fuzzy control algorithm, a target value of a control parameter of a PID controller is determined according to a target operating speed and a current operating speed feedback value, including: based on a fuzzy control algorithm, an increment of a control parameter of a PID controller is determined according to a target operating speed and a current operating speed feedback value; and the increment of the control parameter is respectively added to an initial set value to obtain the target value of the control parameter of the PID controller.

[0012] In an embodiment of the present application, based on a fuzzy control algorithm, the increment of the control parameter of the PID controller is determined according to the target operating speed and the current operating speed feedback value, including: obtaining historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; determining the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter according to the historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; establishing a fuzzy set according to the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter; based on the fuzzy set and a preset fuzzy rule table, determining the increment of the control parameter according to the target operating speed and the current operating speed.

[0013] In an embodiment of the present application, the method also includes: in response to detecting that the grain unloading motor starts to run, reading the zero position value of the grain unloading drum, the zero position value corresponding to the zero position of the grain unloading drum at the grain unloading drum bracket, the zero position being the position where the grain unloading drum starts to run each time; determining the change in position value during the operation of the grain unloading drum based on the pulse value sent by the encoder of the grain unloading motor during the operation of the grain unloading drum; in response to detecting that the grain unloading drum runs to the zero position of the grain unloading drum bracket again, updating the zero position value according to the change in position value to obtain an updated zero position value.

[0014] In an embodiment of the present application, the zero-point position value is updated according to the change in position value, and the updated zero-point position value includes: determining the actual position value of the grain unloading drum according to the change in position value; judging whether the actual position value is consistent with the zero-point position value; and when it is determined that the actual position value is inconsistent with the zero-point position value, determining the actual position value as the zero-point position of the grain unloading motor.

[0015] A second aspect of the present application provides a driver configured to execute the above-mentioned method for controlling a grain unloading motor.

[0016] The third aspect of the present application provides a grain unloading device, comprising: a driver according to the above; and a grain unloading motor.

[0017] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for controlling a grain unloading motor.

[0018] Through the above technical solution, when the target position instruction is received, the current position feedback value, current running speed feedback value and current current feedback value of the grain unloading motor are obtained, and then the target running speed of the grain unloading motor is determined according to the target position instruction and the current position feedback value, and then based on the fuzzy control algorithm, the target value of the control parameter of the PID controller is determined according to the target running speed and the current running speed feedback value. Finally, through the PID controller, the target three-phase current is output according to the target running speed, the current running speed feedback value and the current current feedback value to control the operation of the grain unloading motor. This application is based on a three-closed-loop control strategy of position feedback, speed feedback value and current feedback, combined with PID control and fuzzy control, to control the grain unloading motor, so that the control accuracy is higher.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0021] Figure 1 A topological diagram of a grain unloading device according to an embodiment of the present application is schematically shown;

[0022] Figure 2 A flow chart of a method for controlling a grain unloading motor according to an embodiment of the present application is schematically shown;

[0023] Figure 3A control principle diagram of a three-closed-loop vector according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0025] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] Figure 1 The topological diagram of a grain unloading device according to an embodiment of the present application is schematically shown. Figure 1As shown, the embodiment of the present application provides a grain unloading device, which can mainly include three parts: a vehicle controller, a driver and a grain unloading motor. Among them, the vehicle controller is used to send a target position instruction to the driver. After receiving the target position instruction, the driver drives the grain unloading motor to run according to the target position information to drive the grain unloading barrel to run. The grain unloading motor can be a surface-mounted brushless DC motor (BLDC). Specifically, the driver can include a position control module, a speed control module, a current control module, an SVPWM inverter module and a position and speed acquisition module. The position control module obtains the actual grain barrel position information in real time. After receiving the target position instruction of the grain barrel, the target running speed of the grain barrel is obtained through the position control algorithm and sent to the speed control module. The speed control module receives the target speed instruction and the actual speed information at the same time, and calculates the target torque instruction through the speed control algorithm and transmits it to the current control module. The current control module receives the current feedback and the torque target instruction at the same time, outputs the voltage values ​​Uα and Uβ, and then transmits them to the SVPWM inverter module. The SVPWM inverter module receives the voltage values ​​Uα and Uβ, and outputs the three-phase current drive motor to realize the vector control of the grain unloading motor.

[0028] Figure 2 A flow chart of a method for controlling a grain unloading motor according to an embodiment of the present application is schematically shown. Figure 2 As shown, the embodiment of the present application provides a method for controlling a grain unloading motor, and the method is applied to a driver of the grain unloading motor, which may include the following steps:

[0029] Step S201: upon receiving the target position instruction, obtaining the current position feedback value, current running speed feedback value and current current feedback value of the grain unloading motor.

[0030] Step S202: Determine the target operating speed of the grain unloading motor according to the target position instruction and the current position feedback value.

[0031] Step S203: Based on the fuzzy control algorithm, determine the target value of the control parameter of the PID controller according to the target running speed and the current running speed feedback value.

[0032] Step S204: Based on the target value of the control parameter, through the PID controller, the target three-phase current is output according to the target operating speed, the current operating speed feedback value and the current current feedback value to control the operation of the grain unloading motor.

[0033] It can be understood that the grain unloading motor in the prior art has a large current shock at the moment the grain unloading drum is started, and the controller needs to have sufficient overcurrent capability, which leads to high design requirements and manufacturing costs for the controller. At the same time, due to the large current, long-term operation will cause the temperature to be too high, and there is a possibility of burning the controller. In addition, the brushed motor has commutation wear and a high failure rate. Based on this, the embodiment of the present application proposes a method for controlling the grain unloading motor, which can improve the current conversion efficiency during operation, reduce current shock, and avoid the problem of excessive temperature caused by long-term operation.

[0034] Figure 3 A schematic diagram of a three-closed-loop vector control principle according to an embodiment of the present application is shown. Figure 3 As shown, the driver control strategy of the embodiment of the present application is a combination of three-closed-loop vector control and fuzzy control, and the three closed-loops include an inner current loop, an outer speed loop and an outermost position loop.

[0035] Specifically, when the driver receives the target position instruction of the grain drum, it obtains the current position, current running speed and current current feedback value of the grain unloading motor, calculates the target running speed of the grain drum through the position loop and sends it to the speed loop. In the speed loop, an incremental fuzzy control method is adopted, and the input quantity output by the position loop, that is, the target running speed, is subjected to fuzzy control processing and added to the PID control loop of the speed loop as a variable, that is, the increment of the control parameter of the PID controller. The speed loop simultaneously receives the target and reverse speed and the current running speed, and calculates the target torque instruction through the speed control algorithm and transmits it to the current loop. The current loop simultaneously receives the current feedback and the torque target instruction, and outputs the voltage values ​​Uα and Uβ. Finally, Uα and Uβ are input into the SVPWM module for space vector pulse width modulation to generate the target three-phase current input into the inverter three-phase full-bridge inverter module, and the grain unloading motor is controlled to rotate so as to run to the target position. In this way, the control stability, control accuracy and response speed of the grain unloading motor under the complex working conditions of the agricultural machinery grain unloading drum are improved.

[0036] Through the above technical solution, when the target position instruction is received, the current position feedback value, current running speed feedback value and current current feedback value of the grain unloading motor are obtained, and then the target running speed of the grain unloading motor is determined according to the target position instruction and the current position feedback value, and then based on the fuzzy control algorithm, the target value of the control parameter of the PID controller is determined according to the target running speed and the current running speed feedback value. Finally, through the PID controller, the target three-phase current is output according to the target running speed, the current running speed feedback value and the current current feedback value to control the operation of the grain unloading motor. This application is based on a three-closed-loop control strategy of position feedback, speed feedback value and current feedback, combined with PID control and fuzzy control, to control the grain unloading motor, so that the control accuracy is higher.

[0037] In an embodiment of the present application, a target three-phase current is output according to a target operating speed, a current operating speed feedback value, and a current current feedback value to control the operation of a grain unloading motor, including: performing a first coordinate transformation and a second coordinate transformation on the current current feedback value in sequence to obtain a d-axis current and a q-axis current of the grain unloading motor in a dq coordinate system; determining a target torque of the grain unloading motor according to the target operating speed and the current operating speed feedback value; determining a target value of the d-axis current of the grain unloading motor in the dq coordinate system according to the target torque; outputting a target three-phase current according to a preset target value of the q-axis current, a target value of the d-axis current, and the d-axis current and q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor.

[0038] In an embodiment of the present application, a target three-phase current is output based on a preset target value of the q-axis current, a target value of the d-axis current, the d-axis current and the q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor, including: determining the d-axis current difference and the q-axis current difference based on the d-axis current, the q-axis current and the corresponding target values ​​respectively; sending the d-axis current difference and the q-axis current difference to the corresponding PI controllers respectively, and outputting the corresponding d-axis voltage and q-axis voltage; performing a third coordinate transformation on the d-axis voltage and the q-axis voltage to obtain a target voltage; and performing space vector pulse width modulation on the target voltage to generate a target three-phase current to control the operation of the grain unloading motor.

[0039] Specifically, Figure 3As shown, the current current feedback values ​​Ia-bak, Ib-bak, and Ic-bak are the sampled currents of the A phase, B phase, and C phase of the grain unloading motor, respectively. The first coordinate transformation is the transformation of the stationary coordinates (abc coordinates) in the three-phase system into the rotating coordinates (αβ coordinates), such as the Clarke transformation. The first coordinate transformation can make the analysis of the motor more intuitive and simple, especially when performing vector control, it can be more convenient to control the torque and flux of the motor. The second coordinate transformation is the transformation of the rotating coordinates (αβ coordinates) into the synchronous rotating coordinates (dq coordinates), such as the Park transformation. In the second coordinate transformation, the voltage or current of the three-phase system (changing in the form of a sine wave) is mapped to the rotating dq coordinate system, in which the d-axis (direct axis) and the q-axis (cross axis) are perpendicular to each other, and the q-axis leads the d-axis by 90 degrees. This coordinate system rotates with the rotating magnetic field of the motor, so that the voltage and current components in the dq coordinate system become DC or close to DC, which is convenient for the design and implementation of the control algorithm. The driver can directly obtain three-phase current information through AD sampling, and convert the three-phase current into the d-axis current and q-axis current in the dq coordinate system, namely id-bak and iq-bak, after Clarke transformation and Park transformation. In the embodiment of the present application, id=0 is set, so that the direct control of the q-axis current is the control of the motor current. In one example, the grain unloading motor is a surface-mounted synchronous motor. According to the electromagnetic torque equation in the dq coordinate system, the target value of the q-axis current, namely iq, can be calculated in combination with the target torque, where the electromagnetic torque equation in the dq coordinate system is shown in the following formula (1):

[0040]

[0041] Where, T e is the electromagnetic torque, p is the number of pole pairs, ψ m is the stator flux of the motor.

[0042] The actual values ​​of the d-axis current and the q-axis current are subtracted from their respective target values ​​to obtain the difference, which is input into the corresponding proportional integral (PI) controller, and the corresponding d-axis voltage and q-axis voltage, i.e., ud and uq, are output. Among them, ud and uq can be calculated according to the voltage equation in the dq coordinate system. The voltage equation in the dq coordinate system is shown in the following formula (2):

[0043]

[0044] Where, L d is the d-axis equivalent inductance, L q is the q-axis equivalent inductance, R s is the stator resistance, ψ m is the stator flux, ω eis the electrical angular velocity, ud is the d-axis voltage, dq is the q-axis voltage, id is the target value of the d-axis current, and iq is the target value of the q-axis current.

[0045] Then, the third coordinate transformation is performed on ud and uq to obtain Uα and Uβ. Among them, the third coordinate transformation is the inverse transformation of the second coordinate transformation. It can be understood that the third coordinate transformation is the inverse process of the second coordinate transformation, that is, the DC quantity in the dq coordinate system is converted back to the AC quantity in the three-phase coordinate system. For example, when the second coordinate transformation is the park transformation, the third coordinate transformation is the inverse park transformation. Then Uα and Uβ are input into the SVPWM module for space vector pulse width modulation to generate the target three-phase current input into the inverter three-phase full-bridge inverter module to control the rotation of the grain unloading motor so as to run to the target position. In this way, the three-phase current waveform oscillation is weakened, and the current control is better under complex grain unloading conditions, which improves the current conversion efficiency during operation. At the same time, it can avoid long-term high-current and high-temperature operation, thereby reducing the heating of the driver, and can also reduce the current shock under the load starting condition when the grain unloading barrel is full of grain.

[0046] In an embodiment of the present application, based on a fuzzy control algorithm, a target value of a control parameter of a PID controller is determined according to a target operating speed and a current operating speed feedback value, including: based on a fuzzy control algorithm, an increment of a control parameter of a PID controller is determined according to a target operating speed and a current operating speed feedback value; and the increment of the control parameter is respectively added to an initial set value to obtain the target value of the control parameter of the PID controller.

[0047] In an embodiment of the present application, based on a fuzzy control algorithm, the increment of the control parameter of the PID controller is determined according to the target operating speed and the current operating speed feedback value, including: obtaining historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; determining the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter according to the historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; establishing a fuzzy set according to the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter; based on the fuzzy set and a preset fuzzy rule table, determining the increment of the control parameter according to the target operating speed and the current operating speed.

[0048] Specifically, in the three-closed-loop vector control strategy of the embodiment of the present application, the speed loop is the key control link, so a control strategy combining fuzzy control and proportional integral differential (PID) control is adopted on the speed loop. Figure 3As shown in the figure, the incremental fuzzy control method is adopted to process the input quantity (target speed) output by the position loop through fuzzy control and add it to the speed loop proportional integral (PI) control loop as the increment of the variable (control parameter of the proportional integral differential controller). Among them, the current running speed ω 0 It is acquired by the position and speed acquisition module through an incremental encoder. The input parameters of fuzzy control are the speed deviation e between the target speed and the actual speed, i.e., the current operating speed, and the rate of change of the speed deviation ec. The output parameters are the increments Δkp, Δki, and Δkd of the control parameters of the PID controller. According to the historical data of the target operating speed, the current operating speed, and the increment of the control parameters, the precise values ​​of the speed deviation, the precise values ​​of the rate of change of the speed deviation, and the precise values ​​of the increment of the control parameters of multiple groups of grain unloading motors can be calculated. The precise values ​​of the speed deviation, the precise values ​​of the rate of change of the speed deviation, and the precise values ​​of the increment of the control parameters are mapped to establish a fuzzy set, and the value range of the fuzzy variables is determined according to the historical data. Then, based on the fuzzy set and the pre-set fuzzy rule table, the output fuzzy variables are obtained according to the input parameters. The output fuzzy variables are defuzzified by the maximum membership method to obtain the precise values ​​of the output parameters, i.e., the increments of the control parameters. Finally, the increments of the control parameters are added to the initial set values ​​to obtain the target values ​​of the control parameters of the PID controller, and the target values ​​are input into the PID controller to control the speed of the grain unloading motor through the PID controller. In this way, the control accuracy and flexibility of the motor speed and current under complex working conditions can be improved, thereby improving the accuracy of grain unloading drum control.

[0049] In an embodiment of the present application, the method also includes: in response to detecting that the grain unloading motor starts to run, reading the zero position value of the grain unloading drum, the zero position value corresponding to the zero position of the grain unloading drum at the grain unloading drum bracket, the zero position being the position where the grain unloading drum starts to run each time; determining the change in position value during the operation of the grain unloading drum based on the pulse value sent by the encoder of the grain unloading motor during the operation of the grain unloading drum; in response to detecting that the grain unloading drum runs to the zero position of the grain unloading drum bracket again, updating the zero position value according to the change in position value to obtain an updated zero position value.

[0050] Specifically, the grain unloading motor reads the zero position value of the grain unloading barrel after each power-on. If it is the first power-on, the grain unloading barrel is first controlled to be on the origin bracket, and then the position of the grain unloading motor at this time is recorded and stored. After the grain unloading motor starts to run, the driver obtains the pulse value sent by the encoder of the grain unloading motor in real time. The encoder is a key component in the motor control system. It can detect the rotation of the motor in real time and send this information to the controller in the form of pulses. The number of pulses is proportional to the rotation angle or distance of the motor, so it can be used to accurately calculate the position change of the motor. After the driver receives the pulse of the encoder, it can calculate the position change of the motor from a certain moment to the current moment according to the conversion relationship between the preset pulse and position, such as how many pulses represent how many degrees or millimeters the motor rotates. When the grain unloading barrel completes a grain unloading action, the motor stops running. At this time, the grain unloading barrel runs to the zero position of the grain unloading barrel bracket again. The driver can obtain the actual position value of the grain unloading motor according to the position value change of the motor from the start to the stop. Determine whether the actual position value is consistent with the read zero position value. If not, determine the actual position value as the new zero position of the grain unloading motor. It should be noted that the zero position is an artificially set "zero" position in order to simplify the control logic or improve the accuracy. The zero position is the reference for all subsequent position calculations. The driver calculates the distance (or angle) from the zero position to the target position, and then sends a corresponding control signal to the motor to make it run accurately to the target position. In the embodiment of the present application, the zero position is the position of the grain unloading barrel when it is in the origin bracket.

[0051] In an embodiment of the present application, the zero-point position value is updated according to the change in position value, and the updated zero-point position value includes: determining the actual position value of the grain unloading drum according to the change in position value; judging whether the actual position value is consistent with the zero-point position value; and when it is determined that the actual position value is inconsistent with the zero-point position value, determining the actual position value as the zero-point position of the grain unloading motor.

[0052] Specifically, the zero position is the position to which the grain unloading barrel needs to be adjusted manually or automatically after each use of the grain unloading barrel, so as to ensure that the starting position is still the zero position when the grain unloading barrel starts to move next time. Calibrating the zero position of the grain unloading motor is an important step in controlling the operation of the motor. It ensures that the motor can accurately start running from the predetermined starting point, which is crucial for controlling the movement accuracy and efficiency of the motor. The zero position value is set during the installation, commissioning or last calibration of the motor, indicating the position of the motor in a stationary or specific initial state. If the actual position value is inconsistent with the zero position value, it means that the motor has accumulated a certain error during operation and needs to be cleared, that is, the zero position is recalibrated. At this time, the driver can set the current actual position value as the new zero position value and update it to the pre-stored position information of the system. In this way, no matter in what state the motor is started, it will start running from this newly calibrated zero position, thereby ensuring the accuracy and reliability of subsequent movement. In this way, the accumulated errors of the grain unloading barrel operation can be automatically eliminated, the speed and current control accuracy can be improved, and at the same time, there is no need to manually clear the origin error, which improves the efficiency of grain unloading.

[0053] An embodiment of the present application provides a driver configured to execute the above-mentioned method for controlling a grain unloading motor.

[0054] Specifically, in an embodiment of the present application, the driver can be configured to: upon receiving a target position instruction, obtain the current position feedback value, current operating speed feedback value and current current feedback value of the grain unloading motor; determine the target operating speed of the grain unloading motor according to the target position instruction and the current position feedback value; based on a fuzzy control algorithm, determine the target value of the control parameter of the PID controller according to the target operating speed and the current operating speed feedback value; based on the target value of the control parameter, output the target three-phase current through the PID controller according to the target operating speed, the current operating speed feedback value and the current current feedback value to control the operation of the grain unloading motor.

[0055] In the embodiment of the present application, the driver can also be configured to: perform a first coordinate transformation and a second coordinate transformation on the current current feedback value in sequence to obtain the d-axis current and q-axis current of the grain unloading motor in the dq coordinate system; determine the target torque of the grain unloading motor according to the target operating speed and the current operating speed feedback value; determine the target value of the d-axis current of the grain unloading motor in the dq coordinate system according to the target torque; output the target three-phase current according to the preset target value of the q-axis current, the target value of the d-axis current, the d-axis current and the q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor.

[0056] In an embodiment of the present application, the driver can also be configured to: determine the d-axis current difference and the q-axis current difference based on the d-axis current, the q-axis current and the corresponding target values; send the d-axis current difference and the q-axis current difference to the corresponding PI controllers, and output the corresponding d-axis voltage and q-axis voltage; perform a third coordinate transformation on the d-axis voltage and the q-axis voltage to obtain the target voltage; perform space vector pulse width modulation on the target voltage to generate a target three-phase current to control the operation of the grain unloading motor.

[0057] In an embodiment of the present application, the driver can also be configured to: based on a fuzzy control algorithm, determine the increment of the control parameter of the PID controller according to the target operating speed and the current operating speed feedback value; add the increment of the control parameter to the initial set value to obtain the target value of the control parameter of the PID controller.

[0058] In an embodiment of the present application, the driver can also be configured to: obtain historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; determine the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter based on the historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; establish a fuzzy set based on the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter; based on the fuzzy set and the preset fuzzy rule table, determine the increment of the control parameter according to the target operating speed and the current operating speed.

[0059] In the embodiment of the present application, the driver can also be configured to: in response to detecting that the grain unloading motor starts to run, read the zero position value of the grain unloading drum, the zero position value corresponds to the zero position of the grain unloading drum at the grain unloading drum bracket, and the zero position is the position where the grain unloading drum starts to run each time; based on the pulse value sent by the encoder of the grain unloading motor during the operation of the grain unloading drum, determine the change in position value during the operation of the grain unloading drum; in response to detecting that the grain unloading drum runs to the zero position of the grain unloading drum bracket again, update the zero position value according to the change in position value to obtain an updated zero position value.

[0060] In an embodiment of the present application, the driver can also be configured to: determine the actual position value of the grain unloading drum based on the change in position value; determine whether the actual position value is consistent with the zero position value; if it is determined that the actual position value is inconsistent with the zero position value, determine the actual position value as the zero position of the grain unloading motor.

[0061] Through the above technical solution, when the target position instruction is received, the current position feedback value, current running speed feedback value and current current feedback value of the grain unloading motor are obtained, and then the target running speed of the grain unloading motor is determined according to the target position instruction and the current position feedback value, and then based on the fuzzy control algorithm, the target value of the control parameter of the PID controller is determined according to the target running speed and the current running speed feedback value. Finally, through the PID controller, the target three-phase current is output according to the target running speed, the current running speed feedback value and the current current feedback value to control the operation of the grain unloading motor. This application is based on a three-closed-loop control strategy of position feedback, speed feedback value and current feedback, combined with PID control and fuzzy control, to control the grain unloading motor, so that the control accuracy is higher.

[0062] An embodiment of the present application also provides a grain unloading device, which may include: a driver according to the above or a motor device for controlling the grain unloading; and a grain unloading motor.

[0063] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable the machine to execute the above-mentioned method for controlling the grain unloading motor.

[0064] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0065] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0068] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0069] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0070] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0071] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0072] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling a grain unloading motor, characterized in that: A driver applied to a grain unloading motor, the driver comprising a PID controller for controlling the speed of the grain unloading motor, the method comprising: When receiving the target position instruction, obtaining the current position feedback value, the current running speed feedback value and the current current feedback value of the grain unloading motor; Determine the target operating speed of the grain unloading motor according to the target position instruction and the current position feedback value; Based on a fuzzy control algorithm, determining a target value of a control parameter of the PID controller according to the target operating speed and the current operating speed feedback value; Based on the target value of the control parameter, the PID controller outputs the target three-phase current according to the target operating speed, the current operating speed feedback value and the current current feedback value to control the operation of the grain unloading motor.

2. The method according to claim 1, characterized in that: The outputting of the target three-phase current according to the target running speed, the current running speed feedback value and the current current feedback value to control the operation of the grain unloading motor comprises: The current current feedback value is sequentially subjected to a first coordinate transformation and a second coordinate transformation to obtain a d-axis current and a q-axis current of the grain unloading motor in a dq coordinate system; Determine the target torque of the grain unloading motor according to the target operating speed and the current operating speed feedback value; Determine the target value of the d-axis current of the grain unloading motor in the dq coordinate system according to the target torque; According to the preset target value of the q-axis current, the target value of the d-axis current, the d-axis current and the q-axis current of the grain unloading motor in the dq coordinate system, the target three-phase current is output to control the operation of the grain unloading motor.

3. The method according to claim 2, characterized in that The method outputs a target three-phase current according to the preset target value of the q-axis current, the target value of the d-axis current, the d-axis current and the q-axis current of the grain unloading motor in the dq coordinate system to control the operation of the grain unloading motor, including: Determine a d-axis current difference and a q-axis current difference according to the d-axis current, the q-axis current and the corresponding target values; Sending the d-axis current difference and the q-axis current difference to corresponding PI controllers respectively, and outputting corresponding d-axis voltage and q-axis voltage; Performing a third coordinate transformation on the d-axis voltage and the q-axis voltage to obtain a target voltage; The target voltage is subjected to space vector pulse width modulation to generate a target three-phase current to control the operation of the grain unloading motor.

4. The method according to claim 1, characterized in that: The method of determining the target value of the control parameter of the PID controller according to the target operating speed and the current operating speed feedback value based on the fuzzy control algorithm includes: Based on a fuzzy control algorithm, determining an increment of a control parameter of a PID controller according to the target operating speed and the current operating speed feedback value; The increment of the control parameter is added to the initial setting value to obtain the target value of the control parameter of the PID controller.

5. The method according to claim 4, characterized in that The method of determining the increment of the control parameter of the PID controller according to the target running speed and the current running speed feedback value based on the fuzzy control algorithm includes: Acquire historical data of the target operating speed, the current operating speed feedback value and the increment of the control parameter; Determine the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation, and the precise value of the increment of the control parameter according to the target operating speed, the current operating speed feedback value, and the historical data of the increment of the control parameter; Establishing a fuzzy set according to the precise value of the speed deviation of the grain unloading motor, the precise value of the rate of change of the speed deviation and the precise value of the increment of the control parameter; Based on the fuzzy set and a preset fuzzy rule table, the increment of the control parameter is determined according to the target operating speed and the current operating speed.

6. The method according to claim 1, characterized in that The method further comprises: In response to detecting that the grain unloading motor starts to run, reading the zero position value of the grain unloading drum, the zero position value corresponds to the zero position of the grain unloading drum at the grain unloading drum support, the zero position being the position of the grain unloading drum at the start of each operation; Determine the change in position value of the grain unloading drum during operation based on the pulse value sent by the encoder of the grain unloading motor during operation of the grain unloading drum; In response to detecting that the grain unloading drum runs to the zero position of the grain unloading drum bracket again, the zero position value is updated according to the position value change to obtain an updated zero position value.

7. The method according to claim 6, characterized in that The updating of the zero point position value according to the position value variation to obtain the updated zero point position value comprises: Determine the actual position value of the grain unloading drum according to the change in the position value; Determining whether the actual position value is consistent with the zero point position value; When it is determined that the actual position value is inconsistent with the zero position value, the actual position value is determined as the zero position of the grain unloading motor.

8. A driver, characterized in that: The method is configured to execute the method for controlling a grain unloading motor according to any one of claims 1 to 7.

9. A grain unloading device, characterized in that: include: The driver according to claim 8; as well as Grain unloading motor.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing the machine to execute the method for controlling a grain unloading motor according to any one of claims 1 to 7.

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