High-torque rod-shaped motor precision control method and device, electronic equipment and storage medium

Abstract

The invention discloses a large-torque rod-shaped motor precision control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining an electrical angle of a rod-shaped motor, and carrying out the calculation according to the electrical angle, and obtaining the electrical angular speed of the rod-shaped motor; constructing a voltage state equation and a sliding-mode observer of the rod-shaped motor, and calculating according to the voltage state equation and the sliding-mode observer to obtain an initial expansion counter electromotive force; filtering the initial extended counter electromotive force through a low-pass filter to obtain a target extended counter electromotive force; calculating according to the target extended back electromotive force to obtain the rotor speed of the rod-shaped motor; the motor power of the rod-shaped motor is obtained, and the current torque of the rod-shaped motor is obtained through calculation according to the motor power and the rotor speed; and acquiring the required torque of the rod-shaped motor, and compensating the current torque according to the required torque. According to the embodiment of the invention, the fault risk of the rod-shaped motor is reduced, and the control precision and control efficiency of the torque of the large-torque rod-shaped motor are improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor precision control, and in particular to a method, device, electronic device and storage medium for precision control of a large torque rod-shaped motor. Background Art

[0002] As the market for new energy passenger vehicles continues to expand in recent years, the requirements for motor capabilities in all aspects are constantly increasing. Motor torque compensation technology can significantly reduce torque errors caused by factors such as temperature, friction, and deviation, thereby improving the control accuracy of motor torque.

[0003] Due to its compact structure and simple mechanical design, the output power and efficiency of the rod motor are relatively low, and it is generally not suitable for application scenarios that require high output power and efficiency. Secondly, due to the interaction principle between the magnetic field and current of the rod motor, the rotation direction and speed of the rod motor can only be adjusted by changing the direction or magnitude of the current, which usually makes the control of the rod motor not flexible enough. Therefore, improving the control accuracy of the rod motor is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application disclose a method, device, electronic device and storage medium for precision control of a large-torque rod-shaped motor, which reduces the risk of failure of the rod-shaped motor and improves the torque control precision and control efficiency of the large-torque rod-shaped motor.

[0005] The present application discloses a method for precision control of a large torque rod-shaped motor, the method comprising: Acquire the electrical angle of the rod-shaped motor, and calculate the electrical angular velocity of the rod-shaped motor according to the electrical angle; Constructing a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtaining an initial extended back electromotive force according to the voltage state equation and the sliding mode observer; Filtering the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force; Calculating according to the target extended back electromotive force, obtaining the rotor speed of the rod-shaped motor; Acquire the motor power of the rod-shaped motor, and obtain the current torque of the rod-shaped motor according to the motor power and the rotor speed; The required torque of the rod-shaped motor is obtained, and the current torque is compensated according to the required torque.

[0006] As an optional implementation manner, the acquiring the electrical angle of the rod-shaped motor and calculating according to the electrical angle to obtain the electrical angular velocity of the rod-shaped motor includes: The electrical angle of the rod motor is obtained through a rotary transformer; The electrical angular velocity is obtained by calculating according to the electrical angle and the logarithm of the magnetic poles corresponding to the rod-shaped motor.

[0007] As an optional implementation manner, filtering the initial extended back electromotive force by a low-pass filter to obtain a target extended back electromotive force includes: Design low-pass filters; Performing filtering processing on the high-frequency switching signal in the initial extended back electromotive force by the low-pass filter; The phase delay caused by the low-pass filter is compensated to obtain the target extended back electromotive force.

[0008] As an optional implementation manner, obtaining the required torque of the rod-shaped motor and compensating the current torque according to the required torque includes: Obtaining a required torque and a reference torque of the rod-shaped motor; calculating a torque difference between the current torque and the reference torque; The current torque is compensated according to the torque difference to obtain the target torque of the rod-shaped motor.

[0009] As an optional implementation manner, compensating the current torque according to the torque difference to obtain the target torque of the rod-shaped motor includes: If the required torque is a first preset value, the target torque is the required torque; If the required torque is less than the first preset value, calculating the difference between the required torque and the torque difference, and determining the target torque according to the difference between the required torque and the torque difference; If the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference.

[0010] As an optional implementation manner, if the required torque is less than the first preset value, calculating the difference between the required torque and the torque difference, and determining the target torque according to the difference between the required torque and the torque difference, comprises: If the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; If the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0011] As an optional implementation manner, if the required torque is greater than the first preset value, calculating the sum of the required torque and the torque difference, and determining the target torque according to the sum of the required torque and the torque difference, comprises: If the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; If the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0012] The present application discloses a high-torque rod-shaped motor precision control device, the device comprising: An acquisition module, used to acquire the electrical angle of the rod-shaped motor, and obtain the electrical angular velocity of the rod-shaped motor according to the electrical angle; A first calculation module is used to construct a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtain an initial extended back electromotive force according to the voltage state equation and the sliding mode observer; A processing module, configured to filter the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force; A second calculation module, configured to calculate according to the target extended back electromotive force to obtain the rotor speed of the rod-shaped motor; a third calculation module, configured to obtain the motor power of the rod-shaped motor, and obtain the current torque of the rod-shaped motor according to the motor power and the rotor speed; The compensation module is used to obtain the required torque of the rod-shaped motor and compensate the current torque according to the required torque.

[0013] An embodiment of the present application discloses an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor implements any one of the high-torque rod motor precision control methods disclosed in the embodiment of the present application.

[0014] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, any one of the high-torque rod motor precision control methods disclosed in the embodiment of the present application is implemented.

[0015] Compared with the related art, the embodiments of the present application have the following beneficial effects: The embodiments of the present application provide a method, device, electronic device and storage medium for precision control of a large-torque rod-shaped motor, which obtains the electrical angle of the rod-shaped motor, obtains the electrical angular velocity of the rod-shaped motor based on the electrical angle, constructs the voltage state equation and sliding mode observer of the rod-shaped motor, obtains the initial extended back electromotive force based on the voltage state equation and the sliding mode observer, filters the initial extended back electromotive force through a low-pass filter to obtain the target extended back electromotive force, obtains the rotor speed of the rod-shaped motor based on the target extended back electromotive force, obtains the motor power of the rod-shaped motor, obtains the current torque of the rod-shaped motor based on the motor power and the rotor speed, obtains the required torque of the rod-shaped motor, and compensates the current torque based on the required torque. In implementing the embodiment of the present application, a sliding film observer is constructed to observe a large-torque rod motor, and the rotor speed of the rod motor is estimated based on the extended electromotive force. Since the sliding film control does not require high model accuracy of the system and is insensitive to parameter changes and external interference, this characteristic makes the control method highly robust and applicable to a wide range of applications. The high-frequency switching signal from the sliding mode is filtered by a low-pass filter, and the phase delay caused by the low-pass filter is compensated, so that the estimated rotor speed is more accurate, the calculated current torque of the rod motor is more accurate, and the compensation for the current torque is more accurate, thereby reducing the risk of rod motor failure and improving the control accuracy and control efficiency of the torque of the large-torque rod motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a method for precision control of a large torque rod-shaped motor disclosed in an embodiment of the present application; Figure 2 It is a schematic diagram of a process of obtaining the required torque of a rod-shaped motor and compensating the current torque according to the required torque disclosed in an embodiment of the present application; Figure 3 It is a structural schematic diagram of a high-torque rod-shaped motor precision control device disclosed in an embodiment of the present application; Figure 4 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0020] It is understood that the terms "first", "second", etc. used in this application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of this application, the first extended back electromotive force can be referred to as the second extended back electromotive force, and similarly, the second extended back electromotive force can be referred to as the first extended back electromotive force. Both the first extended back electromotive force and the second extended back electromotive force are extended back electromotive forces, but they are not the same extended back electromotive force.

[0021] The embodiment of the present application discloses a high-torque rod-shaped motor precision control method, which reduces the risk of rod-shaped motor failure and improves the torque control precision and control efficiency of the high-torque rod-shaped motor.

[0022] See also Figure 1 , Figure 1 1 is a flow chart of a method for controlling the precision of a high torque rod-shaped motor disclosed in an embodiment of the present application. Figure 1 As shown, the high torque rod-shaped motor precision control method may include the following steps: Step S101, obtaining the electrical angle of the rod-shaped motor, and obtaining the electrical angular velocity of the rod-shaped motor according to the electrical angle calculation.

[0023] The rod motor is a cylindrical motor, and its structure mainly includes: motor housing, rotor, stator, bearing, end cover and fan. Among them, the motor housing is the outer shell of the motor, usually made of aluminum alloy or cast iron. The rotor and other internal parts are installed inside the housing. The rotor is one of the core components of the motor, usually made of cast aluminum or die-cast iron. There are a series of coil windings on the rotor, which will generate a magnetic field after power is applied. The stator is an iron core fixed inside the housing, and the gap between it and the rotor is very small. There are also a series of coil windings on the stator, which will also generate a magnetic field after power is applied. The bearing is used to support the rotor, which can make the rotor rotate after power is applied. The end cover and fan are used to fix the motor housing and dissipate heat.

[0024] The working principle of the stick motor is based on the interaction between the magnetic field and the current. When the current passes through the coil windings on the rotor or stator, a magnetic field is generated. These magnetic fields interact with each other to generate torque, causing the rotor to rotate. Specifically, when the current passes through the coil windings on the rotor, the magnetic field generated interacts with the magnetic field on the stator to generate torque, causing the rotor to rotate. Similarly, when the current passes through the coil windings on the stator, a magnetic field is also generated that interacts with the magnetic field on the rotor to cause the rotor to rotate. By changing the direction or magnitude of the current, the rotation direction or speed of the motor can be changed. The main advantages of the stick motor are its compact structure and simple mechanical design. Due to its cylindrical shape, the stick motor can be easily installed in various compact spaces. Due to its simple mechanical design, the maintenance and repair costs of the stick motor are relatively low. However, due to the principle of interaction between its magnetic field and current, the rotation direction and speed of the stick motor can only be adjusted by changing the direction or magnitude of the current, which makes the control of the stick motor not flexible enough. Due to its compact structure and simple mechanical design, the output power and efficiency of the stick motor are relatively low, and it is not suitable for application scenarios that require high output power and efficiency.

[0025] In some embodiments, the electrical angle is obtained through a rotating transformer. The electrical angle is when the magnetic pole of a point changes from N to S, that is, the increase in the electrical angle after the motor rotates one circle. It is usually measured using resistance elements such as potentiometers, representing an electrical angle of 180 degrees. Usually the electrical angle is equal to the rotor mechanical angle multiplied by the number of motor poles. A rotating transformer, also known as a resolver, is a signal element whose output voltage changes with the rotor angle. It is a small AC motor used to measure angles. It is used to measure the angular displacement and angular velocity of the shaft of a rotating object. It consists of a stator and a rotor. For example, the electrical angle of a rod motor can be measured by a rotating transformer.

[0026] Furthermore, the electrical angular velocity is calculated based on the electrical angle and the logarithm of the magnetic poles corresponding to the rod-shaped motor. Under the condition that the electrical angle of the rod-shaped motor is known, the electrical angular velocity of the motor can be calculated through the change of the electrical angle.

[0027] Step S102, constructing a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtaining an initial extended back electromotive force according to the voltage state equation and the sliding mode observer.

[0028] Sliding mode control is a special nonlinear control system. Its fundamental difference from conventional control lies in the discontinuity of control, that is, a switching characteristic that causes the system structure to change at any time. The key to the implementation of this method lies in the selection of the sliding surface function and the sliding mode gain. The sliding surface function determines the accuracy of the observation function, and the sliding mode gain determines the estimated convergence speed. Therefore, a good sliding mode observer must not only ensure the accuracy of the sliding surface function, but also ensure that the sliding mode gain is of appropriate size. The sliding mode gain itself is not the larger the better, but it needs to meet the convergence speed and make the system run stably. Since sliding mode control does not require high model accuracy of the system and is insensitive to parameter changes and external interference, it is a very robust control method. Therefore, in practical applications, it has a wide range of uses and is a control method that is more worthy of learning. Sliding mode control designs the sliding mode observer based on the error between the given current and the feedback current, and uses the error to reconstruct the motor's back electromotive force and estimate the rotor speed.

[0029] As an optional implementation, the voltage state equation and sliding mode observer of the rod motor are constructed. For the design of the observer, a mathematical model is generally selected for reference. The observer is generally designed based on the voltage model or current model of the motor. For example, since the load state of the rod motor will affect the size of the extended back electromotive force, and the stator current of the rod motor will change greatly under high-speed and heavy-load conditions, it is more reasonable to design the sliding mode observer for estimating the extended back electromotive force according to the current model of the rod motor.

[0030] The voltage state equation of the rod motor is , rewrite the voltage state equation of the rod motor into the current state equation, and use it as the reference model of the sliding mode observer. The current state equation is .

[0031] in, yes Shaft stator voltage, yes Shaft stator voltage, yes Shaft stator current, yes Shaft stator current, is the electrical angular velocity of the rod motor, are the stator electrons, is a differential operator, yes Shaft stator inductance, yes Shaft stator inductance, For expansion The first extended back EMF of the axis, is an extension The second extended back EMF of the axis, is the coefficient matrix resulting from the transformation of the equation.

[0032] As an optional implementation, the initial extended back electromotive force is obtained according to the voltage state equation and the sliding mode observer. In order to estimate the first extended back electromotive force and the second extended back electromotive force, a sliding mode observer is designed. , the observer is completely consistent with the current model of the rod motor in form. Since the actual motor current model contains the size of the extended back electromotive force, if the designed sliding mode observer model can gradually approach the actual rod motor model through real-time correction, when the observer model is completely consistent with the actual rod motor model, the extended back electromotive force parameter in the observer model is the required size of the actual rod motor extended back electromotive force. If the actual The shaft stator current and If the shaft stator current is consistent, then the extended back EMF of the sliding mode observer is also consistent with the extended back EMF of the actual rod motor.

[0033] in, It is a synovial observer. Estimated shaft stator current, It is a synovial observer. Estimated shaft stator current, It is observed by the synovial observer The first extension back EMF of the shaft extension, It is observed by the synovial observer The second extension back EMF of the shaft extension.

[0034] Step S103, filtering the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force.

[0035] As an implementation method, the initial extended back EMF is filtered through a low-pass filter to obtain a target extended back EMF, and a low-pass filter is designed to filter the high-frequency switching signal in the initial extended back EMF through the low-pass filter. In fact, after obtaining the initial extended back EMF output by the sliding mode, the accurate rotor speed cannot be obtained directly by using the initial extended back EMF output by the sliding mode observer, because the sliding mode observer is always jittering on the sliding mode surface, and the output initial extended back EMF contains discontinuous high-frequency switching signals. The direct result will have serious jitter. Therefore, in order to obtain the target extended back EMF, it is usually necessary to add a low-pass filter to filter out the high-frequency switching signal.

[0036] As an implementation method, the phase delay caused by the low-pass filter is compensated to obtain the target extended back electromotive force. When the high-frequency signal is filtered out, the amplitude and phase of the extended back electromotive force estimation value will change. The amplitude reduction and phase delay caused by this change will directly affect the accuracy of the rotor position estimation. For example, in actual application, in order to solve the amplitude reduction and phase delay caused by the low-pass filter, it is necessary to perform delay compensation according to the cutoff frequency of the low-pass filter itself, and the target extended back electromotive force is estimated after compensation.

[0037] Step S104, calculating according to the target extended back electromotive force, and obtaining the rotor speed of the rod-shaped motor.

[0038] As an implementation method, the rotor speed of the rod motor is obtained according to the target extended back electromotive force calculation, and the permanent magnet flux calculation formula is used Calculate and obtain the permanent magnet flux, and substitute the permanent magnet flux into the rotor speed estimation formula Calculate and get the estimated rotor speed of the stick motor, where, is the permanent magnet flux, is the electrical angle of the rod motor, is the rotor speed, For expansion The first extended back EMF of the axis, It is observed by the synovial observer The first extension back EMF of the shaft extension, It is observed by the synovial observer The second extension back EMF of the shaft extension.

[0039] Step S105, obtaining the motor power of the rod-shaped motor, and calculating according to the motor power and the rotor speed to obtain the current torque of the rod-shaped motor.

[0040] Torque is a special moment that makes an object rotate. The torque of the engine refers to the torque output from the crankshaft end of the engine. Under the condition of fixed power, it is inversely proportional to the engine speed. The faster the speed, the smaller the torque, and vice versa. It reflects the load capacity of the car within a certain range. The external torque is called torque or external torque, and the internal one is called internal torque or torque. In the motor, torque refers to the driving torque generated by the rotor winding that can be used to drive the mechanical load.

[0041] As an implementation method, the motor power of the rod-shaped motor is obtained, and the current torque of the rod-shaped motor is obtained according to the motor power and the rotor speed. The motor power and the rotor speed of the rod-shaped motor are substituted into the motor torque calculation formula: , get the current torque of the rod motor, where is the motor power, is the rotor speed, is the current torque of the stick motor.

[0042] Step S106, obtaining the required torque of the rod-shaped motor, and compensating the current torque according to the required torque.

[0043] In some embodiments, the required torque of the rod motor is obtained, the current torque is compensated according to the required torque, the required torque and the reference torque of the rod motor are obtained, the torque difference between the current torque and the reference torque is calculated, the current torque is compensated according to the torque difference, and the target torque of the rod motor is obtained. For example, the required torque of the rod motor at the current moment is determined according to the accelerator pedal opening, vehicle speed, electric drive torque capacity, and battery discharge capacity. The method of obtaining the required torque of the rod motor at the current moment is not specifically limited here, and technical personnel in this field can make settings according to actual conditions.

[0044] In an embodiment of the present application, the electrical angle of the rod-shaped motor is obtained, and the electrical angular velocity of the rod-shaped motor is obtained according to the electrical angle calculation, and the voltage state equation and sliding mode observer of the rod-shaped motor are constructed. The initial extended back electromotive force is calculated according to the voltage state equation and the sliding mode observer, and the initial extended back electromotive force is filtered by a low-pass filter to obtain the target extended back electromotive force. The rotor speed of the rod-shaped motor is obtained according to the target extended back electromotive force calculation, and the motor power of the rod-shaped motor is obtained. The current torque of the rod-shaped motor is obtained according to the motor power and the rotor speed calculation, and the required torque of the rod-shaped motor is obtained. The current torque is compensated according to the required torque, and the sliding mode observer is constructed. The large-torque rod motor is observed and the rotor speed of the rod motor is estimated based on the extended electromotive force. Since the sliding film control does not require high model accuracy of the system and is insensitive to parameter changes and external interference, this feature makes the control method very robust and has a wide range of applications. The high-frequency switching signal from the sliding mode is filtered by a low-pass filter, and then the phase delay caused by the low-pass filter is compensated, so that the estimated rotor speed is more accurate, the calculated current torque of the rod motor is more accurate, and the compensation for the current torque is more accurate, which reduces the risk of rod motor failure and improves the control accuracy and control efficiency of the torque of the large-torque rod motor.

[0045] Figure 2 The present invention discloses a flow chart of obtaining the required torque of a rod-shaped motor and compensating the current torque according to the required torque, which also includes the following steps: Step S201, obtaining the required torque and reference torque of the rod-shaped motor.

[0046] As an optional implementation, the required torque and reference torque of the rod-shaped motor are obtained. First, the required torque of the rod-shaped motor at the current moment is obtained. For example, the required torque of the rod-shaped motor at the current moment is determined based on the accelerator pedal opening, vehicle speed, electric drive torque capacity, and battery discharge capacity. The method of obtaining the required torque of the rod-shaped motor at the current moment is not specifically limited here, and technical personnel in this field can set it according to actual conditions.

[0047] Secondly, the reference torque of the rod motor is obtained through the current control strategy. For example, the operating temperature of the rod motor at the current moment can be obtained by setting a temperature sensor on the outside of the rod motor. The reference temperature of the rod motor is obtained through the current control strategy, and the reference torque corresponding to the reference temperature of the rod motor is obtained according to the preset mapping relationship, thereby improving the accuracy of obtaining the reference torque.

[0048] Step S202, calculating the torque difference between the current torque and the reference torque.

[0049] As an optional implementation, the torque difference between the current torque and the reference torque is calculated. After obtaining the reference torque of the rod motor, the torque difference between the current torque of the rod motor and the reference torque is calculated so as to compensate the current torque according to the torque difference and obtain the target torque of the rod motor. For example, if the required torque is a first preset value, the torque difference is the preset difference; if the required torque is greater than or less than the first preset value, the torque difference is the difference between the reference torque and the current torque.

[0050] Step S203, compensating the current torque according to the torque difference to obtain the target torque of the rod-shaped motor.

[0051] As an optional implementation, compensating the current torque according to the torque difference to obtain the target torque of the rod-shaped motor includes: if the required torque is a first preset value, the target torque is the required torque; if the required torque is less than the first preset value, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference; if the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference. For example, the first preset value is 0 as an example, and the preset difference is 0 as an example, which is not specifically limited here. Those skilled in the art can set it according to actual conditions, compare the required torque with the first preset value, and calculate the torque difference, thereby improving the accuracy and efficiency of the torque control of the rod-shaped motor. Specifically, when the required torque is 0, the target torque is the required torque, when the required torque is less than 0, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference, when the required torque is greater than 0, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference, thereby improving the torque control accuracy and system stability of the rod-shaped motor.

[0052] As an optional implementation, if the required torque is less than the first preset value, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference, including: if the difference between the required torque and the torque difference is greater than the second preset value, the target torque is the required torque; if the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference. Specifically, the second preset value is 0 as an example, and is not specifically limited here. When the difference between the required torque and the torque difference is greater than 0, the target torque is the required torque; when the difference between the required torque and the torque difference is less than 0, the target torque is the difference between the required torque and the torque difference; when the difference between the required torque and the torque difference is equal to 0, the target torque is the required torque, and the difference between the required torque and the torque difference is compared with the second preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be reversed with the compensated torque, thereby improving the flexibility and accuracy of the rod motor torque control.

[0053] As an optional implementation, if the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference, including: if the sum of the required torque and the torque difference is less than the third preset value, the target torque is the required torque; if the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference. Specifically, the third preset value is 0 as an example, and is not specifically limited here. When the difference between the required torque and the torque difference is less than 0, the target torque is the required torque; when the difference between the required torque and the torque difference is greater than 0, the target torque is the sum of the required torque and the torque difference; when the sum of the required torque and the torque difference is equal to 0, the target torque is the required torque, and the difference between the required torque and the torque difference is compared with the third preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be reversed from the compensated torque, thereby improving the flexibility and accuracy of the rod motor torque control.

[0054] In an embodiment of the present application, the required torque of the rod-shaped motor at the current moment is obtained, and the reference torque of the rod-shaped motor is obtained through a current control strategy, thereby improving the accuracy of obtaining the reference torque, calculating the torque difference between the current torque and the reference torque, and compensating the required torque of the rod-shaped motor at the current moment according to the torque difference, thereby obtaining the target torque of the motor. If the required torque is a first preset value, the target torque is the required torque. If the required torque is less than the first preset value, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference. If the required torque is greater than the first preset value, the difference between the required torque and the torque difference is calculated. The sum of the differences, the target torque is determined according to the sum of the required torque and the torque difference, which improves the torque control accuracy and system stability of the rod-shaped motor. If the difference between the required torque and the torque difference is greater than the second preset value, the target torque is the required torque. If the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference. If the sum of the required torque and the torque difference is less than the third preset value, the target torque is the required torque. If the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference, which improves the flexibility and accuracy of the torque control of the rod-shaped motor.

[0055] See also Figure 3 , Figure 3 Schematic diagram of a high torque rod-shaped motor precision control device disclosed in the embodiment of the present application. Figure 3 As shown, the high-torque rod-shaped motor precision control device 300 may include: an acquisition module 301 , a first calculation module 302 , a processing module 303 , a second calculation module 304 , a third calculation module 305 and a compensation module 306 .

[0056] An acquisition module 301 is used to acquire the electrical angle of the rod-shaped motor, and obtain the electrical angular velocity of the rod-shaped motor according to the electrical angle calculation; The first calculation module 302 is used to construct a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtain an initial extended back electromotive force according to the voltage state equation and the sliding mode observer; The processing module 303 is used to filter the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force; A second calculation module 304 is used to calculate the rotor speed of the rod-shaped motor according to the target extended back electromotive force; The third calculation module 305 is used to obtain the motor power of the rod-shaped motor, and obtain the current torque of the rod-shaped motor according to the motor power and the rotor speed; The compensation module 306 is used to obtain the required torque of the rod-shaped motor and compensate the current torque according to the required torque.

[0057] In one embodiment, the acquisition module 301 is further used to acquire the electrical angle of the rod-shaped motor through a rotary transformer; and obtain the electrical angular velocity according to the electrical angle and the logarithm of the magnetic poles corresponding to the rod-shaped motor.

[0058] In one embodiment, the processing module 303 further includes a design unit, a filter processing unit and a delay compensation unit: Design unit, used to design low-pass filter; A filtering processing unit, used for filtering the high-frequency switching signal in the initial extended back electromotive force through a low-pass filter; The delay compensation unit is used to compensate for the phase delay caused by the low-pass filter to obtain the target extended back electromotive force.

[0059] In one embodiment, the compensation module 306 further includes a torque acquisition unit, a difference calculation unit and a torque compensation unit: A torque acquisition unit, used for acquiring a required torque and a reference torque of the rod-shaped motor; A difference calculation unit, used for calculating the torque difference between the current torque and the reference torque; The torque compensation unit is used to compensate the current torque according to the torque difference to obtain the target torque of the rod-shaped motor.

[0060] In one embodiment, the torque compensation unit further includes a first judgment subunit, a second judgment subunit and a third judgment subunit: A first judgment subunit, configured to determine that if the required torque is a first preset value, the target torque is the required torque; A second judgment subunit is used for calculating the difference between the required torque and the torque difference if the required torque is less than the first preset value, and determining the target torque according to the difference between the required torque and the torque difference; The third judgment subunit is used to calculate the sum of the required torque and the torque difference if the required torque is greater than the first preset value, and determine the target torque according to the sum of the required torque and the torque difference.

[0061] In one embodiment, the second judgment subunit is also used to, if the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; if the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0062] In one embodiment, the third judgment subunit is also used to: if the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; if the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0063] See also Figure 4 , Figure 4Schematic diagram of the structure of an electronic device disclosed in the embodiment of the present application. Figure 4 As shown, the electronic device 400 may include: A memory 401 storing executable program codes; a processor 402 coupled to the memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute any one of the high-torque rod motor precision control methods disclosed in the embodiments of the present application.

[0064] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by the processor, the processor implements any one of the high-torque rod motor precision control methods disclosed in the embodiment of the present application.

[0065] The embodiments of the present application disclose a computer program product, including a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0066] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0067] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0068] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0070] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, server or network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above-mentioned methods of various embodiments of the present application.

[0071] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0072] The above is a detailed introduction to a method, device, electronic device and storage medium for precision control of a large torque rod-shaped motor disclosed in the embodiment of the present application. Specific examples are used in this article to illustrate the principle and implementation method of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those of ordinary skill in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and scope of application. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for precision control of a large torque rod-shaped motor, characterized in that: The method comprises: Acquire the electrical angle of the rod-shaped motor, and calculate the electrical angular velocity of the rod-shaped motor according to the electrical angle; Constructing a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtaining an initial extended back electromotive force according to the voltage state equation and the sliding mode observer; Filtering the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force; Calculating according to the target extended back electromotive force, obtaining the rotor speed of the rod-shaped motor; Acquire the motor power of the rod-shaped motor, and obtain the current torque of the rod-shaped motor according to the motor power and the rotor speed; The required torque of the rod-shaped motor is obtained, and the current torque is compensated according to the required torque.

2. A high torque rod motor precision control method according to claim 1, characterized in that: The step of obtaining the electrical angle of the rod-shaped motor and calculating the electrical angular velocity of the rod-shaped motor according to the electrical angle includes: The electrical angle of the rod motor is obtained through a rotary transformer; The electrical angular velocity is obtained by calculating according to the electrical angle and the logarithm of the magnetic poles corresponding to the rod-shaped motor.

3. A high torque rod motor precision control method according to claim 1, characterized in that: The filtering process of the initial extended back electromotive force by a low-pass filter to obtain a target extended back electromotive force comprises: Design low-pass filters; Performing filtering processing on the high-frequency switching signal in the initial extended back electromotive force by the low-pass filter; The phase delay caused by the low-pass filter is compensated to obtain the target extended back electromotive force.

4. A high torque rod motor precision control method according to claim 1, characterized in that: The obtaining the required torque of the rod-shaped motor and compensating the current torque according to the required torque includes: Obtaining a required torque and a reference torque of the rod-shaped motor; calculating a torque difference between the current torque and the reference torque; The current torque is compensated according to the torque difference to obtain the target torque of the rod-shaped motor.

5. A high torque rod motor precision control method according to claim 4, characterized in that: The compensating the current torque according to the torque difference to obtain the target torque of the rod-shaped motor includes: If the required torque is a first preset value, the target torque is the required torque; If the required torque is less than the first preset value, calculating the difference between the required torque and the torque difference, and determining the target torque according to the difference between the required torque and the torque difference; If the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference.

6. A high torque rod motor precision control method according to claim 5, characterized in that: If the required torque is less than the first preset value, calculating the difference between the required torque and the torque difference, and determining the target torque according to the difference between the required torque and the torque difference, comprises: If the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; If the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

7. A high torque rod motor precision control method according to claim 5, characterized in that: If the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference, including: If the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; If the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

8. A high torque rod-shaped motor precision control device, applied to a high torque rod-shaped motor precision control method according to any one of claims 1 to 7, characterized in that: include: An acquisition module, used for acquiring the electrical angle of the rod-shaped motor, and obtaining the electrical angular velocity of the rod-shaped motor according to the electrical angle; A first calculation module is used to construct a voltage state equation and a sliding mode observer of the rod-shaped motor, and obtain an initial extended back electromotive force according to the voltage state equation and the sliding mode observer; A processing module, configured to filter the initial extended back electromotive force through a low-pass filter to obtain a target extended back electromotive force; A second calculation module, configured to calculate the rotor speed of the rod-shaped motor according to the target extended back electromotive force; a third calculation module, configured to obtain the motor power of the rod-shaped motor, and obtain the current torque of the rod-shaped motor according to the motor power and the rotor speed; The compensation module is used to obtain the required torque of the rod-shaped motor and compensate the current torque according to the required torque.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor implements a high-torque rod-shaped motor precision control method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a high-torque rod motor precision control method according to any one of claims 1 to 7 is implemented.

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