Alternating current motor and control method and control device thereof

Abstract

The invention relates to an alternating current motor and a control method and control device thereof. The method comprises the following steps: based on a preset rotation direction, controlling a phase shift unit to perform phase shift processing on a driving signal output by a frequency output unit to obtain a reference signal, outputting the reference signal to a first phase winding and a second phase winding of the AC motor, and controlling an adjustment unit to perform power amplification on the driving signal according to a preset rotation speed to obtain a second phase winding; obtaining a target signal, and outputting the target signal to a third phase winding of the AC motor to drive the AC motor to rotate according to a preset rotation direction and a preset rotation speed; by adopting the method, the robot can be driven by adopting the alternating current motor, the phase shifting unit is controlled to perform phase shifting processing on the driving signal, and the adjusting unit is controlled to perform power amplification on the driving signal so as to drive the alternating current motor, so that the cost is reduced and the weight of the robot is reduced while the control precision is ensured.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to an AC motor and a control method and a control device thereof. Background Art

[0002] At present, DC motors are usually used to drive robots. The control method of DC motors is relatively simple, but the cost is high and the control device is heavy. For large robots, such as transport robots, mining robots, etc., if DC motors are used for driving, it may be difficult to achieve the overall performance design of the robot due to its excessive weight, and there are problems of high cost and heavy weight. Summary of the invention

[0003] Based on this, it is necessary to provide an AC motor and a control method and control device thereof that can reduce the cost and weight of the robot in order to address the above technical problems.

[0004] In a first aspect, the present application provides a control method for an AC motor, the AC motor comprising a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit; the method comprising:

[0005] Based on the preset rotation direction, the phase shift unit is controlled to perform phase shift processing on the drive signal to obtain a reference signal, and the reference signal is output to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the drive signal;

[0006] According to the preset speed, the control adjustment unit amplifies the power of the drive signal, obtains the target signal, and outputs the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and preset speed.

[0007] In one of the embodiments, the reference signal includes a first phase-shifted signal and a second phase-shifted signal;

[0008] Based on the preset rotation direction, the phase shift unit is controlled to perform phase shift processing on the drive signal to obtain a reference signal, and the reference signal is output to the first phase winding and the second phase winding of the AC motor respectively, including:

[0009] According to a preset rotation direction, the phase shift unit is controlled to perform a phase shift process on the driving signal at a first angle to obtain a first phase shift signal, and the phase shift unit is controlled to perform a phase shift process on the driving signal at a second angle to obtain a second phase shift signal;

[0010] The first phase-shifted signal is output to the first phase winding, and the second phase-shifted signal is output to the second phase winding.

[0011] In one embodiment, the preset rotation direction includes forward rotation and reverse rotation;

[0012] When the preset rotation direction is forward, the first angle lags behind the second angle;

[0013] When the preset rotation direction is reverse, the first angle is ahead of the second angle.

[0014] In one embodiment, a Hall element is disposed at the end of the AC motor, and the method further comprises:

[0015] According to the state signal fed back by the Hall element, the rotor angle of the AC motor is obtained, the preset angle and the rotor angle are compared, and the adjustment unit is controlled to adjust the power of the driving signal based on the comparison result, and a control signal is generated, and the control signal is output to the third phase winding to drive the AC motor to rotate;

[0016] When the rotor of the AC motor reaches a preset position, the output of the reference signal and the control signal is stopped.

[0017] In one embodiment, obtaining the rotor angle of the AC motor according to the state signal fed back by the Hall element includes:

[0018] Based on the state signal, the state change times of the Hall element are obtained, and the rotor angle is obtained according to the state change times.

[0019] In one embodiment, comparing the preset angle with the rotor angle, and controlling the adjustment unit to adjust the power of the driving signal based on the comparison result, comprises:

[0020] When the difference between the rotor angle and the preset angle is within a preset interval, the control adjustment unit reduces the power of the drive signal;

[0021] When the difference between the rotor angle and the preset angle is not within the preset interval, the control adjustment unit amplifies the power of the driving signal.

[0022] In a second aspect, the present application further provides a control device for an AC motor, the AC motor comprising a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit; the device comprises:

[0023] A direction module is used to control the phase shift unit to perform phase shift processing on the drive signal based on a preset rotation direction to obtain a reference signal, and output the reference signal to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the drive signal;

[0024] The speed module is used to control the adjustment unit to amplify the power of the drive signal according to the preset speed, obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate in a preset rotation direction and preset speed.

[0025] In a third aspect, the present application further provides an AC motor, the AC motor comprising a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit;

[0026] The AC motor also includes a controller, which is connected to the frequency output unit, the phase shift unit and the adjustment unit respectively, and is used to execute the steps of the above method.

[0027] In one of the embodiments, the AC motor further comprises a Hall element, which is arranged at an end of the AC motor;

[0028] The controller is connected to the Hall element.

[0029] In one embodiment, the number of the Hall elements is two, and the electrical angle between the two Hall elements is 90 degrees.

[0030] The above-mentioned AC motor and its control method and control device, by controlling the phase shifting unit to perform phase shifting processing on the driving signal output by the frequency output unit based on a preset rotation direction, obtain a reference signal, and output the reference signal to the first phase winding and the second phase winding of the AC motor respectively, and according to the preset speed, controlling the adjustment unit to power amplify the driving signal to obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and preset speed; the present application uses an AC motor to drive the robot, controls the phase shifting unit to perform phase shifting processing on the driving signal, and controls the adjustment unit to power amplify the driving signal to drive the AC motor. Compared with the traditional use of a DC motor to drive the robot, the present application reduces the cost and the weight of the robot while ensuring the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0032] FIG1 is an application environment diagram of a control method for an AC motor in one embodiment;

[0033] FIG2 is a schematic flow chart of a method for controlling an AC motor in one embodiment;

[0034] FIG3 is a power control logic diagram of an AC motor in one embodiment;

[0035] FIG4 is a specific flow chart of the steps of comparing a preset angle with a rotor angle and controlling an adjustment unit to adjust the power of a driving signal based on the comparison result in one embodiment;

[0036] FIG5 is a block diagram of a control device for an AC motor in one embodiment;

[0037] FIG6 is a schematic diagram of a motor winding structure of an AC motor in one embodiment;

[0038] FIG7 is a control circuit diagram of an AC motor in one embodiment;

[0039] FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0040] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the technical field of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. It is understood that the terms "first", "second", etc. used in the present application can be used to describe various elements in this article, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0042] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0043] It can be understood that “at least one” means one or more, “plurality” means two or more, and “at least a portion of an element” means a part or all of an element.

[0044] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0045] At present, DC motors are widely used in robot driving. For control, DC stepper motors are relatively simple, but have low output power, and have problems of high cost and heavy weight. If a high-power DC motor is required, the corresponding control device will be heavy, and it may be difficult to achieve the overall performance design of the robot due to the overall weight, resulting in problems of high cost and heavy weight.

[0046] The control method of the AC motor provided in the embodiment of the present application can be applied to the AC motor shown in Figure 1. The AC motor includes a frequency output unit 110, and a phase shift unit 120 and an adjustment unit 130 respectively connected to the frequency output unit 110. The AC motor also includes a controller 140. The controller 140 controls the phase shift unit 120 to perform phase shift processing on the drive signal output 110 of the frequency output unit based on a preset rotation direction to obtain a reference signal, and outputs the reference signal to the first phase winding and the second phase winding of the AC motor respectively. According to the preset speed, the adjustment unit 130 is controlled to amplify the power of the drive signal, obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and the preset speed.

[0047] It should be noted that the type of AC motor can be set according to actual conditions. In the embodiment of the present application, a three-phase asynchronous squirrel cage AC motor is taken as an example for explanation.

[0048] In an exemplary embodiment, as shown in FIG2 , a control method of an AC motor is provided. The method is described by taking the method applied to the controller in FIG1 as an example. The method includes:

[0049] S202, based on a preset rotation direction, controlling the phase shifting unit to perform phase shifting processing on the driving signal to obtain a reference signal, and outputting the reference signal to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the driving signal.

[0050] Among them, the preset rotation direction can be set according to actual conditions and is not limited in the embodiments of the present application.

[0051] Specifically, for the control part of the motor, referring to the DC motor, the DC motor outputs direct current, which is divided into positive and negative poles with a phase difference of 180 degrees. However, the present application adopts an AC motor, and needs to output a reference signal first to confirm the rotation direction of the AC motor. According to the preset rotation direction, the controller controls the phase shifting unit to perform phase shifting on the drive signal to obtain a reference signal, and outputs the reference signal to the first phase winding and the second phase winding of the AC motor after power amplification. At this time, the third phase winding of the AC motor does not receive the corresponding signal, that is, the AC motor is in a phase-missing state and the AC motor will not rotate; when the third phase winding receives the corresponding signal, the AC motor will start to rotate in the rotation direction corresponding to the reference signal.

[0052] It should be noted that the frequency of the driving signal can be set according to actual conditions and is not limited in the embodiments of the present application.

[0053] S204, according to the preset speed, the control adjustment unit amplifies the power of the drive signal, obtains the target signal, and outputs the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and preset speed.

[0054] Among them, the preset speed can be set according to actual conditions and is not limited in the embodiments of the present application.

[0055] Specifically, the controller controls the adjustment unit to amplify the power of the drive signal according to a preset speed, wherein the controller can control the amplitude and output time of the power amplifier output, thereby achieving speed control of the AC motor.

[0056] In the above-mentioned AC motor control method, an AC motor is used to drive the robot, a phase shifting unit is controlled to perform phase shifting on the driving signal, and an adjustment unit is controlled to power amplify the driving signal to drive the AC motor. Compared with the traditional method of using a DC motor to drive the robot, this method reduces the cost and the weight of the robot while ensuring the control accuracy.

[0057] In one of the embodiments, the reference signal includes a first phase-shifted signal and a second phase-shifted signal;

[0058] Based on the preset rotation direction, the phase shift unit is controlled to perform phase shift processing on the drive signal to obtain a reference signal, and the reference signal is output to the first phase winding and the second phase winding of the AC motor respectively, including:

[0059] According to a preset rotation direction, the phase shift unit is controlled to perform a phase shift process on the driving signal at a first angle to obtain a first phase shift signal, and the phase shift unit is controlled to perform a phase shift process on the driving signal at a second angle to obtain a second phase shift signal;

[0060] The first phase-shifted signal is output to the first phase winding, and the second phase-shifted signal is output to the second phase winding.

[0061] Specifically, the phase shift unit is controlled to shift the driving signal at different angles according to a preset rotation direction, thereby realizing the control of the rotation direction of the AC motor, and the first phase shift signal is output to the first phase winding after power amplification, and the second phase shift signal is output to the second phase winding after power amplification, thereby controlling the rotation direction of the AC motor; wherein, the power amplification multiple can be set according to actual conditions, which will not be elaborated in the embodiments of the present application.

[0062] In an embodiment of the present application, the phase shifting unit is controlled according to a preset rotation direction to perform phase shifting processing on the drive signal at a first angle and a second angle respectively, and the obtained first phase shifted signal is output to the first phase winding, and the second phase shifted signal is output to the second phase winding, so that the AC motor is controlled to rotate according to the preset rotation direction, thereby ensuring the control accuracy of the AC motor.

[0063] In one embodiment, the preset rotation direction includes forward rotation and reverse rotation;

[0064] When the preset rotation direction is forward, the first angle lags behind the second angle;

[0065] When the preset rotation direction is reverse, the first angle is ahead of the second angle.

[0066] Specifically, the three-phase motors are 120 degrees apart from each other, and this angle can be controlled by a phase shift unit. When the preset rotation direction is forward, the first angle needs to lag behind the second angle by 120 degrees. When the preset rotation direction is reverse, the first angle needs to lead the second angle by 120 degrees.

[0067] Exemplarily, when the AC motor needs to rotate forward, the controller controls the phase shift unit to shift the drive signal by 120 degrees to generate a first phase shift signal, and then shift the drive signal by 120 degrees to generate a second phase shift signal. It can be understood that at this time, the angle corresponding to the first phase shift signal is 120 degrees, the angle corresponding to the second phase shift signal is 240 degrees, and the target signal has no phase shift, and the angle is 0 degrees; when the AC motor needs to reverse, the controller controls the phase shift unit to shift the drive signal by -120 degrees to generate a first phase shift signal, and then shift the drive signal by -120 degrees to generate a second phase shift signal. It can be understood that at this time, the angle corresponding to the first phase shift signal is -120 degrees, the angle corresponding to the second phase shift signal is -240 degrees, and the target signal has no phase shift, and the angle is 0 degrees.

[0068] In the embodiment of the present application, the phase shifting unit is controlled to shift the phase of the driving signal by a corresponding angle according to a preset rotation direction, so that the AC motor can be controlled to rotate in the preset rotation direction, thereby ensuring the control accuracy of the AC motor.

[0069] In one embodiment, a Hall element is disposed at the end of the AC motor, and the method further comprises:

[0070] According to the state signal fed back by the Hall element, the rotor angle of the AC motor is obtained, the preset angle and the rotor angle are compared, and the adjustment unit is controlled to adjust the power of the driving signal based on the comparison result, and a control signal is generated, and the control signal is output to the third phase winding to drive the AC motor to rotate;

[0071] When the rotor of the AC motor reaches a preset position, the output of the reference signal and the control signal is stopped.

[0072] Among them, the model and quantity of the Hall element can be set according to actual conditions and are not limited in the embodiments of the present application; the preset angle can be set according to actual conditions and are not limited in the embodiments of the present application.

[0073] Specifically, the controller obtains the rotor angle of the AC motor based on the status signal, and compares the preset angle and the rotor angle to determine whether the rotor of the AC motor has reached the preset position, and thereby controls the adjustment unit to adjust the power of the drive signal, and outputs the generated control signal to the third phase winding. At this time, the reference signal has been output to the first phase winding and the second phase winding of the AC motor respectively, and the AC motor starts to rotate.

[0074] Since the robot moves with the small gear at the motor output driving the large gear, similar to the principle of a reducer, the input end rotates very fast, but the output end rotates very slowly, which means that the rotational inertia of the input end is almost zero. Once the power disappears, it stops immediately under the strong damping of the system. That is, when the rotor of the AC motor reaches the preset position, the reference signal and control signal are stopped. At this time, the power of the AC motor disappears and the AC motor can stop instantly, thereby improving the accuracy of control.

[0075] For example, the voltage of the third-phase winding has an adding process, which is based on a given control signal, that is, the angle of rotation. If only a very small angle is required to be rotated, the third-phase winding is instantly pressurized at this time, and it is not necessarily added to the maximum. If it is to rotate many times, the third-phase winding is directly added to the rated voltage. When the rotor reaches the preset position, all three phases are powered off, that is, the output of the reference signal and the control signal is stopped. The control logic is that the reference signal (reference voltage) is added in advance, that is, the direction of rotation is determined in advance, and the control voltage (target signal / control signal) is added later, and all are stopped together. Since the control motors are all gear-driven, the damping is very large, and they rotate when there is power. Once the power disappears, it stops almost instantly. Adding voltage is a process. If the rotor has reached the preset position during the voltage application process, the output of the reference signal and the control signal will be stopped immediately. If the rotor has not reached the preset position after the rated voltage is added, the voltage is maintained (the reference signal and the control signal are continuously output) until the rotor reaches the preset position.

[0076] It should be noted that the existing AC motor is an open-loop actuator and does not have the speed and angle feedback function. Therefore, the AC motor in the embodiment of the present application adds a Hall element, which can realize the measurement of the rotation speed and rotation angle of the AC motor. After forming a closed-loop control with the three-phase controllable inverter system, the overall performance of the motor can be improved.

[0077] In an embodiment of the present application, the rotor angle of the AC motor is obtained based on the status signal fed back by the Hall element set at the end of the AC motor, and the preset angle and the rotor angle are compared. The control adjustment unit adjusts the power of the drive signal based on the comparison result, and the generated control signal is output to the third phase winding to drive the AC motor to rotate. When the rotor of the AC motor reaches the preset position, the output of the reference signal and the control signal is stopped, thereby improving the control accuracy of the AC motor.

[0078] In one embodiment, obtaining the rotor angle of the AC motor according to the state signal fed back by the Hall element includes:

[0079] Based on the state signal, the state change times of the Hall element are obtained, and the rotor angle is obtained according to the state change times.

[0080] Specifically, the Hall element is similar to a rotary encoder. Once it is rotated, it will send out a series of counting pulses of 0 and 1. The controller can obtain the rotor angle of the AC motor by counting the number of pulses. For example, there are 360 ​​Hall identification points at the end of the AC motor. One pulse change represents a rotation of 1 degree. The controller obtains the number of state changes of the Hall element (number of pulses) and obtains the rotor angle based on the number of state changes.

[0081] In an embodiment of the present application, the number of state changes of the Hall element is determined based on the state signal fed back by the Hall element, and the rotor angle is obtained thereby, which facilitates the subsequent power adjustment of the drive signal and improves the control accuracy of the AC motor.

[0082] To facilitate understanding by those skilled in the art, the control method of the AC motor is described below with reference to a specific example, as shown in FIG3 , which exemplarily shows a power control logic diagram of the AC motor, wherein the frequency output unit is a frequency generator, the phase shift unit includes a 120° phase shifter and a -120° phase shifter, the UA power amplifier is represented by a reference signal output to the first phase winding (A phase winding), the UB power amplifier is represented by a reference signal output to the second phase winding (B phase winding), and the UC power amplifier is represented by a target signal or a control signal output to the third phase winding (C phase winding); and the motor is an AC motor.

[0083] When the AC motor needs to rotate forward, the drive signal output by the frequency generator is phase-shifted by a 120° phase shifter to generate a UA amplifier, and then phase-shifted by a 120° phase shifter to generate a UB amplifier, which follows the route to the right of the frequency generator; when the AC motor needs to reverse, the drive signal output by the frequency generator is phase-shifted by a -120° phase shifter to generate a UA amplifier, and then phase-shifted by a -120° phase shifter to generate a UB amplifier, which follows the route to the lower left part of the motor; the UC amplifier can be directly output to the motor, and the controller adjusts the size and output time of the UC amplifier, that is, the controller controls the adjustment unit to adjust the power of the drive signal to drive the motor to rotate.

[0084] It should be noted that, as shown in FIG3 , the small circle at the lower right of the motor represents a Hall element, which is connected to the controller and feeds back a status signal to the controller; the arrows in FIG3 only overlap but do not intersect.

[0085] In one embodiment, comparing the preset angle with the rotor angle, and controlling the adjustment unit to adjust the power of the driving signal based on the comparison result, comprises:

[0086] When the difference between the rotor angle and the preset angle is within a preset interval, the control adjustment unit reduces the power of the drive signal;

[0087] When the difference between the rotor angle and the preset angle is not within the preset interval, the control adjustment unit amplifies the power of the driving signal.

[0088] Among them, the preset interval can be adjusted according to actual conditions and is not limited in the embodiments of the present application.

[0089] Specifically, when the difference between the rotor angle and the preset angle is within the preset interval, it can be understood that the rotor angle is close to the preset angle at this time, and the control adjustment unit reduces the power of the drive signal to prevent the rotor angle from exceeding the preset angle, thereby improving the control accuracy of the AC motor; when the difference between the rotor angle and the preset angle is not within the preset interval, it can be understood that the rotor angle is greatly different from the preset angle at this time, and the control adjustment unit amplifies the power of the drive signal to speed up the speed at which the rotor angle reaches the preset angle, thereby improving the control accuracy of the AC motor.

[0090] In an embodiment of the present application, by determining whether the difference between the rotor angle and the preset angle is within a preset range, the adjustment unit is controlled to amplify or reduce the power of the drive signal, so that the rotor of the AC motor can quickly and accurately reach the preset position, thereby improving the control accuracy.

[0091] To facilitate understanding by those skilled in the art, the steps of comparing the preset angle and the rotor angle and controlling the adjustment unit to adjust the power of the drive signal based on the comparison result are described below in conjunction with a specific example, as shown in FIG4 :

[0092] The controller compares the acquired rotor angle with the preset angle, and adjusts the amplification factor (power adjustment) of the drive signal (for the third-phase power amplifier output) of the adjustment unit according to the comparison result, that is, increases or decreases the voltage to make the rotor reach the preset position.

[0093] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0094] Based on the same inventive concept, the embodiment of the present application also provides an AC motor control device for implementing the AC motor control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more AC motors provided below can refer to the limitations of the AC motor control method above, and will not be repeated here.

[0095] In an exemplary embodiment, as shown in FIG5 , a control device 500 for an AC motor is provided. The AC motor includes a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit. The device 500 includes:

[0096] The direction module 501 is used to control the phase shift unit to perform phase shift processing on the drive signal based on the preset rotation direction to obtain a reference signal, and output the reference signal to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the drive signal;

[0097] The speed module 502 is used to control the adjustment unit to amplify the power of the drive signal according to the preset speed, obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and preset speed.

[0098] In one of the embodiments, the reference signal includes a first phase-shifted signal and a second phase-shifted signal;

[0099] The direction module 501 is further used to control the phase shift unit to perform a first angle phase shift processing on the driving signal to obtain a first phase shift signal, and to control the phase shift unit to perform a second angle phase shift processing on the driving signal to obtain a second phase shift signal according to a preset rotation direction;

[0100] The first phase-shifted signal is output to the first phase winding, and the second phase-shifted signal is output to the second phase winding.

[0101] In one embodiment, the preset rotation direction includes forward rotation and reverse rotation;

[0102] When the preset rotation direction is forward, the first angle lags behind the second angle;

[0103] When the preset rotation direction is reverse, the first angle is ahead of the second angle.

[0104] In one embodiment, a Hall element is provided at the end of the AC motor, and the device 500 further includes an adjustment module, which is used to obtain the rotor angle of the AC motor according to the state signal fed back by the Hall element, compare the preset angle with the rotor angle, and control the adjustment unit to adjust the power of the driving signal based on the comparison result, generate a control signal, and output the control signal to the third phase winding to drive the AC motor to rotate;

[0105] When the rotor of the AC motor reaches a preset position, the output of the reference signal and the control signal is stopped.

[0106] In one of the embodiments, the adjustment module is further used to obtain the number of state changes of the Hall element based on the state signal, and obtain the rotor angle according to the number of state changes.

[0107] In one embodiment, the adjustment module is further used to control the adjustment unit to reduce the power of the driving signal when the difference between the rotor angle and the preset angle is within a preset range;

[0108] When the difference between the rotor angle and the preset angle is not within the preset interval, the control adjustment unit amplifies the power of the driving signal.

[0109] Each module in the control device of the AC motor can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0110] In an exemplary embodiment, an AC motor is provided, the AC motor comprising a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit;

[0111] The AC motor also includes a controller, which is connected to the frequency output unit, the phase shift unit and the adjustment unit respectively, and is used to execute the steps of the above method.

[0112] Specifically, based on a preset rotation direction, the controller controls the phase shifting unit to perform phase shifting on the driving signal output by the frequency output unit to obtain a reference signal, and outputs the reference signal to the first phase winding and the second phase winding of the AC motor respectively; according to a preset speed, the controller controls the adjustment unit to amplify the power of the driving signal to obtain a target signal, and outputs the target signal to the third phase winding of the AC motor to drive the AC motor to rotate in a preset rotation direction and at a preset speed.

[0113] It can be understood that the specific structures of the frequency output unit, the phase shift unit and the adjustment unit can be set according to actual conditions, as long as the frequency output unit can output a driving signal of a preset frequency, the phase shift unit can complete the phase shift of the driving signal, and the adjustment unit can complete the function of power adjustment of the driving signal.

[0114] The above-mentioned AC motor is provided with a frequency output unit, a phase shifting unit and an adjustment unit respectively connected to the frequency output unit, and is also provided with a controller, and the controller is respectively connected to the frequency output unit, the phase shifting unit and the adjustment unit. The controller is used to execute the steps of the above-mentioned method. The AC motor provided in the embodiment of the present application is used to drive the robot. Compared with the traditional method of using a DC motor to drive the robot, the cost is reduced and the weight of the robot is reduced while ensuring the control accuracy.

[0115] In one of the embodiments, the AC motor further comprises a Hall element, which is arranged at an end of the AC motor;

[0116] The controller is connected to the Hall element.

[0117] Specifically, a Hall element is provided at the end of the AC motor, and the rotor angle of the AC motor is obtained based on a state signal fed back by the Hall element.

[0118] In an embodiment of the present application, the AC motor is provided with a Hall element. The controller determines the number of state changes of the Hall element based on the state signal fed back by the Hall element, and obtains the rotor angle thereby facilitating subsequent power adjustment of the drive signal, thereby improving the control accuracy of the AC motor.

[0119] In one embodiment, the number of the Hall elements is two, and the electrical angle between the two Hall elements is 90 degrees.

[0120] Specifically, as shown in FIG6 , H1 and H2 in FIG6 are both represented as Hall elements, and the electrical angle between the two Hall elements is 90 degrees; it should be noted that FIG6 only exemplarily shows an installation position of a Hall element, and is not used to limit the installation position of the Hall element. UA, UB, and UC in FIG6 correspond to the three-phase windings of the AC motor, respectively.

[0121] To facilitate understanding by those skilled in the art, the control circuit of the AC motor is described below with reference to a specific example, as shown in FIG7 , wherein the frequency output unit is a frequency generator, the phase shift unit includes a 120° phase shifter and a -120° phase shifter, the adjustment unit is used for voltage adjustment, the reference signal is used for realizing A-phase power amplifier output and B-phase power amplifier output, the target signal or control signal is used for realizing C-phase power amplifier output, and the battery is used for power supply.

[0122] The controller controls the frequency generator to output a driving signal of a preset frequency, and controls the ±120° phase shifter to perform phase shift processing on the driving signal based on a preset rotation direction to obtain a reference signal, and outputs the reference signal to the A-phase winding and the B-phase winding of the AC motor respectively; the controller controls the adjustment unit to amplify the power of the driving signal according to the preset rotation speed, obtains the target signal, and outputs the target signal to the C-phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and the preset rotation speed; during the rotation of the AC motor, the controller obtains the rotor angle of the AC motor based on the state signal fed back by the Hall element (Hall element 1, Hall element 2), compares the preset angle with the rotor angle, and controls the adjustment unit to adjust the voltage (power adjustment) of the driving signal based on the comparison result, generates a control signal, and outputs the control signal to the third phase winding to drive the AC motor to rotate, and stops outputting the reference signal and the control signal when the rotor of the AC motor reaches a preset position.

[0123] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG8. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a control method for an AC motor is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0124] Those skilled in the art will understand that the structure shown in FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0125] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the control method of the AC motor when executing the computer program.

[0126] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the AC motor described above is implemented.

[0127] In one embodiment, a computer program product is provided, comprising a computer program, which implements the above-mentioned control method of the AC motor when executed by a processor.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0129] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0131] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for an AC motor, characterized in that: The AC motor includes a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit; the method includes: Based on a preset rotation direction, the phase shift unit is controlled to perform phase shift processing on the drive signal to obtain a reference signal, and the reference signal is output to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the drive signal; According to the preset speed, the adjustment unit is controlled to amplify the power of the drive signal, obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and the preset speed.

2. The method according to claim 1, characterized in that The reference signal includes a first phase-shifted signal and a second phase-shifted signal; Based on the preset rotation direction, the phase shifting unit is controlled to perform phase shifting processing on the drive signal to obtain a reference signal, and the reference signal is output to the first phase winding and the second phase winding of the AC motor respectively, including: According to the preset rotation direction, controlling the phase shift unit to perform a phase shift process on the drive signal at a first angle to obtain the first phase shift signal, and controlling the phase shift unit to perform a phase shift process on the drive signal at a second angle to obtain the second phase shift signal; The first phase-shifted signal is output to the first phase winding, and the second phase-shifted signal is output to the second phase winding.

3. The method according to claim 2, characterized in that The preset rotation direction includes forward rotation and reverse rotation; When the preset rotation direction is forward, the first angle lags behind the second angle; When the preset rotation direction is reverse, the first angle is ahead of the second angle.

4. The method according to claim 1, characterized in that: A Hall element is provided at the end of the AC motor, and the method further comprises: According to the state signal fed back by the Hall element, the rotor angle of the AC motor is obtained, a preset angle and the rotor angle are compared, and based on the comparison result, the adjustment unit is controlled to adjust the power of the drive signal, a control signal is generated, and the control signal is output to the third phase winding to drive the AC motor to rotate; When the rotor of the AC motor reaches a preset position, the reference signal and the control signal are stopped from being output.

5. The method according to claim 4, characterized in that The step of obtaining the rotor angle of the AC motor according to the state signal fed back by the Hall element comprises: Based on the state signal, the state change times of the Hall element are obtained, and the rotor angle is obtained according to the state change times.

6. The method according to claim 4, characterized in that The comparing the preset angle and the rotor angle, and controlling the adjustment unit to adjust the power of the drive signal based on the comparison result, comprises: When the difference between the rotor angle and the preset angle is within a preset interval, controlling the adjustment unit to reduce the power of the drive signal; When the difference between the rotor angle and the preset angle is not within the preset interval, the adjustment unit is controlled to amplify the power of the drive signal.

7. A control device for an AC motor, characterized in that: The AC motor includes a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit; the device includes: A direction module, for controlling the phase shift unit to perform phase shift processing on the drive signal based on a preset rotation direction to obtain a reference signal, and outputting the reference signal to the first phase winding and the second phase winding of the AC motor respectively; wherein the frequency output unit is used to output the drive signal; The speed module is used to control the adjustment unit to amplify the power of the drive signal according to the preset speed, obtain the target signal, and output the target signal to the third phase winding of the AC motor to drive the AC motor to rotate according to the preset rotation direction and the preset speed.

8. An AC motor, characterized in that: The AC motor includes a frequency output unit, and a phase shift unit and an adjustment unit respectively connected to the frequency output unit; The AC motor further includes a controller, which is respectively connected to the frequency output unit, the phase shift unit and the adjustment unit, and is used to execute the steps of the method according to any one of claims 1 to 6.

9. The AC motor according to claim 8, characterized in that: The AC motor further comprises a Hall element, and the Hall element is arranged at an end of the AC motor; The controller is connected to the Hall element.

10. The AC motor according to claim 9, characterized in that: The number of the Hall elements is two, and the electrical angle between the two Hall elements is 90 degrees.

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