Motor Phase Current Data Adjustment Method and Related Device

Abstract

The present invention belongs to the field of motor control, and discloses a method and related device for adjusting motor phase current data, including: obtaining a plurality of sampling data of each acquisition channel of the motor phase current; obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampling data of each acquisition channel; determining the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; adjusting the subsequent sampling data of each acquisition channel according to the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel. It can adjust the difference in amplitude between multiple acquisition channels to a smaller range, and adjust the difference in neutral point value between multiple acquisition channels to a smaller range, thereby realizing the accurate restoration of the motor phase current waveform, enabling the motor to start smoothly and operate normally, saving hardware costs and being hardly perceptible to users.

Description

Technical Field

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

[0002] In the field of motor control, sometimes it is necessary to restore the motor phase current waveform. Usually, a sampling resistor is used for sampling, and then the differential voltage signal is sent to an operational amplifier for amplification and bias provision. Finally, an ADC (Analog-to-Digital Converter) samples and inputs it into an MCU (Microcontroller Unit). In the entire signal path, there are many factors affecting the accuracy of waveform restoration, 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, etc. These errors will ultimately lead to deviations in the amplitudes of the restored multi-channel current waveforms and deviations in the neutral points of the multi-channel current waveforms, causing trouble for subsequent operations. Seriously, it may lead to abnormal motor startup.

[0003] To address the above problems, currently, only the operational amplifier is calibrated at the factory. Although this method can eliminate part of the linear error caused by the operational amplifier, it cannot handle the neutral point offset, and it is also impossible to know the errors caused by other factors on the product PCB (Printed Circuit Board) at the factory. During actual use, abnormal motor startup may occur due to other errors, and it will also increase the test time and cost for factory testing. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a method and related device for adjusting motor phase current data.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In the first aspect of the present invention, a method for adjusting motor phase current data is provided, including: obtaining a plurality of sampling data of each acquisition channel of the motor phase current; obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampling data of each acquisition channel; determining 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 adjusting the subsequent sampling data of each acquisition channel according to the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel.

[0007] 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 within the first complete cycle and adding them together to obtain the neutral point value of the acquisition channel; adding 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 within the first complete cycle to obtain the peak-to-peak value within the first complete cycle and dividing by 2 to obtain the amplitude of the acquisition channel.

[0008] Optionally, obtaining the maximum value of the positive half cycle within the first complete cycle includes: performing zero-crossing detection on the sampling data and identifying positive and negative until the first zero-crossing and the data value is positive, and obtaining the maximum value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value of the positive half cycle within the first complete cycle; or obtaining the maximum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value of the positive half cycle within the first complete cycle; obtaining the minimum value of the negative half cycle within the first complete cycle includes: performing zero-crossing detection on the sampling data and identifying positive and negative until the first zero-crossing and the data value is negative, and obtaining the minimum value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value of the negative half cycle within the first complete cycle; or obtaining the minimum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value of the negative half cycle within the first complete cycle.

[0009] Optionally, 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; where the reference neutral point value is a preset value, or using the neutral point value of a specified acquisition channel among the acquisition channels as the reference neutral point value, or obtaining the maximum value, average value, minimum value or mode of the neutral point values of a number of acquisition channels as the reference neutral point value.

[0010] Optionally, determining the trimming ratio coefficient of each acquisition channel includes: dividing the amplitude of the acquisition channel by the reference amplitude to obtain the trimming bias coefficient of the acquisition channel; where the reference amplitude is a preset value, or using the amplitude of a specified acquisition channel among the acquisition channels as the reference amplitude, or obtaining the maximum value, average value, minimum value or mode of the amplitudes of a number of acquisition channels as the reference amplitude.

[0011] Optionally, determining the trimming bias coefficient and trimming ratio coefficient of each acquisition channel includes: according to the neutral point value of the acquisition channel, obtaining the trimming bias coefficient of the acquisition channel from a preset correspondence table between the neutral point value and the trimming bias coefficient; according to the amplitude of the acquisition channel, obtaining the trimming ratio coefficient of the acquisition channel from a preset correspondence table between the amplitude and the trimming ratio coefficient.

[0012] Optionally, it further includes: obtaining motor operation information, and starting the motor phase current data adjustment when the motor operation information indicates that the motor is starting, or the motor is starting and the motor phase current data has not been adjusted before, or the motor is starting and the previous start of the motor failed, or the motor is starting and the current start of the motor is likely to fail, or the motor is in the running state and the given value of the sampled data of the current motor phase current is greater than the given value of the sampled data of the previous motor phase current and lasts for a preset time; storing the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel in a non-volatile storage medium; and storing the subsequent sampled data of each acquisition channel in a volatile storage medium.

[0013] In a second aspect of the present invention, a system for adjusting motor phase current data is provided, including: a data acquisition module for acquiring a plurality of sampled data of each acquisition channel of the motor phase current; a data analysis module for obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampled data of each acquisition channel; a data processing module for determining the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; and a data adjustment module for adjusting the subsequent sampled data of each acquisition channel according to the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel.

[0014] In a third aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method for adjusting motor phase current data are implemented.

[0015] In a fourth aspect of the present invention, a computer-readable storage medium is provided. 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 method for adjusting motor phase current data are implemented.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The method for adjusting and modifying the motor phase current data of the present invention obtains a number of sampling data of each acquisition channel of the motor phase current, and then obtains the neutral point value and amplitude of each acquisition channel according to the number of sampling data of each acquisition channel. Then, according to the neutral point value and amplitude of each acquisition channel, the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel are determined. Finally, according to the adjustment bias coefficient and adjustment ratio coefficient of each acquisition channel, the subsequent sampling data of each acquisition channel are adjusted, which can adjust the difference in amplitude between multiple acquisition channels to a smaller range, and adjust the difference in neutral point value between multiple acquisition channels to a smaller range, thereby realizing the accurate restoration of the motor phase current waveform, enabling the motor to start smoothly and operate normally. Moreover, this adjustment method is an in-board on-line adjustment, that is, all components related to the waveform restoration degree in the entire signal flow path have been determined, and all deviations are involved in the adjustment. This method is not limited to adjusting a single component alone, nor does it require redundant test steps during factory production. At the same time, resistors with a relatively poor error level and external resistor networks of operational amplifiers can be used, thereby saving hardware costs. In addition, it is also possible to adjust the deviations caused by the aging of related components on the PCB due to the long service time of the product, and there is no obvious perception for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flowchart of the method for adjusting and modifying the motor phase current data according to an embodiment of the present invention.

[0019] Figure 2 It is a structural block diagram of the system for adjusting and modifying the motor phase current data according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that the terms "including" and "having" in the specification of the present invention and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0022] The following further describes the present invention in detail with reference to the accompanying drawings:

[0023] SeeFigure 1 , in an embodiment of the present invention, a method for adjusting motor phase current data is provided, specifically a method for online adjustment of multi-channel periodic sampling data with linear errors.

[0024] Specifically, the method for adjusting motor phase current data of the present invention includes the following steps:

[0025] S1: Obtain a number of sampling data of each acquisition channel of the motor phase current.

[0026] S2: According to the number of sampling data of each acquisition channel, obtain the neutral point value and amplitude of each acquisition channel.

[0027] S3: According to the neutral point value and amplitude of each acquisition channel, determine the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel.

[0028] S4: According to the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel, adjust the subsequent sampling data of each acquisition channel.

[0029] The method for adjusting motor phase current data of the present invention can adjust the difference in amplitude between multiple acquisition channels to a small range and the difference in neutral point values between multiple acquisition channels to a small range by obtaining a number of sampling data of each acquisition channel of the motor phase current, then obtaining the neutral point value and amplitude of each acquisition channel according to the number of sampling data of each acquisition channel, then determining the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel, and finally adjusting the subsequent sampling data of each acquisition channel according to the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel, thereby realizing the accurate restoration of the motor phase current waveform and enabling the motor to start smoothly and operate normally. Moreover, this adjustment method is an on-board online adjustment, that is, all components related to the waveform restoration degree in the entire signal flow path have been determined, and all deviations are involved in the adjustment. This method is not limited to adjusting a single component alone, nor does it require redundant test steps during factory production. At the same time, resistors with a relatively poor error level and external resistor networks of operational amplifiers can be used, thereby saving hardware costs. In addition, it can also adjust the deviations caused by the aging of related components on the PCB due to the long service time of the product, and there is no obvious perception for users.

[0030] In a possible implementation manner, obtaining the neutral point value and amplitude of each acquisition channel based on a plurality of sampling data of each acquisition channel includes: when the sampling data of the acquisition channel reaches a stable state, obtaining the maximum value in the positive half cycle and the minimum value in the negative half cycle within the first complete cycle and adding them together to obtain the neutral point value of the acquisition channel; adding the absolute value of the maximum value in the positive half cycle and the absolute value of the minimum value in the negative half cycle within the first complete cycle, obtaining the peak-to-peak value within the first complete cycle and dividing it by 2 to obtain the amplitude of the acquisition channel.

[0031] Exemplarily, the sampling data of the acquisition channel is determined to reach a stable state in the following manner: when the given value reaches the preset value within the target time period, it is considered that the sampling data has followed and reached a stable state.

[0032] Explanatorily, the given value refers to the amplitude of each point on the positive envelope line of the sampling data. Regarding why the amplitude of the sampling data follows the given value, it is because there are specific coordinate transformations and PI controllers (Proportional-Integral Controllers) in the system, which can make the amplitude of the sampling data follow the given value. Therefore, the change of the given value can reflect the change of the amplitude of the sampling data.

[0033] Optionally, obtaining the maximum value in the positive half cycle within the first complete cycle includes: performing zero-crossing detection on the sampling data and identifying the positive and negative until the first zero-crossing and the data value is positive, obtaining the maximum value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value in the positive half cycle within the first complete cycle; or obtaining the maximum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value in the positive half cycle within the first complete cycle.

[0034] Optionally, obtaining the minimum value in the negative half cycle within the first complete cycle includes: performing zero-crossing detection on the sampling data and identifying the positive and negative until the first zero-crossing and the data value is negative, obtaining the minimum value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value in the negative half cycle within the first complete cycle; or obtaining the minimum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value in the negative half cycle within the first complete cycle.

[0035] Explanatorily, using the moving window average value can avoid reading incorrect values due to data fluctuations or glitches. It is expected that the maximum value obtained after the moving average is the average value of several points at the top of the sampling data waveform.

[0036] Exemplarily, the determination for ending the calculation of the moving window average value is as follows:

[0037] Calculate the difference between the current output sliding window average value and the maximum value of the historical sliding window average value. When the value obtained by subtracting the current output sliding window average value from the maximum value of the historical sliding window average value is positive and greater than a threshold, it is considered that the sampled data is decreasing, that is, the maximum value has appeared, and the calculation of the sliding window average value can be stopped, and the maximum value of the historical sliding window average value is used for the next calculation.

[0038] Explanatory, if the calculation of the sliding window average value cannot be ended in time, it may not be possible to calculate the trimming value before the end of the current complete cycle of the sampled data, and then the trimming value cannot be used at the beginning of the next cycle. At the same time, the new trimming parameter is used only at the beginning of the next complete cycle of this channel because using the new trimming parameter will cause waveform distortion of the sampled data. If the current sampled data is not zero and 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 ending the calculation in time can reduce unnecessary computational workload.

[0039] In a possible implementation manner, the determining the trimming offset 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 offset coefficient of the acquisition channel; wherein, the reference neutral point value is a preset value, or the neutral point value of a specified acquisition channel among the acquisition channels 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.

[0040] Explanatory, the origin of the reference neutral point value includes two aspects:

[0041] 1. The theoretically stored value in advance.

[0042] 2. Based on the neutral point values corresponding to multiple target sampled data, determine the reference neutral point value. This process includes two methods. Method 1: Determine one of the neutral point values of the multiple acquisition channels other than the current acquisition channel as the reference neutral point value, that is, the data of the multiple acquisition channels converge to the acquisition channel being referenced, and the acquisition channel being referenced does not perform the trimming step. Method 2: Calculate the maximum value, average value, minimum value or mode of the neutral point values corresponding to the multiple target sampled data, and determine it as the reference neutral point value.

[0043] Exemplarily, the trimming offset coefficient corresponding to the neutral point value of the target sampled data can also be determined from the corresponding relationship between multiple neutral point values and multiple trimming offset coefficients. That is, according to the neutral point value of the acquisition channel, the trimming offset coefficient of the acquisition channel is obtained from the preset corresponding relationship table of the neutral point value and the trimming offset coefficient.

[0044] In a possible implementation manner, the determination of the trimming ratio coefficients for each acquisition channel includes: dividing the amplitude of the acquisition channel by the reference amplitude to obtain the trimming offset coefficient of the acquisition channel; where the reference amplitude is a preset value, or taking the amplitude of a specified acquisition channel among all acquisition channels as the reference amplitude, or obtaining the maximum value, average value, minimum value, or mode of the amplitudes of several acquisition channels as the reference amplitude.

[0045] Explanatorily, the origin of the reference amplitude includes two aspects:

[0046] 1. The theoretically stored value in advance.

[0047] 2. Determining the reference amplitude based on the amplitudes corresponding to multiple target sampling data. This process includes two methods. Method 1: Taking 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 approaches the sampling data collected by the reference channel, and the sampling data collected by the reference channel does not perform the trimming step. Method 2: Calculating the maximum value, average value, minimum value, or mode of the amplitudes corresponding to multiple target sampling data and determining it as the reference amplitude.

[0048] Exemplarily, it is also possible to determine the trimming ratio coefficient corresponding to the neutral point value of the target sampling data from the corresponding relationship between multiple amplitudes and multiple trimming ratio coefficients. That is, according to the amplitude of the acquisition channel, obtain the trimming ratio coefficient of the acquisition channel from the preset corresponding relationship table of amplitude and trimming ratio coefficient.

[0049] When running this program on some processors, since there is no hardware divider, calculating the division is time-consuming and sometimes occupies the running time of other programs. The trimming ratio coefficient can be quickly determined by looking up the table.

[0050] Based on the trimming offset coefficient and the trimming ratio coefficient of the sampling data of the acquisition channel, determine the trimming equation corresponding to the acquisition channel, and perform trimming on the sampling data of the acquisition channel based on the trimming equation corresponding to the acquisition channel.

[0051] Exemplarily, the trimming equation is:

[0052] y = kx + b

[0053] where y is the trimmed data, k is the trimming ratio coefficient, x is the sampling data, and b is the trimming offset coefficient.

[0054] Exemplarily, at the beginning of the second cycle of each acquisition channel respectively, the sampling data of the corresponding channel can be trimmed by using the above-mentioned trimming equation of the corresponding channel. It has the characteristics of rapid trimming, high real-time performance, and being imperceptible to the user.

[0055] Alternatively, calculate a number of trimming parameters for each channel continuously, calculate the average value of these trimming parameters, and use it as the final trimming equation. At the beginning of the next cycle, use the trimming equation of the corresponding channel to trim the sampling data of the corresponding channel. This can avoid deviations in the trimming equation caused by inaccurate individual trimming parameters and the lack of obvious perception by the user.

[0056] In a possible implementation, the method for trimming motor phase current data further includes: obtaining motor operation information, and starting the trimming of motor phase current data when the motor operation information indicates that the motor is starting, or the motor is starting and the motor phase current data has not been trimmed before, or the motor is starting and the previous start of the motor failed, or the motor is starting and the current start of the motor is likely to fail, or the motor is in the running state and the given value of the sampling data of the current motor phase current is greater than the given value of the sampling data of the previous motor phase current and lasts for a preset time.

[0057] Explanatorily, before executing the step of obtaining a number of sampling data of each acquisition channel of the motor phase current, motor operation information can also be obtained. If the motor operation information meets the data trimming conditions, then execute the step of obtaining a number of sampling data of each acquisition channel of the motor phase current. Among them, the motor operation information meeting the data trimming conditions means that the motor operation information indicates that the motor is starting, or the motor is starting and the motor phase current data has not been trimmed before, or the motor is starting and the previous start of the motor failed, or the motor is starting and the current start of the motor is likely to fail, or the motor is in the running state and the given value of the sampling data of the current motor phase current is greater than the given value of the sampling data of the previous motor phase current and lasts for a preset time.

[0058] Explanatorily, the start of trimming the motor phase current data includes:

[0059] Condition 1: When the motor fails to start for the last time and attempts to start for the second time, the motor starting phase current data is adjusted. 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 the running state. When the system is in the starting state and has not reached the starting success determination speed r1 after exceeding the first threshold time t1, it is determined that the start has failed. At this time, attempt to start for the second time and start the motor phase current data adjustment until the start is successful. If the start is successful, it proves that the adjustment coefficients (i.e., the adjustment offset coefficients and adjustment ratio coefficients of each acquisition channel) are available, and the adjustment coefficients are stored in the non-volatile storage medium. For subsequent starts, the adjustment coefficients stored in the non-volatile storage medium can be directly called for starting. Since the situation where the motor cannot start normally due to various deviations is not common in actual use, if adjustment is performed on each product PCB, some are unnecessary. Based on the above design, it is optional to judge that the start has failed before performing adjustment, otherwise directly start normally. In addition, some components age due to long-term use, and their parameters will change, resulting in the original adjustment value not meeting the requirements (i.e., unable to start normally), and automatic re-adjustment can be performed.

[0060] Condition 2: It is also possible to start the motor phase current data adjustment when starting the motor without the motor phase current data being adjusted before, and store the calculated adjustment coefficients in the memory. For subsequent starts, no adjustment is performed, and the adjustment coefficients are directly read for starting until a start failure or a high probability of start failure occurs. This is to reduce unnecessary calculations, ensure successful start on the first attempt, and reduce the user's perception. Among them, for how to determine that it has not been adjusted before, the area storing the adjustment coefficients in the non-volatile storage medium can be read. If this area is empty, it is determined that the product PCB has never been adjusted.

[0061] Condition 3: The following steps are executed each time the motor starts. That is, unconditionally adjust each start of each product board. This achieves high real-time performance, the system deviation during each start will be adjusted, and the adjustment parameters are continuously updated to adapt to various changes.

[0062] Condition 4: When it is determined that the current motor startup is likely to fail, without waiting for the actual determination of startup failure, directly start the adjustment of the motor phase current data. This can simultaneously reduce unnecessary operations, ensure adjustment real-time performance, and reduce user perception. Among them, regarding how to determine that the current motor startup is likely to fail, when the motor is in the startup state, if the set speed r2 has not been reached after exceeding the second threshold time t2, where the second threshold time t2 is less than the first threshold time t1 and the set speed r2 is less than the startup success determination speed r1, it is determined that the motor is likely to start up unsuccessfully. At this time, start the adjustment of the motor phase current data. If the subsequent motor startup is successful, it proves that the adjustment coefficient in this motor phase current data adjustment is available. When the motor is started later, the adjustment coefficient calculated during the most recent motor phase current data adjustment can also be directly called for startup.

[0063] Condition 5: If the motor is in the running state and the given value of the sampled data of the current motor phase current is greater than the given value of the sampled data of the previous motor phase current and lasts for a preset time, start the adjustment of the motor phase current data.

[0064] Regarding why the adjustment coefficient needs to be recalculated when the given value of the sampled data of the current motor phase current is greater than the given value of the sampled data of the previous motor phase current, it is because the waveform of the sampled data during startup may be distorted to a certain extent. At the same time, when the given value during operation is greater than the given value during startup and is stable, the waveform of the sampled data is more regular, with a larger amplitude and a higher signal-to-noise ratio. At this time, the confidence level of the calculated adjustment coefficient is higher.

[0065] In a possible implementation manner, the method for adjusting the motor phase current data further includes: storing the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel in a non-volatile storage medium.

[0066] Explanatorily, after determining the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel, the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel can also be stored in a non-volatile storage medium.

[0067] In this implementation manner, after determining the adjustment offset coefficient and adjustment ratio coefficient, the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel are stored in a non-volatile storage medium, so that when the motor is started next time, the subsequent sampled data of each acquisition channel can be directly adjusted based on the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel stored in the non-volatile storage medium, without performing the action of determining the adjustment offset coefficient and adjustment ratio coefficient of each acquisition channel. In this way, the step of adjusting the coefficient every time the motor is started is avoided, the operation process is simplified, the calculation complexity is reduced, and the overall operation efficiency of the system is improved.

[0068] In a possible implementation, the method for adjusting motor phase current data further includes: storing subsequent sampling data of each acquisition channel in a volatile storage medium.

[0069] Generally speaking, through the above method for adjusting motor phase current data, the amplitudes and neutral point values of the sampling data of multiple acquisition channels can be adjusted to within a similar range, enabling the motor to start smoothly and operate normally.

[0070] The following is an apparatus embodiment of the present invention, which can be used to execute the method embodiment of the present invention. For details not disclosed in the apparatus embodiment, please refer to the method embodiment of the present invention.

[0071] See Figure 2 , in another embodiment of the present invention, a system for adjusting motor phase current data is provided, which can be used to implement the above method for adjusting motor phase current data. Specifically, the system for adjusting motor phase current data includes a data acquisition module, a data analysis module, a data processing module, and a data adjustment module.

[0072] Among them, the data acquisition module is used to acquire a plurality 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 according to the plurality of sampling data of each acquisition channel; the data processing module is used to determine the adjustment offset coefficient and adjustment ratio 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 offset coefficient and adjustment ratio coefficient of each acquisition channel.

[0073] All relevant contents of each step involved in the embodiment of the above method for adjusting motor phase current data can be cited in the function description of the corresponding functional modules of the system for adjusting motor phase current data in the embodiment of the present invention, and will not be elaborated here.

[0074] The division of modules in the embodiment of the present invention is illustrative, only a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of the present invention, each functional module can be integrated in one processor, or can exist separately physically, or two or more modules can be integrated in one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0075] 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, and the computer program includes program instructions. The processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit, or may also be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, and is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function. The processor described in the embodiment of the present invention can be used for the operation of the method for adjusting motor phase current data.

[0076] In another embodiment of the present invention, a storage medium is further provided, specifically a computer-readable storage medium. The computer-readable storage medium is a memory device in a computer device and is used to store programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and, of course, the extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, and the operating system of the terminal is stored in this storage space. Moreover, one or more instructions suitable for being loaded and executed by the processor are stored in this storage space. 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 a non-volatile memory, such as at least one disk memory. One or more instructions stored in the computer-readable storage medium can be loaded and executed by the processor to implement the corresponding steps of the method for adjusting motor phase current data in the above embodiments.

[0077] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, optical memories, etc.) containing computer-usable program codes.

[0078] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0079] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0081] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the specific implementation manners of the present invention or make equivalent replacements, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A method for adjusting motor phase current data, characterized in that Including: Obtaining a plurality of sampling data of each acquisition channel of the motor phase current; Obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampling data of each acquisition channel; Determining the trimming offset coefficient and trimming ratio coefficient of each acquisition channel according to the neutral point value and amplitude of each acquisition channel; Trimming the subsequent sampling data of each acquisition channel according to the trimming offset coefficient and trimming ratio coefficient of each acquisition channel, so that the difference in amplitude between the subsequent sampling data of each acquisition channel is within the first difference range, and the difference in neutral point value between the subsequent sampling data of each acquisition channel is within the second difference range; Wherein, the determining the trimming ratio coefficient of each acquisition channel includes: dividing the amplitude of the acquisition channel by the reference amplitude to obtain the trimming ratio coefficient of the acquisition channel; or, according to the amplitude of the acquisition channel, obtaining the trimming ratio coefficient of the acquisition channel from a preset correspondence table of amplitude and trimming ratio coefficient, the reference amplitude is a preset value, or taking the amplitude of a specified acquisition channel among the plurality of acquisition channels as the reference amplitude, or obtaining the maximum value, average value, minimum value or mode of the amplitudes of the plurality of acquisition channels as the reference amplitude.

2. The method for adjusting motor phase current data according to claim 1, wherein The obtaining the neutral point value and amplitude of each acquisition channel according to the plurality of sampling data of each acquisition channel includes: When the sampling data of the acquisition channel reaches a stable state, obtaining the maximum value in the positive half cycle and the minimum value in the negative half cycle within the first complete cycle and adding them together to obtain the neutral point value of the acquisition channel; Adding the absolute value of the maximum value in the positive half cycle and the absolute value of the minimum value in the negative half cycle within the first complete cycle to obtain the peak-to-peak value within the first complete cycle and dividing it by 2 to obtain the amplitude of the acquisition channel.

3. The method for adjusting the motor phase current data according to claim 2, wherein The obtaining the maximum value in the positive half cycle within the first complete cycle includes: Performing zero-crossing detection on the sampling data and identifying positive and negative until the first zero-crossing and the data value is positive, and obtaining the maximum value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value in the positive half cycle within the first complete cycle; or, obtaining the maximum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the maximum value in the positive half cycle within the first complete cycle; The obtaining the minimum value in the negative half cycle within the first complete cycle includes: Performing zero-crossing detection on the sampling data and identifying positive and negative until the first zero-crossing and the data value is negative, and obtaining the minimum value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value in the negative half cycle within the first complete cycle; or, obtaining the minimum value of the moving window average value of the sampling data between the current zero-crossing and the next zero-crossing as the minimum value in the negative half cycle within the first complete cycle.

4. The method for adjusting motor phase current data according to claim 1, characterized in that, The determining the trimming offset 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 offset coefficient of the acquisition channel; wherein, the reference neutral point value is a preset value, or taking the neutral point value of a specified acquisition channel among the plurality of acquisition channels as the reference neutral point value, or obtaining the maximum value, average value, minimum value or mode of the neutral point values of the plurality of acquisition channels as the reference neutral point value.

5. The method for adjusting motor phase current data according to claim 1, wherein The determining the trimming offset coefficient of each acquisition channel includes: Obtain the trimming offset coefficient of the acquisition channel from a pre-set correspondence table between the neutral point value and the trimming offset coefficient according to the neutral point value of the acquisition channel.

6. The method for adjusting motor phase current data according to claim 1, wherein Further comprising: Obtain motor operation information, and start the trimming of the motor phase current data when the motor operation information indicates that the motor is starting, or the motor is starting and the motor phase current data has not been trimmed before, or the motor is starting and the previous start of the motor failed, or the motor is starting and the current start of the motor is likely to fail, or the motor is in the running state and the given value of the sampled data of the current motor phase current is greater than the given value of the sampled data of the previous motor phase current and lasts for a preset time. Store the trimming offset coefficient and the trimming ratio coefficient of each acquisition channel in a non-volatile storage medium. Store the subsequent sampled data of each acquisition channel in a volatile storage medium.

7. A motor phase current data adjustment system, characterized in that, Comprising: A data acquisition module, configured to acquire a plurality of sampled data of each acquisition channel of the motor phase current. A data analysis module, configured to obtain the neutral point value and the amplitude of each acquisition channel according to the plurality of sampled data of each acquisition channel. A data processing module, configured to determine the trimming offset coefficient and the trimming ratio coefficient of each acquisition channel according to the neutral point value and the amplitude of each acquisition channel. A data trimming module, configured to trim the subsequent sampled data of each acquisition channel according to the trimming offset coefficient and the trimming ratio coefficient of each acquisition channel, so that the difference in amplitude between each acquisition channel is within a first difference range, and the difference in neutral point value between each acquisition channel is within a second difference range. The data processing module is specifically configured to divide the amplitude of the acquisition channel by a reference amplitude to obtain the trimming ratio coefficient of the acquisition channel; or, obtain the trimming ratio coefficient of the acquisition channel from a pre-set correspondence table between the amplitude and the trimming ratio coefficient according to the amplitude of the acquisition channel, where the reference amplitude is a preset value, or use the amplitude of a specified acquisition channel among the plurality of acquisition channels as the reference amplitude, or obtain the maximum value, average value, minimum value or mode of the amplitudes of a plurality of acquisition channels as the reference amplitude.

8. 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 method for trimming motor phase current data according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method for trimming motor phase current data according to any one of claims 1 to 6 are implemented.

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