A method and device for dynamic calibration of zero position of a brushless motor with unilateral angle convergence

Abstract

The present application provides a method and device for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence, which determines the calibration parameters of the motor to be calibrated; according to the rotation direction of the motor to be calibrated in the working state, based on the calibration parameters, a unilateral angle convergence reference curve of the motor to be calibrated is constructed; wherein the unilateral angle convergence reference curve is used to characterize the motion mode of the motor rotor converging unidirectionally from the initial angle position to the angle zero position over time; according to the unilateral angle convergence reference curve, the motor to be calibrated is driven to run, and the actual angle curve of the motor to be calibrated is obtained; the actual angle curve and the unilateral angle convergence reference curve are compared to determine the zero position calibration effect of the motor to be calibrated; when the zero position calibration effect meets the preset requirements, it is determined that the motor to be calibrated has completed the zero position calibration. In this way, efficient and reliable dynamic calibration of the motor zero position can be achieved, accidents caused by incorrect calibration can be avoided, and the safe and reliable startup and operation of the motor can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a method and device for dynamically calibrating the zero position of a brushless motor with unilateral angle convergence. Background Art

[0002] Brushless motors with incremental encoder feedback require zero-position calibration upon restart after a complete power outage to ensure the motor control system can accurately control the motor's position and motion. Existing zero-position calibration methods often simply set a fixed angular zero position and apply a sufficiently high current to align the rotor's permanent magnets to this angular zero position, overcoming static friction, dynamic friction, and resistance torque.

[0003] However, in engineering practice, the motor may be in a weak equilibrium state during calibration. The zero-position pull generated by the calibration current is nearly parallel to the permanent magnet, resulting in a very small zeroing torque, which is even insufficient to overcome the static friction torque and resistance torque generated by the motor, reducer, and load, causing calibration failure. The motor shaft is also often subject to various unexpected interference torques, which prevent the motor rotor permanent magnet from aligning to the zero angle. The accuracy of the zero-position calibration is low, affecting the stability of the motor operation. In addition, existing calibration methods lack monitoring of the zero-position calibration effect, causing the motor control system to control the motor to enter production operation when the calibration error is large, which can easily cause accidents. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and device for dynamic calibration of the zero position of a brushless motor with single-sided angle convergence, so as to solve the problems of low accuracy and reliability of the zero position calibration method in the existing technology, realize efficient and reliable dynamic calibration of the motor zero position, avoid accidents caused by incorrect calibration, and ensure the safe and reliable startup and operation of the motor.

[0005] The present application provides a method for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence, the method comprising:

[0006] Determine the calibration parameters of the motor to be calibrated;

[0007] According to the rotation direction of the motor to be calibrated in the working state and the calibration parameters, a unilateral angle convergence reference curve of the motor to be calibrated is constructed; wherein the unilateral angle convergence reference curve is used to represent the motion mode of the motor rotor converging unidirectionally from the initial angle position to the angle zero position over time;

[0008] Driving the motor to be calibrated to operate according to the angle unilateral convergence reference curve, and obtaining an actual angle curve of the motor to be calibrated; wherein the actual angle curve refers to a curve formed by the actual angle position of the motor rotor at different operating times;

[0009] Comparing the actual angle curve with the angle unilateral convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated;

[0010] When the zero-position calibration effect meets the preset requirement, it is determined that the zero-position calibration of the motor to be calibrated is completed.

[0011] Furthermore, the calibration parameters include: the angle zero position, the deviation angle value, and the angle attenuation coefficient; according to the rotation direction of the motor to be calibrated in the working state, according to the calibration parameters, constructing the angle unilateral convergence reference curve of the motor to be calibrated, including:

[0012] Determining the convergence positive direction of the motor rotor angular position according to the rotation direction of the motor to be calibrated in the working state;

[0013] Determining an angle attenuation term based on the deviation angle value and the angle attenuation coefficient; wherein the deviation angle value refers to the angle value by which the initial angle position of the motor rotor deviates from the angle zero position; and the angle attenuation coefficient is used to control the angle convergence speed of the motor rotor;

[0014] According to the angle zero position, the positive convergence direction and the angle attenuation term, the angle unilateral convergence reference curve that converges unidirectionally in the positive convergence direction is constructed.

[0015] Furthermore, obtaining the actual angle curve of the motor to be calibrated includes:

[0016] Determining a stop angle according to the angle zero position and a preset error angle value;

[0017] Recording the actual angular position corresponding to each running moment until the actual angular position corresponding to any running moment reaches the stop angle;

[0018] The angle actual curve is obtained based on the actual angle position corresponding to each recorded running moment.

[0019] Furthermore, comparing the actual angle curve with the angle unilateral convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated includes:

[0020] Comparing the actual angle curve with the angle unilateral convergence reference curve, intercepting a preset time from the running moment when the stop angle is reached forward to obtain an angle difference curve;

[0021] By performing an integral operation on the angle difference curve, an average angle error of the motor to be calibrated within the preset time length is obtained; wherein the average angle error is used to measure the zero-position calibration effect of the motor to be calibrated.

[0022] Furthermore, the dynamic calibration method further includes determining whether the zero calibration effect meets preset requirements by:

[0023] When the average angle error is less than a preset error threshold, it is determined that the zero position calibration effect meets the preset requirement.

[0024] Furthermore, when the angular position of the motor to be calibrated converges in an exponential form, the formula of the angle unilateral convergence reference curve is expressed as:

[0025] Q ref =q0+a×e -bt

[0026] When the angular position of the motor to be calibrated converges in an inverse form, the formula of the angle unilateral convergence reference curve is expressed as:

[0027] Q ref =q0+a / (b×t)

[0028] Among them, Q ref represents the angle unilateral convergence reference curve; Q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; T represents the running time.

[0029] Furthermore, the dynamic calibration method further includes:

[0030] When the zero-position calibration effect does not meet the preset requirement, determining whether the number of zero-position calibrations of the motor to be calibrated reaches a preset number threshold;

[0031] If not, re-calibrate the motor to be calibrated to zero position;

[0032] If it has been reached, an alarm signal is generated and sent to relevant personnel.

[0033] The embodiment of the present application further provides a device for dynamically calibrating the zero position of a brushless motor with unilateral angle convergence, the device comprising:

[0034] A determination module, used to determine calibration parameters of the motor to be calibrated;

[0035] A construction module is configured to construct an angle unilateral convergence reference curve of the motor to be calibrated according to the rotation direction of the motor to be calibrated in the working state and the calibration parameters; wherein the angle unilateral convergence reference curve is used to represent the motion pattern of the motor rotor converging unidirectionally from an initial angular position to an angular zero position over time;

[0036] an acquisition module, configured to drive the motor to be calibrated to operate according to the angle unilateral convergence reference curve, and acquire an actual angle curve of the motor to be calibrated; wherein the actual angle curve refers to a curve formed by the actual angular positions of the motor rotor at different operating moments;

[0037] A comparison module, configured to compare the actual angle curve with the angle unilateral convergence reference curve to determine a zero-position calibration effect of the motor to be calibrated;

[0038] The judgment module is used to determine that the zero-position calibration of the motor to be calibrated is completed when the zero-position calibration effect meets the preset requirements.

[0039] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned angle unilateral convergence brushless motor zero position dynamic calibration method are performed.

[0040] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for dynamic calibration of zero position of a brushless motor with single-sided angle convergence are executed.

[0041] The embodiment of the present application provides a method and device for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence. On the one hand, dynamic calibration is performed using a unilateral angle convergence reference curve, and the angle zero position is approached in a unilateral convergence manner, breaking the static and quasi-static balance produced by the large initial static friction torque and the nonlinear dynamic friction torque, so that the motor can produce significant calibration actions, overcome various interference torques, and improve the calibration accuracy; on the other hand, by comparing the actual angle curve and the unilateral angle convergence reference curve, the zero position calibration effect of the motor can be quantitatively determined to improve the reliability of the calibration; and the zero position calibration is completed when it is determined that the zero position calibration effect meets the preset requirements, which helps to ensure the safe operation of the motor.

[0042] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flowchart of a method for dynamic zero-position calibration of a brushless motor with unilateral angle convergence provided in an embodiment of the present application is shown;

[0045] Figure 2 A schematic diagram showing a calibration process for unidirectional convergence of an angle position provided by an embodiment of the present application is shown;

[0046] Figure 3 A schematic diagram of the structure of a device for dynamic zero-position calibration of a brushless motor with unilateral angle convergence provided in an embodiment of the present application is shown;

[0047] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0049] Research has found that the existing zero-position calibration method is very simple. It often only sets a fixed angle zero position, then aligns the d-axis of the motor FOC algorithm dq coordinate system to the specified angle zero position q0, and increases the d-axis current. By passing a sufficiently large current, the NS poles of the rotor permanent magnet can overcome the static friction torque, dynamic friction torque, and resistance torque, and try to align to this angle zero position.

[0050] However, in engineering practice, the motor may be in a weak equilibrium state during calibration. The zero-position pull generated by the calibration current is nearly parallel to the permanent magnet, resulting in a very small zeroing torque, which is even insufficient to overcome the static friction torque and resistance torque generated by the motor, reducer, and load, causing calibration failure. The motor shaft is also often subject to various unexpected interference torques, which prevent the motor rotor permanent magnet from aligning to the zero angle. The accuracy of the zero-position calibration is low, affecting the stability of the motor operation. In addition, existing calibration methods lack monitoring of the zero-position calibration effect, causing the motor control system to control the motor to enter production operation when the calibration error is large, which can easily cause accidents.

[0051] Based on this, an embodiment of the present application provides a method and device for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence, so as to solve the problems of low accuracy and reliability of the zero position calibration method in the prior art.

[0052] See also Figure 1 , Figure 1 This is a flow chart of a method for dynamic zero-position calibration of a brushless motor with unilateral angle convergence provided in an embodiment of the present application. This dynamic calibration method can be automatically executed by a motor driver.

[0053] like Figure 1 As shown in , the dynamic calibration method provided in the embodiment of the present application includes:

[0054] S101: Determine calibration parameters of the motor to be calibrated.

[0055] Here, the calibration parameters may include an angle zero position, a deviation angle value, and an angle attenuation coefficient. The deviation angle value refers to the angle value by which the initial angular position of the motor rotor (more specifically, the permanent magnet on the rotor) deviates from the set angle zero position. The angle attenuation coefficient is used to control the angular convergence speed of the motor rotor, that is, the speed at which the permanent magnet approaches the angle zero position.

[0056] During specific implementation, the parameter values ​​of each calibration parameter can be set according to the actual application scenario of the motor and the calibration requirements to achieve flexible calibration of the motor.

[0057] S102 : constructing an angle unilateral convergence reference curve of the motor to be calibrated according to the rotation direction of the motor to be calibrated in a working state and the calibration parameters.

[0058] The angle unilateral convergence reference curve is used to characterize the motion mode of the motor rotor converging unidirectionally from an initial angle position to an angle zero position over time.

[0059] It should be noted that in engineering practice, the main working mode of most motors is unidirectional operation. For example, a water pump almost only rotates in one direction. Therefore, when calibrating the zero position, it is only necessary to consider the rotation direction in the working state and perform unilateral convergence calibration to obtain the correct calibration result.

[0060] In a possible implementation, step S102 may include:

[0061] The positive convergence direction of the motor rotor angular position is defined according to the rotation direction of the motor to be calibrated in an operating state; an angle attenuation term is determined according to the deviation angle value and the angle attenuation coefficient; and the angle unilateral convergence reference curve is constructed based on the angle zero position, the positive convergence direction, and the angle attenuation term, which converges unidirectionally according to the positive convergence direction. For example, if the rotation direction of the motor to be calibrated in an operating state is clockwise, the clockwise direction can be positioned as the positive convergence direction of the motor rotor angular position.

[0062] See below Figure 2 , Figure 2 This is a schematic diagram of a calibration process when the angle position converges in one direction provided by an embodiment of the present application. Figure 2 Medium angle unilateral convergence reference curve q ref As shown, the angular position converges unidirectionally along the positive direction of convergence.

[0063] More specifically, the unilateral convergence method in the embodiment of the present application includes exponential convergence and inverse convergence.

[0064] When the angular position of the motor to be calibrated converges in an exponential form (approaches zero), the formula of the angle unilateral convergence reference curve can be expressed as:

[0065] Q ref =q0+a×e -bt

[0066] Among them, Q ref represents the angle unilateral convergence reference curve; q0 represents the angle zero position, in degrees; Q ref and q0 are the rotor d-axis angles in the motor stator coordinate system; a represents the deviation angle value; b represents the angle attenuation coefficient; t represents the running time in seconds; a×e -bt This is the angle attenuation term.

[0067] From the above formula, we can see that the reference curve of unilateral exponential convergence rate is the derivative of the unilateral convergence reference curve of angle. The specific formula can be expressed as:

[0068] V ref =-a×b×e -bt

[0069] It can be seen that as time goes by, the angular velocity of the permanent magnet gradually decreases exponentially until it reaches 0.

[0070] When the angular position of the motor to be calibrated converges in an inverse form, the formula of the angle unilateral convergence reference curve can be expressed as:

[0071] Q ref =q0+a / (b×t)

[0072] Among them, Q ref represents the angle unilateral convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; t represents the running time; a / (b×t) is the angle attenuation term.

[0073] It can also be seen from the above formula that the reference curve of the unilateral reciprocal convergence rate is the derivative of the unilateral convergence reference curve of the angle. The specific formula can be expressed as:

[0074] V ref =-a / (b×t 2 )

[0075] It can be seen that as time goes by, the angular velocity of the permanent magnet gradually decreases rapidly according to the second-order inverse until it reaches 0.

[0076] Therefore, compared to exponential convergence, the reciprocal convergence rate is faster at the beginning and slower as it approaches zero. This means that the angular velocity of the permanent magnet changes more rapidly in the early stages and more smoothly in the later stages. Therefore, compared to exponential convergence, the reciprocal convergence algorithm is simpler and faster, making it more suitable for processing in motor drives based on embedded microprocessors.

[0077] S103 : driving the motor to be calibrated to operate according to the angle unilateral convergence reference curve, and obtaining an actual angle curve of the motor to be calibrated.

[0078] The actual angle curve refers to a curve formed by the actual angle positions of the motor rotor corresponding to different operating moments.

[0079] In specific implementations, this can be combined with the motor driver's Field-Oriented Control (FOC) algorithm for control. FOC (Field-Oriented Control) is a control algorithm for AC motors, such as brushless DC motors (BLDCs) and permanent magnet synchronous motors (PMSMs). Its core concept is to decompose the motor's three-phase current and voltage into two independent DC components: the magnetic field component (d-axis) and the torque component (q-axis), thereby achieving independent control of the motor's magnetic field and torque.

[0080] In one example, the actual angle curve can be obtained by the following steps:

[0081] The stop angle is determined according to the angle zero position and the preset error angle value; the actual angle position corresponding to each running moment is recorded until the actual angle position corresponding to any running moment reaches the stop angle; and the angle actual curve is obtained based on the recorded actual angle position corresponding to each running moment.

[0082] Continue reading Figure 2 , driven by the d-axis current mode, the motor starts running and converges to the reference curve Q according to the angle unilaterally ref Gradually approaching zero q0, while linearly increasing the d-axis current r; when Q ref When the deviation d=abs(q1-q0) reaches the preset error angle value, the motor stops and the motor driver automatically records the actual angle curve Q. act The deviation d can be set according to the required calibration accuracy, such as ±0.1°.

[0083] S104 : Compare the actual angle curve with the angle unilateral convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated.

[0084] In this step, by comparing the actual angle curve and the angle unilateral convergence reference curve, the degree of deviation between the actual curve and the reference curve during the dynamic zero calibration process can be determined, and then the zero calibration effect can be determined according to the degree of deviation.

[0085] In a possible embodiment, step S104 may include: comparing the actual angle curve and the angle unilateral convergence reference curve, intercepting a preset time length from the running moment when the stop angle is reached forward to obtain an angle difference curve; by integrating the angle difference curve, obtaining the average angle error of the motor to be calibrated within the preset time length; wherein, the average angle error is used to measure the zero-position calibration effect of the motor to be calibrated.

[0086] Here, the preset time length is the integration time span T0; more specifically, the embodiment of the present application defines an evaluation function J of the zero calibration effect by comparing the actual angle curve and the angle unilateral convergence reference curve, and the formula can be expressed as:

[0087]

[0088] The magnitude of the average angular error (i.e., the evaluation function J) reflects the extent to which the actual motion curve deviates from the angular reference curve as the permanent magnet approaches zero position q0. A small J value indicates that the actual approach curve of the permanent magnet essentially coincides with the angular reference curve, indicating excellent convergence. In this case, the motor calibration is successful, and both the calibration dynamics and the calibration results are excellent. If the J value is not small enough, that is, greater than the preset error threshold, the calibration error is excessive, and the motor calibration has failed, requiring recalibration or inspection of the motor system.

[0089] In this way, compared with the method of only calculating the difference between the final actual calibration zero position and the preset angle zero position, the evaluation function J designed in the embodiment of the present application can better reflect the overall severity of the deviation of the actual motion curve from the angle reference curve in the overall process of the permanent magnet approaching the zero position q0, thereby more accurately and comprehensively measuring the zero position calibration effect.

[0090] S105 : When the zero-position calibration effect meets a preset requirement, determining that the zero-position calibration of the motor to be calibrated is completed.

[0091] Here, when the average angle error is less than a preset error threshold, it is determined that the zero-position calibration effect meets the preset requirement, and the motor is allowed to perform subsequent work.

[0092] If the zero calibration result does not meet the preset requirements (i.e., the error is greater than or equal to the preset threshold), the zero calibration is considered a failure. The system then determines whether the number of zero calibrations for the motor to be calibrated has reached a preset threshold. If not, the system automatically recalibrates the motor to be calibrated. If so, an alarm signal is generated and sent to relevant personnel to prompt them to intervene. The threshold can be set based on actual needs, such as three times.

[0093] The embodiment of the present application provides a method for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence. On the one hand, the method uses a unilateral angle convergence reference curve for dynamic calibration, approaches the angle zero position in a unilateral convergence manner, breaks the static and quasi-static balance caused by the large initial static friction torque and the nonlinear dynamic friction torque, so that the motor can produce significant calibration actions, overcome various interference torques, and improve the calibration accuracy; on the other hand, by comparing the actual angle curve and the unilateral angle convergence reference curve, the zero position calibration effect of the motor can be quantitatively determined to improve the reliability of the calibration; and when it is determined that the zero position calibration effect meets the preset requirements, the zero position calibration is completed, which helps to ensure the safe operation of the motor.

[0094] See also Figure 3 , Figure 3 This is a structural diagram of a device for dynamically calibrating the zero position of a brushless motor with unilateral angle convergence provided in an embodiment of the present application. Figure 3As shown in , the dynamic calibration device 300 includes:

[0095] A determination module 310 is used to determine calibration parameters of the motor to be calibrated;

[0096] A construction module 320 is configured to construct an angle unilateral convergence reference curve for the motor to be calibrated according to the rotation direction of the motor to be calibrated in the working state and the calibration parameters; wherein the angle unilateral convergence reference curve is used to represent the motion pattern of the motor rotor converging unidirectionally from an initial angular position to an angular zero position over time;

[0097] An acquisition module 330 is configured to drive the motor to be calibrated according to the angle unilateral convergence reference curve and acquire an actual angle curve of the motor to be calibrated; wherein the actual angle curve is a curve formed by the actual angular positions of the motor rotor at different operating times;

[0098] A comparison module 340 is configured to compare the actual angle curve with the angle unilateral convergence reference curve to determine a zero-position calibration effect of the motor to be calibrated;

[0099] The judgment module 350 is configured to determine that the zero-position calibration of the motor to be calibrated is completed when the zero-position calibration effect meets a preset requirement.

[0100] Furthermore, the calibration parameters include: the angle zero position, the deviation angle value, and the angle attenuation coefficient; when the construction module 320 is used to construct the angle unilateral convergence reference curve of the motor to be calibrated according to the rotation direction of the motor to be calibrated in the working state and the calibration parameters, the construction module 320 is used to:

[0101] According to the rotation direction of the motor to be calibrated in the working state, defining the convergence positive direction of the motor rotor angular position;

[0102] Determining an angle attenuation term based on the deviation angle value and the angle attenuation coefficient; wherein the deviation angle value refers to the angle value by which the initial angle position of the motor rotor deviates from the angle zero position; and the angle attenuation coefficient is used to control the angle convergence speed of the motor rotor;

[0103] According to the angle zero position, the positive convergence direction and the angle attenuation term, the angle unilateral convergence reference curve that converges unidirectionally in the positive convergence direction is constructed.

[0104] Furthermore, when the acquisition module 330 is used to acquire the actual angle curve of the motor to be calibrated, the acquisition module 330 is used to:

[0105] Determining a stop angle according to the angle zero position and a preset error angle value;

[0106] Recording the actual angular position corresponding to each running moment until the actual angular position corresponding to any running moment reaches the stop angle;

[0107] The angle actual curve is obtained based on the actual angle position corresponding to each recorded running moment.

[0108] Furthermore, when the comparison module 340 is used to compare the actual angle curve with the angle unilateral convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated, the comparison module 340 is used to:

[0109] Comparing the actual angle curve with the angle unilateral convergence reference curve, intercepting a preset time from the running moment when the stop angle is reached forward to obtain an angle difference curve;

[0110] By performing an integral operation on the angle difference curve, an average angle error of the motor to be calibrated within the preset time length is obtained; wherein the average angle error is used to measure the zero-position calibration effect of the motor to be calibrated.

[0111] Furthermore, the judgment module 350 is further configured to determine whether the zero calibration effect meets a preset requirement by:

[0112] When the average angle error is less than a preset error threshold, it is determined that the zero position calibration effect meets the preset requirement.

[0113] Furthermore, when the angular position of the motor to be calibrated converges in an exponential form, the formula of the angle unilateral convergence reference curve is expressed as:

[0114] Q ref =q0+a×e -bt

[0115] When the angular position of the motor to be calibrated converges in an inverse form, the formula of the angle unilateral convergence reference curve is expressed as:

[0116] Q ref =q0+a / (b×t)

[0117] Among them, Q ref represents the angle unilateral convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; t represents the running time.

[0118] Furthermore, the judgment module 350 is further configured to:

[0119] When the zero-position calibration effect does not meet the preset requirement, determining whether the number of zero-position calibrations of the motor to be calibrated reaches a preset number threshold;

[0120] If not, re-calibrate the motor to be calibrated to zero position;

[0121] If it has been reached, an alarm signal is generated and sent to relevant personnel.

[0122] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in FIG, the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0123] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the method for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0124] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for dynamic calibration of the zero position of a brushless motor with unilateral angle convergence in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0125] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0128] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0129] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0130] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for dynamic zero-position calibration of a brushless motor with unilateral angle convergence, characterized in that: The dynamic calibration method comprises: Determine the calibration parameters of the motor to be calibrated; According to the rotation direction of the motor to be calibrated in the working state and the calibration parameters, a unilateral angle convergence reference curve of the motor to be calibrated is constructed; wherein the unilateral angle convergence reference curve is used to represent the motion mode of the motor rotor converging unidirectionally from the initial angle position to the angle zero position over time; Driving the motor to be calibrated to operate according to the angle unilateral convergence reference curve, and obtaining an actual angle curve of the motor to be calibrated; wherein the actual angle curve refers to a curve formed by the actual angle position of the motor rotor at different operating times; Comparing the actual angle curve with the angle unilateral convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated; When the zero-position calibration effect meets the preset requirements, determining that the zero-position calibration of the motor to be calibrated is completed; The calibration parameters include: the angle zero position, the deviation angle value, and the angle attenuation coefficient; according to the rotation direction of the motor to be calibrated in the working state, according to the calibration parameters, constructing the angle unilateral convergence reference curve of the motor to be calibrated, including: According to the rotation direction of the motor to be calibrated in the working state, defining the convergence positive direction of the motor rotor angular position; Determining an angle attenuation term based on the deviation angle value and the angle attenuation coefficient; wherein the deviation angle value refers to the angle value by which the initial angle position of the motor rotor deviates from the angle zero position; and the angle attenuation coefficient is used to control the angle convergence speed of the motor rotor; According to the angle zero position, the positive convergence direction and the angle attenuation term, the angle unilateral convergence reference curve that converges unidirectionally in the positive convergence direction is constructed.

2. The dynamic calibration method according to claim 1, characterized in that: Obtaining the actual angle curve of the motor to be calibrated, including: Determining a stop angle according to the angle zero position and a preset error angle value; Recording the actual angular position corresponding to each running moment until the actual angular position corresponding to any running moment reaches the stop angle; The angle actual curve is obtained based on the actual angle position corresponding to each recorded running moment.

3. The dynamic calibration method according to claim 2, characterized in that: Comparing the actual angle curve with the angle unilateral convergence reference curve to determine the zero position calibration effect of the motor to be calibrated includes: Comparing the actual angle curve with the angle unilateral convergence reference curve, intercepting a preset time from the running moment when the stop angle is reached forward to obtain an angle difference curve; By performing an integral operation on the angle difference curve, an average angle error of the motor to be calibrated within the preset time length is obtained; wherein the average angle error is used to measure the zero-position calibration effect of the motor to be calibrated.

4. The dynamic calibration method according to claim 3, characterized in that: The dynamic calibration method further includes determining that the zero calibration effect meets the preset requirements by: When the average angle error is less than a preset error threshold, it is determined that the zero position calibration effect meets the preset requirement.

5. The dynamic calibration method according to claim 1, characterized in that: When the angular position of the motor to be calibrated converges in an exponential form, the formula of the angle unilateral convergence reference curve is expressed as: When the angular position of the motor to be calibrated converges in an inverse form, the formula of the angle unilateral convergence reference curve is expressed as: in, represents a reference curve for unilateral convergence of the angle; Indicates the zero position of the angle; Indicates the deviation angle value; represents the angular attenuation coefficient; Indicates the running time.

6. The dynamic calibration method according to claim 1, characterized in that: The dynamic calibration method further includes: When the zero-position calibration effect does not meet the preset requirement, determining whether the number of zero-position calibrations of the motor to be calibrated reaches a preset number threshold; If not, re-calibrate the motor to be calibrated to zero position; If it has been reached, an alarm signal is generated and sent to relevant personnel.

7. A dynamic zero-position calibration device for a single-side convergence brushless motor, characterized in that: The dynamic calibration device comprises: A determination module, used to determine calibration parameters of the motor to be calibrated; A construction module is configured to construct an angle unilateral convergence reference curve of the motor to be calibrated according to the rotation direction of the motor to be calibrated in the working state and the calibration parameters; wherein the angle unilateral convergence reference curve is used to represent the motion pattern of the motor rotor converging unidirectionally from an initial angular position to an angular zero position over time; an acquisition module, configured to drive the motor to be calibrated to operate according to the angle unilateral convergence reference curve, and acquire an actual angle curve of the motor to be calibrated; wherein the actual angle curve refers to a curve formed by the actual angular positions of the motor rotor at different operating moments; A comparison module, configured to compare the actual angle curve with the angle unilateral convergence reference curve to determine a zero-position calibration effect of the motor to be calibrated; A judgment module, configured to determine that the zero-position calibration of the motor to be calibrated is completed when the zero-position calibration effect meets a preset requirement; The calibration parameters include: the angle zero position, the deviation angle value, and the angle attenuation coefficient; when the construction module is used to construct the angle unilateral convergence reference curve of the motor to be calibrated according to the rotation direction of the motor to be calibrated in the working state and the calibration parameters, the construction module is used to: According to the rotation direction of the motor to be calibrated in the working state, defining the convergence positive direction of the motor rotor angular position; Determining an angle attenuation term based on the deviation angle value and the angle attenuation coefficient; wherein the deviation angle value refers to the angle value by which the initial angle position of the motor rotor deviates from the angle zero position; and the angle attenuation coefficient is used to control the angle convergence speed of the motor rotor; According to the angle zero position, the positive convergence direction and the angle attenuation term, the angle unilateral convergence reference curve that converges unidirectionally in the positive convergence direction is constructed.

8. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the processor is running, the machine-readable instructions execute the steps of the method for dynamic calibration of the zero position of a brushless motor with single-sided angle convergence as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the method for dynamic zero-position calibration of a brushless motor with single-sided angle convergence as claimed in any one of claims 1 to 6.

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