Motor control method and device and storage medium

Abstract

The invention relates to a motor control technology, and discloses a motor control method and device and a storage medium, which can effectively reduce the switching loss and improve the temperature rise performance of an MOS (Metal Oxide Semiconductor) chip. The method comprises the following steps: acquiring a rotating speed control signal of a motor in real time to determine a target duty ratio corresponding to the rotating speed control signal; collecting a Hall signal of the motor in real time to determine a real-time electrical angle of the motor; according to the real-time electrical angle, real-time proportionality coefficients corresponding to the three phases of the motor are determined, and the real-time proportionality coefficient of one phase is zero; multiplying the real-time proportionality coefficient corresponding to the three phases of the motor by a target duty ratio, and determining a real-time signal duty ratio corresponding to the three phases of the current motor; and outputting a corresponding signal according to the real-time signal duty ratio, and adjusting the rotating speed of the motor. According to the invention, at any time, only the MOS chips of the two-phase bridge arms can be switched on and off, and the two MOS chips of the upper and lower bridge arms of the remaining phase can be kept on and off, so that the switching loss is effectively reduced, and the temperature rise performance of the MOS chips is improved.

Description

Technical Field

[0001] The present invention relates to motor control technology, and in particular to a motor control method, device and storage medium. Background Art

[0002] BLDC motors (Brushless Direct Current Motor, BLDCM) are currently widely used, such as air conditioner indoor and outdoor fan control, electric fans, hair dryers, cooling fans and other application scenarios. Some application scenarios, such as air conditioner indoor units, have high requirements on the starting performance of BLDC motors, such as: there must be no failure to start. Therefore, there is still a huge application space for inductive motor control.

[0003] The traditional FOC (Field Oriented Control) algorithm has a large number of applications in both sensored and non-sensor solutions. However, since the FOC algorithm itself needs to complete the sampling of the motor phase current (or line current), and the FOC algorithm itself has a large amount of calculation, the performance requirements of the control chip (such as higher CPU main frequency, sampling accuracy and higher-speed ADC, hardware multiplier and divider, etc.) are higher under high PWM carrier frequency, which undoubtedly increases the cost of the overall solution. The FOC algorithm requires the six MOS chips of the three-phase upper and lower PWM bridge arms to switch at the same time, resulting in huge switching losses of the MOS chip. In some application scenarios, it cannot meet the temperature rise performance requirements of the MOS chip. Summary of the invention

[0004] The present invention provides a motor control method, device and storage medium, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a motor control method, device and storage medium, which can effectively reduce switching loss and improve the temperature rise performance of MOS chips.

[0005] In a first aspect, the technical solution of the present invention relates to a motor control method, comprising the following steps:

[0006] Collecting the speed control signal of the motor in real time to determine the target duty cycle corresponding to the speed control signal;

[0007] Collecting the Hall signal of the motor in real time to determine the real-time electrical angle of the motor;

[0008] Determine the real-time proportional coefficients corresponding to the three phases of the motor according to the real-time electrical angle, and the real-time proportional coefficient of one phase is zero;

[0009] Multiplying the real-time proportional coefficient corresponding to the motor three by the target duty cycle to determine the current real-time signal duty cycle corresponding to the motor three;

[0010] A corresponding signal is output according to the duty cycle of the real-time signal to adjust the rotation speed of the motor.

[0011] According to some embodiments of the present invention, the process of starting the motor or adjusting the motor speed further includes the following steps:

[0012] The speed control signal of the motor is collected in real time, and a corresponding lead angle target value is generated according to the voltage of the speed control signal, when the voltage of the speed control signal is lower than a speed threshold, the lead angle target value increases with the increase of the speed control signal voltage in accordance with the law of a first linear function, when the speed control signal is greater than or equal to the speed threshold, the lead angle target value increases with the increase of the speed control signal in accordance with the law of a second linear function, and the slope of the first linear function is smaller than that of the second linear function, or the lead angle target value increases with the increase of the speed control signal in accordance with the law of a quadratic curve function;

[0013] The lead angle real-time value of the motor is adjusted according to the lead angle target value to adjust the current phase and torque output of the motor.

[0014] According to some embodiments of the present invention, the first linear function is: La=k1*Vsp+b1 (1);

[0015] The second linear function is: La = k2*Vsp+b2 (2);

[0016] The quadratic curve function is: La = a1 * Vsp 2 +b3*Vsp+c1 (3);

[0017] Among them, parameters k1, b1, k2, b2, a1, b3, and c1 are constants and are determined according to the maximum load value of the motor.

[0018] According to some embodiments of the present invention, the Hall signal of the motor is collected by a Hall element, and the Hall element is disposed inside the motor.

[0019] According to some embodiments of the present invention, the calculation formulas for the real-time proportional coefficients corresponding to the three phases of the motor are as follows:

[0020]

[0021]

[0022] Among them, f u (θ) is the real-time proportional coefficient corresponding to the motor U, f v (θ) is the real-time proportional coefficient corresponding to the motor V, f w(θ) is the real-time proportional coefficient corresponding to the motor W; θ is the real-time electrical angle.

[0023] According to some embodiments of the present invention, the target duty cycle is calculated as follows:

[0024]

[0025] in,

[0026] Vsp is the voltage of the speed control signal;

[0027] Vsp min The minimum voltage required for the motor to start, corresponding to the duty cycle DutyCycle min ;

[0028] Vsp max The maximum voltage required for the motor to run, corresponding to the duty cycle DutyCycle max ;

[0029] DutyCycle max is the maximum duty cycle of the PWM signal;

[0030] DutyCycle min is the minimum duty cycle of the PWM signal.

[0031] According to some embodiments of the present invention, the step of determining the real-time proportional coefficients corresponding to the three phases of the motor respectively according to the real-time electrical angle, wherein the real-time proportional coefficient of one phase is zero, is determined by querying the V-Sine truth table.

[0032] According to some embodiments of the present invention, the calculation formula of the real-time signal duty cycle is:

[0033]

[0034] Among them, DutyCycle u is the real-time signal duty cycle, DutyCycle corresponding to the motor U v is the real-time signal duty cycle, DutyCycle corresponding to the motor V w is the real-time signal duty cycle corresponding to the motor W.

[0035] In a second aspect, the technical solution of the present invention also relates to a computer device, comprising a memory and a processor, wherein the processor implements the above-mentioned motor control method when executing a computer program stored in the memory.

[0036] In a third aspect, the technical solution of the present invention further relates to a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above-mentioned motor control method when executed by a processor.

[0037] The embodiments of the present invention have at least the following beneficial effects: by setting the real-time proportional coefficient of one phase of the motor to zero, at any time, only the MOS chips of the two-phase bridge arms can perform switching actions, and the two MOS chips of the upper and lower bridge arms of the remaining phase can be kept open and closed, which can effectively reduce switching losses and improve the temperature rise performance of the MOS chip; the present invention does not need to collect the motor phase current or line current, eliminates the external current sampling circuit, and reduces costs.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the process flow of a motor control method according to an embodiment of the present invention.

[0040] Figure 2 A schematic diagram of hardware connection in a specific embodiment of the present invention;

[0041] Figure 3 A schematic flow chart of the steps of a motor control method according to another embodiment of the present invention;

[0042] Figure 4 for Figure 3 One of the schematic diagrams showing the changing relationship between the lead angle target value and the speed control signal;

[0043] Figure 5 for Figure 3 One of the schematic diagrams showing the changing relationship between the lead angle target value and the speed control signal;

[0044] Figure 6 for Figure 3 The data comparison diagram of using the second linear function and the quadratic curve function to adjust the lead angle;

[0045] Figure 7 A schematic diagram of the timing changes of the three-phase Hall signals of the motor collected according to an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of the change of the three-phase current waveform of the motor according to an embodiment of the present invention;

[0047] Fig. 9 FIG. 4 is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0048] Reference numerals:

[0049] Label name Label name 100 Control Module 300 Memory 200 Driver module 400 processor DETAILED DESCRIPTION

[0050] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in combination with the embodiments and drawings to fully understand the purpose, scheme and effect of the present invention.

[0051] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. It should be noted that, unless otherwise specified, when a feature is referred to as being "electrically connected" or "electrically connected" to another feature, the two features can be directly connected through pins, or connected through cables, or connected by wireless transmission. The specific electrical connection method belongs to the general method of those skilled in the art, and those skilled in the art can realize the connection as needed. The singular forms of "a", "" and "the" used herein are also intended to include the majority forms, unless the context clearly indicates other meanings. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0052] It should be understood that, although the term first, second, third etc. may be adopted to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish the same type of elements from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as" etc.) provided herein is only intended to better illustrate embodiments of the present invention, and unless otherwise required, the scope of the present invention will not be limited.

[0053] Reference Figure 1 According to a motor control method of the present invention, the following steps are included:

[0054] Step S100, collecting the speed control signal of the motor in real time to determine the target duty cycle corresponding to the speed control signal;

[0055] Step S200, collecting the Hall signal of the motor in real time to determine the real-time electrical angle of the motor;

[0056] Step S300, determining the real-time proportional coefficients corresponding to the three phases of the motor according to the real-time electrical angle, and the real-time proportional coefficient of one phase is zero;

[0057] Step S400, multiplying the real-time proportional coefficient corresponding to the motor three by the target duty cycle to determine the real-time signal duty cycle corresponding to the current motor three;

[0058] Step S500: output a corresponding signal according to the duty cycle of the real-time signal to adjust the speed of the motor.

[0059] In some embodiments, the motor control method of the present invention is applied to Figure 2 The hardware circuit shown mainly includes a control module 100, a drive module 200 and a motor, wherein the control module 100 is used to execute the motor control method of the present invention, the control module 100 can be a combination of a controller chip + a GateDriver chip, or a single chip (the controller chip wafer and the GateDriver chip wafer are packaged), and the drive module 200 can adopt a MOS chip or an IPM chip. In this example, the control module 100 is used to execute steps S100 to S500, that is, after the control module 100 collects the speed control signal and the Hall signal, after executing steps S100 to S500, the control module 100 will output the corresponding three-phase complementary PWM signal to the drive module 200, that is, the corresponding U / V / W three-phase MOS chip, to drive the motor to run in the specified direction and speed.

[0060] Specifically, in the speed control signal acquisition in step S100, the control module 100 can acquire the external signal through the ADC module and convert it into a corresponding voltage value, and finally determine the corresponding target duty cycle according to the corresponding voltage value;

[0061] In step S200, the control module 100 can collect the Hall signal through the Hall element, and then determine the corresponding electrical angle according to the collected Hall signal. The corresponding electrical angle can be calculated according to the changes of two Hall signals in a single Hall electrical cycle. The specific calculation process belongs to the conventional technical means of those skilled in the art, and will not be described in detail here.

[0062] The real-time proportional coefficient corresponding to the real-time electrical angle in step S300 can be calculated by a formula, or a corresponding truth table can be set in advance according to a set formula or rule. The control module 100 can directly find the corresponding real-time proportional coefficient according to the value of the real-time electrical angle. At any electrical angle, the real-time proportional coefficient of one phase of the three phases of the motor is zero.

[0063] The target duty cycle in step S400 can be determined according to the actual motor load parameters and the speed control signal. Those skilled in the art can set it according to actual needs so that any speed control signal has a matching corresponding target duty cycle. The control module 100 can calculate it according to the set formula. Similarly, the speed control signal voltage value and the target duty cycle value can be set to match the corresponding truth table, so that the control module 100 can directly find the match according to the real-time voltage value of the speed control signal.

[0064] After finally determining the duty cycle of the real-time signal, the control module 100 executes step S500 , that is, after the control module 100 outputs the corresponding duty cycle signal to the MOS chip, the speed of the motor is adjusted in real time.

[0065] The motor control method of the present invention only needs to collect the speed control signal and the Hall signal, and does not need to collect the motor phase current or line current, thus eliminating the hardware structure of the external current sampling circuit and effectively reducing the cost. Meanwhile, the system only requires the output of the three-phase PWM complementary waveform to complete the sampling of the speed control signal, but does not require the ADC to have a high sampling rate and high precision, thus reducing the performance requirements for the control chip and further saving costs. In addition, since the real-time proportional coefficient of one of the phases is zero, only the MOS chips of any two-phase bridge arms perform switching actions at the same time, and the MOS chips of the upper and lower bridge arms of the remaining phase remain on and off. Compared with the simultaneous switching action of the three bridge arms required by the traditional FOC algorithm, the switching loss can be effectively reduced and the temperature rise performance of the MOS can be improved.

[0066] Reference Figure 3 In some embodiments of the present invention, the process of starting the motor or adjusting the motor speed further includes the following steps:

[0067] Step S600, real-time acquisition of the speed control signal of the motor, generating a corresponding lead angle target value according to the voltage of the speed control signal, when the voltage of the speed control signal is lower than the speed threshold, the lead angle target value increases with the increase of the speed control signal voltage in accordance with the law of a first linear function, when the speed control signal is greater than or equal to the speed threshold, the lead angle target value increases with the increase of the speed control signal in accordance with the law of a second linear function, and the slope of the first linear function is smaller than that of the second linear function, or the lead angle target value increases with the increase of the speed control signal in accordance with the law of a quadratic curve function;

[0068] Step S700: adjusting the lead angle real-time value of the motor according to the lead angle target value to adjust the current phase and torque output of the motor.

[0069] In combination with step S600 and step S700, when the motor is started or the motor speed needs to be adjusted, the speed control signal can be obtained in real time, and the advance real-time value required for the motor operation can be determined according to the change of the speed control signal to adjust the motor's current phase and torque output. This can reduce the heat generated by the motor and make the motor be in the optimal power consumption state; in combination with step S100 to step S500, not only the switching loss can be reduced, but also the loss of the motor can be reduced, thereby further reducing the overall power consumption.

[0070] Combination Figure 2 It can be known that step S600 and step S700 are also executed by the control module 100.

[0071] It should be noted that steps S100 to S500 of the present invention are not limited to being executed in sequence. Combining steps S100 to S500, step S600 and step S700, it can be known that step S100, step S200, step S600 and step S700 can be executed synchronously in real time. When the speed control signal changes, step S600, step S700 and step S100 will be executed. When the speed control signal remains unchanged, only step S200, step S300, step S400 and step S500 need to be repeated, that is, when the speed control signal does not change, only the Hall signal of the motor needs to be collected in real time. , and then according to the real-time electrical angle and combined with the determined speed control signal, the corresponding real-time proportional coefficient can be determined to output the corresponding real-time signal duty cycle and adjust the speed of the motor in real time; when the speed control signal changes, steps S600 and S700 will be executed first, and then steps S100, S200, S300, S400 and S500 will be executed. In the next cycle, if the speed control signal does not change again, steps S200, S300, S400 and S500 will be directly executed; therefore, in actual applications, the order of the executed steps can be adjusted accordingly according to the actual situation.

[0072] Reference Figure 4 and Figure 5 , in some embodiments of the present invention:

[0073] The first linear function is: La = k1*Vsp+b1 (1);

[0074] The second linear function is: La = k2*Vsp+b2 (2);

[0075] The quadratic curve function is: La = a1*Vsp 2 +b3*Vsp+c1 (3);

[0076] Among them, parameters k1, b1, k2, b2, a1, b3, and c1 are constants and are determined according to the maximum load value of the motor.

[0077] It can be known that, according to different motors, technical personnel in this field can determine the maximum load of the corresponding motor, and then determine the speed threshold corresponding to the motor. It should be noted that when the real-time value of the lead angle of the motor is adjusted according to the first linear function, the motor is in a light-load condition, and when the real-time value of the lead angle of the motor is adjusted according to the second linear function or the quadratic curve function, the motor is in a heavy-load operating state, that is, when the speed control signal is greater than or equal to the speed threshold, the motor is in a heavy-load condition, and when the speed control signal is greater than or equal to the speed threshold, the motor is in a light-load condition.

[0078] Under heavy load conditions, selecting the second linear function or the quadratic curve function to adjust the motor can optimize the power consumption state of the motor so that the motor can obtain a higher speed under better power consumption.

[0079] In practical applications, when it is determined that the second linear function or quadratic curve function needs to be selected to adjust the motor, it can be selected according to actual needs. Figure 6 It can be seen that under the same speed control signal, the real-time value of the lead angle and the motor power consumption adjusted according to the quadratic curve function are lower, and a higher speed can be obtained. Therefore, when the motor needs to be in a better power consumption, the quadratic curve function can be selected as the adjustment function of the motor under heavy load conditions.

[0080] In some embodiments of the present invention, the Hall signal of the motor is collected by a Hall element, and the Hall element is arranged inside the motor. It can be known that the Hall element can be a Hall chip or a Hall device. The Hall element is arranged inside the motor to improve the accuracy of the Hall signal collection. When the motor is running, the internal magnetic field will change, and different speeds correspond to different magnetic field strengths. Therefore, by using the Hall element, three corresponding Hall signals can be collected. Figure 7 , is a diagram of the Hall element in some embodiments according to the collected Hall signal change. Therefore, the real-time electrical angle can be calculated based on the two Hall signal changes in a single Hall electrical cycle.

[0081] In some embodiments of the present invention, the calculation formulas for the real-time proportional coefficients corresponding to the three phases of the motor are as follows:

[0082]

[0083] Among them, f u (θ) is the real-time proportional coefficient corresponding to motor U, f v (θ) is the real-time proportional coefficient corresponding to the motor V, f w(θ) is the real-time proportional coefficient corresponding to the motor W; θ is the real-time electrical angle.

[0084] The following is an explanation using different real-time electrical angles:

[0085] When θ=60°, the real-time proportional coefficient of each phase duty cycle is as follows:

[0086]

[0087] At this time, after determining the corresponding real-time proportional coefficient, it can be known that the bridge arm of the U phase should be in a state where the upper bridge arm is turned off and the lower bridge arm is turned on. The V and W phases execute steps S400 and S500 in sequence according to the above corresponding real-time proportional coefficients, and output complementary PWM signals for the corresponding upper and lower bridge arms.

[0088] When θ=180°, the real-time proportional coefficient of each phase duty cycle is as follows:

[0089]

[0090] f v (π) = 0;

[0091]

[0092] At this time, after determining the corresponding real-time proportional coefficient, it can be known that the bridge arm of the V phase should be in a state where the upper bridge arm is turned off and the lower bridge arm is turned on. The U and W phases execute steps S400 and S500 in sequence according to the above corresponding real-time proportional coefficients, and output complementary PWM signals for the corresponding upper and lower bridge arms.

[0093] When θ=300°, the real-time proportional coefficient of each phase duty cycle is as follows:

[0094]

[0095] At this time, after determining the corresponding real-time proportional coefficient, it can be known that the bridge arm of the W phase should be in a state where the upper bridge arm is turned off and the lower bridge arm is turned on. The U and V phases execute steps S400 and S500 in sequence according to the above corresponding real-time proportional coefficients, and output complementary PWM signals for the corresponding upper and lower bridge arms.

[0096] According to formula (4), formula (5) and formula (6) and the embodiment, it can be known that the duty cycle of the three-phase signal corresponding to the motor has a real-time proportional coefficient of zero in each 1 / 3 electrical cycle, that is, in each 1 / 3 electrical cycle, after the three-phase real-time signal duty cycle is output, there is a bridge arm in a state where the upper bridge arm is turned off and the lower bridge arm is turned on, that is, the three-phase proportional coefficient of the motor is zero at any electrical angle, then at any moment, only the MOS chips of two-phase bridge arms of the motor perform switching action, and the MOS chips of the upper and lower bridge arms of the remaining phase remain on and off. Compared with the simultaneous switching action of the three bridge arms required by the traditional FOC algorithm, the switching loss can be effectively reduced and the temperature rise performance of the MOS can be improved.

[0097] In some embodiments of the present invention, the real-time proportional coefficients corresponding to the three phases of the motor are determined according to the real-time electrical angle, and the step of setting the real-time proportional coefficient of one phase to zero is determined by querying the V-Sine truth table.

[0098] When the present invention executes step S300 in the algorithm, the real-time electrical angle and the real-time proportional coefficient can be determined in advance according to formula (4), formula (5) and formula (6) to match the corresponding V-Sine truth table. In actual applications, the real-time proportional coefficient corresponding to the real-time electrical angle can be determined only according to the V-Sine truth table. This can avoid the software from calculating the sine value in a time-consuming manner. It can be determined directly according to the corresponding V-Sine truth table match, which can further reduce the performance requirements of the control chip.

[0099] In some embodiments of the present invention, the target duty cycle is calculated as follows:

[0100]

[0101] in,

[0102] Vsp is the voltage of the speed control signal;

[0103] Vsp min The minimum voltage required for the motor to start, corresponding to the duty cycle DutyCycle min ;

[0104] Vsp max The maximum voltage required for the motor to run, corresponding to the duty cycle DutyCycle max ;

[0105] DutyCycle max is the maximum duty cycle of the PWM signal;

[0106] DutyCycle min is the minimum duty cycle of the PWM signal.

[0107] It should be noted that the maximum duty cycle and the minimum duty cycle of the PWM signal can be determined according to different working conditions or parameters of different motors. The specific means of determination belong to the conventional technical means of those skilled in the art and will not be described in detail here.

[0108] Similarly, when the present invention executes step S400 in the algorithm, the truth table corresponding to the speed control signal voltage value and the target duty cycle value can be determined in advance according to formula (7). In actual applications, the target duty cycle corresponding to the speed control signal can be directly determined based on the truth table. This can avoid the software from calculating the sine value in a time-consuming manner. By directly matching according to the corresponding truth table, it can be determined, which can further reduce the performance requirements of the control chip.

[0109] In some embodiments of the present invention, the calculation formula of the real-time signal duty cycle is:

[0110]

[0111] Among them, DutyCycle u The real-time signal duty cycle corresponding to motor U, DutyCycle v The real-time signal duty cycle corresponding to the motor V, DutyCycle w is the real-time signal duty cycle corresponding to motor W.

[0112] After determining the corresponding real-time proportional coefficient and the target duty cycle, step S400 is executed, that is, according to formula (8), the corresponding real-time signal duty cycle is determined, and step S500 is executed to output the corresponding signal of the motor three phases to adjust the motor speed. The motor three-phase current waveform is as follows: Figure 8 shown.

[0113] Second, refer to Fig. 9 The technical solution of the present invention also relates to a computer device, including a memory 300 and a processor 400. When the processor 400 executes a computer program stored in the memory 300, the motor control method described above is implemented.

[0114] Other structures and operations of the decoding device according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0115] In a third aspect, the technical solution of the present invention further relates to a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by the processor 400, the above-mentioned motor control method is implemented.

[0116] Other structures and operations of the storage medium according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0117] According to an embodiment of the present invention, by such a setting, at least some of the following effects can be achieved: because the real-time proportional coefficient of one phase of the motor is set to zero, at any time, only the MOS chips of the two-phase bridge arms can perform switching actions, and the two MOS chips of the upper and lower bridge arms of the remaining phase remain opened and closed, which can effectively reduce switching losses and improve the temperature rise performance of the MOS chip; the present invention does not need to collect the motor phase current or line current, eliminates the external current sampling circuit, and reduces costs.

[0118] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory 300. The motor control method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, the program can be run on a programmed dedicated integrated circuit for this purpose.

[0119] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors 400, by hardware, or a combination thereof. A computer program includes a plurality of instructions that may be executed by one or more processors 400.

[0120] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, RAM, ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the above steps in conjunction with a microprocessor 400 or other data processor 400, the invention herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0121] The computer program can be applied to input data to perform the functions herein, thereby transforming the input data to generate output data stored in the non-volatile memory 300. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the transformed data represents a physical and tangible object, including a specific visual depiction of the physical and tangible object produced on the display.

[0122] The above are only preferred embodiments of the present invention. The present invention is not limited to the above embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may have various modifications and changes.

Claims

1. A motor control method, characterized in that: The following steps are involved: Acquiring a speed control signal of the motor to determine a target duty cycle corresponding to the speed control signal; Collecting the Hall signal of the motor to determine the real-time electrical angle of the motor; Determine the real-time proportional coefficients corresponding to the three phases of the motor according to the real-time electrical angle, and the real-time proportional coefficient of one phase is zero; Multiplying the real-time proportional coefficient corresponding to the motor three by the target duty cycle to determine the current real-time signal duty cycle corresponding to the motor three; A corresponding signal is output according to the duty cycle of the real-time signal to adjust the rotation speed of the motor.

2. The motor control method according to claim 1, characterized in that: When starting the motor or adjusting the motor speed, the following steps are also included: The speed control signal of the motor is collected in real time, and a corresponding lead angle target value is generated according to the voltage of the speed control signal; when the voltage of the speed control signal is lower than a speed threshold, the lead angle target value increases according to a first linear function as the speed control signal voltage increases; when the speed control signal is greater than or equal to the speed threshold, the lead angle target value increases according to a second linear function as the speed control signal increases, and the slope of the first linear function is smaller than that of the second linear function, or the lead angle target value increases according to a quadratic curve function as the speed control signal increases; the real-time value of the lead angle of the motor is adjusted according to the lead angle target value to adjust the current phase and torque output of the motor.

3. The motor control method according to claim 2, characterized in that: The first linear function is: La=k1*Vsp+b1 (1); The second linear function is: La = k2*Vsp+b2 (2); The quadratic curve function is: La = a1 * Vsp 2 +b3*Vsp+c1 (3); Among them, parameters k1, b1, k2, b2, a1, b3, and c1 are constants and are determined according to the maximum load value of the motor.

4. The motor control method according to any one of claims 1 to 3, characterized in that: The Hall signal of the motor is collected by a Hall element, and the Hall element is arranged inside the motor.

5. The motor control method according to any one of claims 1 to 3, characterized in that: The calculation formulas for the real-time proportional coefficients corresponding to the three phases of the motor are as follows: Among them, f u (θ) is the real-time proportional coefficient corresponding to the motor U, f v (θ) is the real-time proportional coefficient corresponding to the motor V, f w (θ) is the real-time proportional coefficient corresponding to the motor W; θ is the real-time electrical angle.

6. The motor control method according to any one of claims 1 to 3, characterized in that: The target duty cycle is calculated as follows: in, Vsp is the voltage of the speed control signal; Vsp min The minimum voltage required for the motor to start, corresponding to the duty cycle DutyCycle min ; Vsp max The maximum voltage required for the motor to run, corresponding to the duty cycle DutyCycle max ; DutyCycle max is the maximum duty cycle of the PWM signal; DutyCycle min is the minimum duty cycle of the PWM signal.

7. The motor control method according to any one of claims 1 to 3, characterized in that: The step of determining the real-time proportional coefficients corresponding to the three phases of the motor respectively according to the real-time electrical angle, wherein the real-time proportional coefficient of one phase is zero, is determined by querying the V-Sine truth table.

8. The motor control method according to any one of claims 1 to 3, characterized in that: The calculation formula of the real-time signal duty cycle is: Among them, DutyCycle u is the real-time signal duty cycle, DutyCycle corresponding to the motor U v is the real-time signal duty cycle, DutyCycle corresponding to the motor V w is the real-time signal duty cycle corresponding to the motor W.

9. A computer device comprising a memory and a processor, characterized in that: When the processor executes the computer program stored in the memory, the motor control method according to any one of claims 1 to 8 is implemented. 10 . A computer-readable storage medium having program instructions stored thereon, wherein the program instructions are executed by a processor to implement the motor control method according to any one of claims 1 to 8.

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