Motor phase current data trimming method and related device

Abstract

The invention belongs to the field of motor control, and discloses a motor phase current data trimming method and a related device, and the method comprises the steps: obtaining a plurality of sampling data of each collection channel of motor phase current; obtaining a neutral point value and an amplitude value of each acquisition channel according to the plurality of sampling data of each acquisition channel; determining a trimming bias coefficient and a trimming proportion coefficient of each acquisition channel according to the neutral point value and the amplitude value of each acquisition channel; and trimming the subsequent sampling data of each acquisition channel according to the trimming bias coefficient and the trimming proportionality coefficient of each acquisition channel. According to the method, the difference value of the amplitudes among the plurality of acquisition channels can be trimmed to be within a small range, and the difference value of the neutral point values among the plurality of acquisition channels can be trimmed to be within a small range, so that the phase current waveform of the motor can be accurately restored, the motor can be smoothly started and normally operated, and the service life of the motor is prolonged. And the hardware cost is saved without obvious perception of the user.

Description

Technical Field

[0001] The invention belongs to the field of motor control and relates to a motor phase current data adjustment method and a related device. Background Art

[0002] In the field of motor control, it is sometimes necessary to restore the motor phase current waveform. Usually, sampling resistors are used for sampling, and then the differential voltage signal is sent to the operational amplifier for amplification and biasing. Finally, the ADC (Analog-to-Digital Converter) is used for sampling and input into the MCU (Microcontroller Unit). There are many factors that affect the accuracy of waveform restoration along the entire signal flow path, such as the accuracy of the sampling resistor, the accuracy of the external resistor network of the operational amplifier, the linear error of the operational amplifier, and the ADC error. These errors will eventually lead to deviations in the amplitude of the restored multi-channel current waveforms and deviations in the neutral points of the multi-channel current waveforms, which will cause trouble for subsequent operations and even cause the motor to fail to start normally.

[0003] To address the above issues, currently only operational amplifiers are calibrated before leaving the factory. Although this method can eliminate some linear errors caused by the operational amplifier, it cannot handle the neutral point offset. In addition, errors caused by other factors on the product PCB (Printed Circuit Board) cannot be known before leaving the factory. In actual use, abnormal motor start-up may occur due to other errors, and the factory test will increase the test time and cost. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a motor phase current data adjustment method and related devices.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a method for adjusting motor phase current data, comprising: obtaining a number of sampling data from each acquisition channel of the motor phase current; obtaining a neutral point value and an amplitude of each acquisition channel based on the number of sampling data from each acquisition channel; determining an adjustment bias coefficient and an adjustment proportional coefficient of each acquisition channel based on the neutral point value and the amplitude of each acquisition channel; and adjusting subsequent sampling data of each acquisition channel based on the adjustment bias coefficient and the adjustment proportional coefficient of each acquisition channel.

[0006] Optionally, obtaining the neutral point value and amplitude of each acquisition channel based on a number of sampling data of each acquisition channel includes: when the sampling data of the acquisition channel reaches a stable state, obtaining the maximum value of the positive half cycle and the minimum value of the negative half cycle in the first complete cycle and superimposing them to obtain the neutral point value of the acquisition channel; superimposing the absolute value of the maximum value of the positive half cycle and the absolute value of the minimum value of the negative half cycle in the first complete cycle to obtain the peak-to-peak value in the first complete cycle and dividing it by 2 to obtain the amplitude of the acquisition channel.

[0007] Optionally, obtaining the maximum value of the positive half cycle in the first complete cycle includes: performing zero-crossing detection on the sampled data and identifying the positive and negative, until the first zero-crossing and the data value is positive, obtaining the maximum value of the sampled data between the current zero-crossing and the next zero-crossing as the maximum value of the positive half cycle in the first complete cycle; or, obtaining the maximum value of the sliding window average value of the sampled data between the current zero-crossing and the next zero-crossing as the maximum value of the positive half cycle in the first complete cycle; obtaining the minimum value of the negative half cycle in the first complete cycle includes: performing zero-crossing detection on the sampled data and identifying the positive and negative, until the first zero-crossing and the data value is negative, obtaining the minimum value of the sampled data between the current zero-crossing and the next zero-crossing as the minimum value of the negative half cycle in the first complete cycle; or, obtaining the minimum value of the sliding window average value of the sampled data between the current zero-crossing and the next zero-crossing as the minimum value of the negative half cycle in the first complete cycle.

[0008] Optionally, determining the adjustment bias coefficient of each acquisition channel includes: subtracting the neutral point value of the acquisition channel from the reference neutral point value to obtain the adjustment bias coefficient of the acquisition channel; wherein the reference neutral point value is a preset value, or the neutral point value of a designated acquisition channel among each acquisition channel is used as the reference neutral point value, or the maximum value, average value, minimum value or mode of the neutral point values ​​of several acquisition channels is obtained as the reference neutral point value.

[0009] Optionally, determining the adjustment proportional coefficient of each acquisition channel includes: dividing the amplitude of the acquisition channel by a reference amplitude to obtain an adjustment bias coefficient of the acquisition channel; wherein the reference amplitude is a preset value, or the amplitude of a designated acquisition channel among each acquisition channel is used as the reference amplitude, or the maximum value, average value, minimum value or mode of the amplitudes of several acquisition channels is obtained as the reference amplitude.

[0010] Optionally, determining the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel includes: obtaining the adjustment bias coefficient of the acquisition channel from a preset correspondence table between neutral point value and adjustment bias coefficient according to the neutral point value of the acquisition channel; obtaining the adjustment proportional coefficient of the acquisition channel from a preset correspondence table between amplitude and adjustment proportional coefficient according to the amplitude of the acquisition channel.

[0011] Optionally, it also includes: obtaining motor operation information, and starting motor phase current data adjustment when the motor operation information indicates that the motor is starting, or the motor is starting and the motor has not undergone motor phase current data adjustment, or the motor is starting and the motor failed to start last time, or the motor is starting and the motor is currently starting and there is a high probability that it will fail, or the motor is in operation and the given value of the current motor phase current sampling data is greater than the given value of the previous motor phase current sampling data and lasts for a preset time; storing the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel in a non-volatile storage medium; and storing subsequent sampling data of each acquisition channel in a volatile storage medium.

[0012] According to a second aspect of the present invention, a motor phase current data adjustment system is provided, comprising: a data acquisition module for acquiring a number of sampling data of each acquisition channel of the motor phase current; a data analysis module for acquiring the neutral point value and amplitude of each acquisition channel according to the number of sampling data of each acquisition channel; a data processing module for determining the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; and a data adjustment module for adjusting subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel.

[0013] According to a third aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned motor phase current data adjustment method when executing the computer program.

[0014] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned motor phase current data adjustment method are implemented.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The motor phase current data adjustment method of the present invention obtains a number of sampling data of each acquisition channel of the motor phase current, then obtains the neutral point value and amplitude of each acquisition channel according to the number of sampling data of each acquisition channel, then determines the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel, and finally adjusts the subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel, so that the difference of the amplitude between multiple acquisition channels can be adjusted to a smaller range, and the difference of the neutral point value between multiple acquisition channels can be adjusted to a smaller range, thereby realizing the accurate restoration of the motor phase current waveform, so that the motor can be smoothly started and run normally. In addition, the adjustment method is an on-board online adjustment, that is, all components related to the waveform restoration degree on the entire signal flow path have been determined, and all deviations are involved in the adjustment. This method is not limited to adjusting a certain component alone, and does not require redundant test steps when leaving the factory. At the same time, resistors with poor error levels and external resistor networks of operational amplifiers can be used, thereby saving hardware costs. In addition, the deviation caused by the aging of related components on the PCB due to the long use of the product can also be adjusted without the user's obvious perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Flow chart of a motor phase current data adjustment method according to an embodiment of the present invention.

[0017] Figure 2 4 is a structural block diagram of a motor phase current data adjustment system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "including" and "having" and any variations thereof in the description of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or apparatuses.

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1In one embodiment of the present invention, a method for adjusting motor phase current data is provided, specifically, a method for online adjustment of certain multi-channel periodic sampling data with linear errors.

[0021] Specifically, the motor phase current data adjustment method of the present invention comprises the following steps: S1: Obtain a number of sampling data of each acquisition channel of the motor phase current.

[0022] S2: According to a number of sampling data of each acquisition channel, the neutral point value and amplitude of each acquisition channel are obtained.

[0023] S3: Determine the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel.

[0024] S4: According to the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel, the subsequent sampling data of each acquisition channel is adjusted.

[0025] The motor phase current data adjustment method of the present invention obtains a number of sampling data of each acquisition channel of the motor phase current, then obtains the neutral point value and amplitude of each acquisition channel according to the number of sampling data of each acquisition channel, then determines the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel, and finally adjusts the subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel, so that the difference of the amplitude between multiple acquisition channels can be adjusted to a smaller range, and the difference of the neutral point value between multiple acquisition channels can be adjusted to a smaller range, thereby realizing the accurate restoration of the motor phase current waveform, so that the motor can be smoothly started and run normally. In addition, the adjustment method is an on-board online adjustment, that is, all components related to the waveform restoration degree on the entire signal flow path have been determined, and all deviations are involved in the adjustment. This method is not limited to adjusting a certain component alone, and does not require redundant test steps when leaving the factory. At the same time, resistors with poor error levels and external resistor networks of operational amplifiers can be used, thereby saving hardware costs. In addition, the deviation caused by the aging of related components on the PCB due to the long use of the product can also be adjusted without the user's obvious perception.

[0026] In a possible implementation, obtaining the neutral point value and amplitude of each acquisition channel based on a number of sampling data of each acquisition channel includes: when the sampling data of the acquisition channel reaches a stable state, obtaining the maximum value of the positive half cycle and the minimum value of the negative half cycle in the first complete cycle and superimposing them to obtain the neutral point value of the acquisition channel; superimposing the absolute value of the maximum value of the positive half cycle and the absolute value of the minimum value of the negative half cycle in the first complete cycle to obtain the peak-to-peak value in the first complete cycle and dividing it by 2 to obtain the amplitude of the acquisition channel.

[0027] Exemplarily, it is determined that the sampling data of the acquisition channel has reached a stable state in the following manner: when the given values ​​reach the preset values ​​within the target time period, it is considered that the sampling data has followed and reached a stable state.

[0028] Explanatory, the given value refers to the amplitude of each point on the positive half envelope of the sampled data. As to why the sampled data amplitude follows the given value, it is because there are specific coordinate transformations and PI controllers (Proportional-Integral Controller) in the system, which can make the sampled data amplitude follow the given value. Therefore, the change of the given value can reflect the change of the sampled data amplitude.

[0029] Optionally, obtaining the maximum value of the positive half cycle in the first complete cycle includes: performing zero-crossing detection on the sampled data and identifying the positive and negative, until the first zero-crossing and the data value is positive, obtaining the maximum value of the sampled data between the current zero-crossing point and the next zero-crossing point, as the maximum value of the positive half cycle in the first complete cycle; or, obtaining the maximum value of the sliding window average value of the sampled data between the current zero-crossing point and the next zero-crossing point, as the maximum value of the positive half cycle in the first complete cycle.

[0030] Optionally, obtaining the minimum value of the negative half cycle in the first complete cycle includes: performing zero crossing detection on the sampled data and identifying the positive and negative, until the first zero crossing and the data value is negative, obtaining the minimum value of the sampled data between the current zero crossing and the next zero crossing, as the minimum value of the negative half cycle in the first complete cycle; or, obtaining the minimum value of the sliding window average of the sampled data between the current zero crossing and the next zero crossing, as the minimum value of the negative half cycle in the first complete cycle.

[0031] Explanatory, using a sliding window average can avoid reading erroneous values ​​due to data fluctuations or glitches. The maximum value expected after the sliding average is the average of several points at the top of the sampled data waveform.

[0032] Exemplarily, the decision on ending the calculation of the sliding window average value is as follows: Calculate the difference between the current output sliding window average and the maximum historical sliding window average. When the value obtained by subtracting the current output sliding window average from the maximum historical sliding window average is positive and greater than a threshold, it is considered that the sampled data is decreasing, that is, the maximum value has appeared. Stop calculating the sliding window average and use the maximum historical sliding window average for the next calculation.

[0033] Explanatory, if the calculation of the sliding window average value is not completed in time, the adjustment value may not be calculated before the end of the current full cycle of the sampled data, and the adjustment value cannot be used at the beginning of the next cycle. At the same time, the new adjustment parameters should be used at the beginning of the next full cycle of the channel because the use of new adjustment parameters will cause the waveform of the sampled data to be distorted. If the current sampled data is not zero and is relatively large, the resulting data mutation may cause the system to oscillate or even diverge. In addition, if it is confirmed that the sliding window average value of the sampled data is decreasing, it proves that the maximum value has appeared, and timely termination of the calculation can reduce unnecessary calculations.

[0034] In a possible implementation, determining the trimming bias coefficient of each acquisition channel includes: subtracting the neutral point value of the acquisition channel from the reference neutral point value to obtain the trimming bias coefficient of the acquisition channel; wherein the reference neutral point value is a preset value, or the neutral point value of a designated acquisition channel among each acquisition channel is used as the reference neutral point value, or the maximum value, average value, minimum value or mode of the neutral point values ​​of several acquisition channels is obtained as the reference neutral point value.

[0035] Explanatory, the origin of the reference neutral point value includes two aspects: 1. Theoretical values ​​stored in advance.

[0036] 2. Determine the reference neutral point value based on the neutral point values ​​corresponding to multiple target sampling data. This process includes two methods. Method 1: Determine a neutral point value other than the current acquisition channel among multiple acquisition channels as the reference neutral point value, that is, the data of multiple acquisition channels are brought closer to the referenced acquisition channel, and the referenced acquisition channel does not perform the adjustment step. Method 2: Calculate the maximum, average, minimum or mode of the neutral point values ​​corresponding to multiple target sampling data and determine it as the reference neutral point value.

[0037] Exemplarily, the adjustment bias coefficient corresponding to the neutral point value corresponding to the target sampling data can also be determined from the correspondence between multiple neutral point values ​​and multiple adjustment bias coefficients. That is, according to the neutral point value of the acquisition channel, the adjustment bias coefficient of the acquisition channel is obtained from the preset correspondence table between the neutral point value and the adjustment bias coefficient.

[0038] In a possible implementation, determining the trimming proportional coefficient of each acquisition channel includes: dividing the amplitude of the acquisition channel by a reference amplitude to obtain a trimming bias coefficient of the acquisition channel; wherein the reference amplitude is a preset value, or the amplitude of a designated acquisition channel among each acquisition channel is used as the reference amplitude, or the maximum value, average value, minimum value or mode of the amplitudes of several acquisition channels is obtained as the reference amplitude.

[0039] Explanatory, the origin of the reference amplitude includes two aspects: 1. Theoretical values ​​stored in advance.

[0040] 2. Determine the reference amplitude based on the amplitudes corresponding to multiple target sampling data. This process includes two methods. Method 1: Determine the amplitude of the sampling data collected by a channel (i.e., the reference channel) other than the current acquisition channel among multiple acquisition channels as the reference amplitude, that is, the sampling data collected by the channels other than the reference channel among multiple acquisition channels are close to the sampling data collected by the reference channel, and the sampling data collected by the reference channel does not perform the adjustment step. Method 2: Calculate the maximum, average, minimum or mode of the amplitudes corresponding to multiple target sampling data and determine them as the reference amplitude.

[0041] Exemplarily, the adjustment proportional coefficient corresponding to the neutral point value corresponding to the target sampling data can also be determined from the correspondence between multiple amplitudes and multiple adjustment proportional coefficients. That is, according to the amplitude of the acquisition channel, the adjustment proportional coefficient of the acquisition channel is obtained from the preset correspondence table between the amplitude and the adjustment proportional coefficient.

[0042] When running this program on some processors, the lack of a hardware divider makes the division calculation time-consuming and sometimes takes up the running time of other programs. The adjustment ratio coefficient can be quickly determined by looking up a table.

[0043] Based on the adjustment bias coefficient and the adjustment ratio coefficient of the sampling data of the acquisition channel, the adjustment equation corresponding to the acquisition channel is determined, and the sampling data of the acquisition channel is adjusted based on the adjustment equation corresponding to the acquisition channel.

[0044] Exemplarily, the adjustment equation is: y=kx+b Among them, y is the adjustment data, k is the adjustment ratio coefficient, x is the sampling data, and b is the adjustment bias coefficient.

[0045] For example, at the beginning of the second cycle of each acquisition channel, the adjustment equation of the corresponding channel can be used to adjust the sampled data of the corresponding channel, which has the characteristics of rapid adjustment, high real-time performance, and no user perception.

[0046] Alternatively, several adjustment parameters of each channel are calculated continuously, and the average value of these adjustment parameters is calculated as the adjustment equation used in the end. At the beginning of the next cycle, the adjustment equation of the corresponding channel is used to adjust the sampled data of the corresponding channel. This can avoid the deviation of the adjustment equation caused by the inaccuracy of a single adjustment parameter, and the user's lack of obvious perception.

[0047] In a possible implementation, the motor phase current data trimming method further includes: acquiring motor operation information, and starting motor phase current data trimming when the motor operation information indicates that the motor is starting, or the motor is starting and the motor has not undergone motor phase current data trimming, or the motor is starting and the motor failed to start last time, or the motor is starting and the motor is currently starting and there is a high probability that it will fail, or the motor is in operation and a given value of the current motor phase current sampling data is greater than a given value of the last motor phase current sampling data and lasts for a preset time.

[0048] Explanatory, before executing the step of acquiring a number of sampled data of each acquisition channel of the motor phase current, the motor operation information can also be acquired. If the motor operation information satisfies the data adjustment condition, the step of acquiring a number of sampled data of each acquisition channel of the motor phase current is executed. Wherein, the motor operation information satisfies the data adjustment condition means that the motor operation information indicates that the motor is starting, or the motor is starting and the motor has not been adjusted for the motor phase current data, or the motor is starting and the motor failed to start last time, or the motor is starting and the current motor start is likely to fail, or the motor is in operation and the given value of the current motor phase current sampling data is greater than the given value of the previous motor phase current sampling data and lasts for a preset time.

[0049] Explanatory, the starting motor phase current data adjustment includes: Condition 1: The motor failed to start last time, and the motor phase current data adjustment is performed when trying to start for the second time: After the motor driver board is powered on and receives the start command, it starts to output a specific voltage waveform to drive the motor. Under normal circumstances, the motor gradually accelerates and enters operation. When the system is in the startup state and has not reached the startup success judgment speed r1 after exceeding the first threshold time t1, the startup is judged to have failed. At this time, try to start for the second time, and start the motor phase current data adjustment until the startup is successful. If the startup is successful, it proves that the adjustment coefficient (that is, the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel) is available, and the adjustment coefficient is stored in the non-volatile storage medium. The subsequent startup can directly call the adjustment coefficient stored in the non-volatile storage medium to start. Because the motor cannot start normally due to various deviations, there are not many cases in actual use. If each product PCB is adjusted, some are unnecessary. Based on the above design, it can be selected to judge the startup failure and then adjust, otherwise it can be started normally directly. In addition, some components are aged due to long-term use, and the parameters will change, resulting in the original adjustment value not meeting the requirements (that is, unable to start normally), which can be automatically re-adjusted.

[0050] Condition 2: You can also start the motor phase current data adjustment when the motor is started without adjusting the motor phase current data, and store the calculated adjustment coefficient in the memory. No adjustment is performed during subsequent startups, and the adjustment coefficient is directly read to start until a startup failure or a high probability of startup failure occurs. This reduces unnecessary calculations, ensures that the first startup is successful, and reduces user perception. Among them, how to determine whether it has never been adjusted can be done by reading the area storing the adjustment coefficient in the non-volatile storage medium. If the area is empty, it is determined that the product PCB has never been adjusted.

[0051] Condition 3: Execute the following steps at each startup. That is, unconditionally adjust each product board at each startup. To achieve high real-time performance, the system deviation at each startup will be adjusted, and the adjustment parameters will be continuously updated to adapt to various changes.

[0052] Condition 4: When it is determined that the current start of the motor is likely to fail, there is no need to wait for the actual determination of the start failure, and the motor phase current data adjustment can be directly started. It can take into account the reduction of unnecessary calculations and real-time adjustment and reduce user perception at the same time. Among them, as to how to determine that the current start of the motor is likely to fail, when the motor is in the starting state, if it has not reached the set speed r2 after exceeding the second threshold time t2, wherein the second threshold time t2 is less than the first threshold time t1, and the set speed r2 is less than the start success determination speed r1, it is determined that the motor is likely to fail to start. At this time, the motor phase current data adjustment is started. If the subsequent motor starts successfully, it proves that the adjustment coefficient in the motor phase current data adjustment is available. When the motor is started later, the adjustment coefficient calculated in the most recent motor phase current data adjustment process can be directly called to start.

[0053] Condition 5: If the motor is in operation and the given value of the current motor phase current sampling data is greater than the given value of the previous motor phase current sampling data and lasts for a preset time, the motor phase current data adjustment is started.

[0054] As to why the adjustment coefficient needs to be recalculated when the given value of the current motor phase current sampling data is greater than the given value of the previous motor phase current sampling data, it is because the sampling data waveform at startup may have a certain distortion. At the same time, when the given value during operation is greater than the given value at startup and is stable, the waveform of the sampling data is more regular, the amplitude is larger, and the signal-to-noise ratio is higher. At this time, the confidence of the calculated adjustment coefficient is higher.

[0055] In a possible implementation manner, the motor phase current data trimming method further includes: storing the trimming bias coefficient and the trimming proportional coefficient of each acquisition channel in a non-volatile storage medium.

[0056] Explanatory, after determining the trimming bias coefficient and the trimming scale coefficient of each acquisition channel, the trimming bias coefficient and the trimming scale coefficient of each acquisition channel may also be stored in a non-volatile storage medium.

[0057] In this embodiment, after determining the trimming bias coefficient and the trimming proportional coefficient, the trimming bias coefficient and the trimming proportional coefficient of each acquisition channel are stored in a non-volatile storage medium, so that when the motor is started next time, the subsequent sampling data of each acquisition channel can be adjusted directly based on the trimming bias coefficient and the trimming proportional coefficient of each acquisition channel stored in the non-volatile storage medium, without executing the action of determining the trimming bias coefficient and the trimming proportional coefficient of each acquisition channel. This avoids the need to execute the step of adjusting the coefficient every time the motor is started, simplifies the operation process, reduces the calculation complexity, and improves the overall operation efficiency of the system.

[0058] In a possible implementation manner, the motor phase current data adjustment method further includes: storing subsequent sampling data of each acquisition channel in a volatile storage medium.

[0059] In general, through the above-mentioned motor phase current data adjustment method, the amplitude and neutral point value of the sampling data of multiple acquisition channels can be adjusted to a similar range, so that the motor can start smoothly and operate normally.

[0060] The following are device embodiments of the present invention, which can be used to implement the method embodiments of the present invention. For details not disclosed in the device embodiments, please refer to the method embodiments of the present invention.

[0061] See also Figure 2 In another embodiment of the present invention, a motor phase current data adjustment system is provided, which can be used to implement the above-mentioned motor phase current data adjustment method. Specifically, the motor phase current data adjustment system includes a data acquisition module, a data analysis module, a data processing module and a data adjustment module.

[0062] Among them, the data acquisition module is used to obtain a number of sampling data of each acquisition channel of the motor phase current; the data analysis module is used to obtain the neutral point value and amplitude of each acquisition channel based on the number of sampling data of each acquisition channel; the data processing module is used to determine the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel based on the neutral point value and amplitude of each acquisition channel; the data adjustment module is used to adjust the subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel.

[0063] All relevant contents of each step involved in the above-mentioned embodiment of the motor phase current data adjustment method can be referred to the functional description of the functional modules corresponding to the motor phase current data adjustment system in the embodiment of the present invention, and will not be repeated here.

[0064] The division of modules in the embodiments of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention may be integrated into one processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0065] In another embodiment of the present invention, a computer device is provided, the computer device includes a processor and a memory, the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in a computer storage medium to implement a corresponding method flow or a corresponding function; the processor described in the embodiment of the present invention can be used for the operation of the motor phase current data adjustment method.

[0066] In another embodiment of the present invention, the present invention also provides a storage medium, specifically a computer-readable storage medium, which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM (Random Access Memory) memory, or it can be a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the motor phase current data adjustment method in the above embodiment.

[0067] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program code.

[0068] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0069] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for adjusting motor phase current data, characterized in that: include: Obtaining a number of sampling data of each acquisition channel of the motor phase current; According to a number of sampling data of each acquisition channel, the neutral point value and amplitude of each acquisition channel are obtained; Determine the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; According to the adjustment bias coefficient and the adjustment ratio coefficient of each acquisition channel, the subsequent sampling data of each acquisition channel is adjusted.

2. The motor phase current data adjustment method according to claim 1, characterized in that: The step of obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampling data of each acquisition channel comprises: When the sampling data of the acquisition channel reaches a stable state, the maximum value of the positive half cycle and the minimum value of the negative half cycle in the first complete cycle are obtained and superimposed to obtain the neutral point value of the acquisition channel; The absolute value of the maximum value of the positive half cycle and the absolute value of the minimum value of the negative half cycle in the first complete cycle are superimposed to obtain the peak-to-peak value in the first complete cycle and divided by 2 to obtain the amplitude of the acquisition channel.

3. The motor phase current data adjustment method according to claim 2, characterized in that: The method of obtaining the maximum value of the positive half cycle in the first complete cycle includes: Perform zero-crossing detection on the sampled data and identify the positive and negative until the first zero-crossing and the data value is positive, obtain the maximum value of the sampled data between the current zero-crossing point and the next zero-crossing point, as the maximum value of the positive half cycle in the first complete cycle; or obtain the maximum value of the sliding window average value of the sampled data between the current zero-crossing point and the next zero-crossing point, as the maximum value of the positive half cycle in the first complete cycle; Getting the minimum value of the negative half cycle in the first full cycle includes: Perform zero-crossing detection on the sampled data and identify the positive and negative until the first zero-crossing occurs and the data value is negative, obtain the minimum value of the sampled data between the current zero-crossing point and the next zero-crossing point, and use it as the minimum value of the negative half-cycle in the first complete cycle; or obtain the minimum value of the sliding window average of the sampled data between the current zero-crossing point and the next zero-crossing point, and use it as the minimum value of the negative half-cycle in the first complete cycle.

4. The motor phase current data adjustment method according to claim 1, characterized in that: Determining the adjustment bias coefficient of each acquisition channel includes: The neutral point value of the acquisition channel and the reference neutral point value are subtracted to obtain the adjustment bias coefficient of the acquisition channel; wherein the reference neutral point value is a preset value, or the neutral point value of a designated acquisition channel in each acquisition channel is used as the reference neutral point value, or the maximum value, average value, minimum value or mode of the neutral point values ​​of several acquisition channels are obtained as the reference neutral point value.

5. The motor phase current data adjustment method according to claim 1, characterized in that: Determining the adjustment ratio coefficient of each acquisition channel includes: The amplitude of the acquisition channel is divided by the reference amplitude to obtain the adjustment bias coefficient of the acquisition channel; The reference amplitude is a preset value, or the amplitude of a designated acquisition channel among the acquisition channels is used as the reference amplitude, or the maximum value, average value, minimum value or mode of the amplitudes of several acquisition channels is obtained as the reference amplitude.

6. The motor phase current data adjustment method according to claim 1, characterized in that: Determining the trimming bias coefficient and trimming proportional coefficient of each acquisition channel includes: According to the neutral point value of the acquisition channel, the adjustment bias coefficient of the acquisition channel is obtained from the preset correspondence table between the neutral point value and the adjustment bias coefficient; According to the amplitude of the acquisition channel, the adjustment proportional coefficient of the acquisition channel is obtained from a preset corresponding relationship table between the amplitude and the adjustment proportional coefficient.

7. The motor phase current data adjustment method according to claim 1, characterized in that: Also includes: Obtaining motor operation information, and starting motor phase current data adjustment when the motor operation information indicates that the motor is starting, or the motor is starting and the motor has not been adjusted for motor phase current data, or the motor is starting and the motor failed to start last time, or the motor is starting and the motor is likely to fail to start currently, or the motor is in operation and the given value of the current motor phase current sampling data is greater than the given value of the previous motor phase current sampling data and lasts for a preset time; Storing the trimming bias coefficient and trimming proportional coefficient of each acquisition channel in a non-volatile storage medium; The subsequent sampling data of each acquisition channel is stored in a volatile storage medium.

8. A motor phase current data adjustment system, characterized in that: include: A data acquisition module, used to acquire a number of sampling data of each acquisition channel of the motor phase current; A data analysis module, used to obtain the neutral point value and amplitude of each acquisition channel according to a number of sampling data of each acquisition channel; A data processing module, used to determine the adjustment bias coefficient and adjustment proportional coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; The data adjustment module is used to adjust the subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and the adjustment ratio coefficient of each acquisition channel.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the motor phase current data adjustment method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the motor phase current data adjustment method as claimed in any one of claims 1 to 7 are implemented.

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