Zero dynamic calibration method and device for angle bidirectional oscillation convergence brushless motor

Abstract

The invention provides an angle bidirectional oscillation convergence brushless motor zero position dynamic calibration method and device, and the method comprises the steps: determining an oscillation calibration parameter and a convergence calibration parameter of a to-be-calibrated motor according to an operation parameter of the to-be-calibrated motor; constructing an angle oscillation convergence reference curve of the to-be-calibrated motor according to the convergence calibration parameters and the oscillation calibration parameters; wherein the angle oscillation convergence reference curve is used for representing a motion mode that a motor rotor converges to an angle zero position from an initial angle position in a bidirectional reciprocating oscillation mode along with time; driving the to-be-calibrated motor to operate according to the angle oscillation convergence reference curve, and obtaining an actual angle curve of the to-be-calibrated motor; comparing the actual angle curve with the angle oscillation convergence reference curve, and determining a zero calibration effect of the motor to be calibrated; when the zero calibration effect meets the preset requirement, it is determined that zero calibration of the to-be-calibrated motor is completed. Thus, efficient and reliable dynamic calibration of the zero position of the motor can be achieved, accidents caused by wrong calibration are avoided, and safe and reliable starting and running of the motor are 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 an angle bidirectional oscillation convergence brushless motor. Background Art

[0002] For incremental encoder feedback brushless motors, after the system is completely powered off, the motor zero position calibration must be performed when it is restarted to ensure that the motor control system can accurately control the position and movement of the motor. Existing zero position calibration methods often only set a fixed angle zero position, and pass a sufficiently large current to allow the rotor permanent magnet to overcome the static friction torque, dynamic friction torque, and resistance torque, and try to align to this angle zero position.

[0003] However, in engineering practice, the motor may be in a weak equilibrium state during the calibration process. The zero-position pull generated by the calibration current is nearly parallel to the permanent magnet, and the zeroing torque generated is very small, even insufficient to overcome the static friction torque and resistance torque generated by the motor, reducer, load, etc., resulting in calibration failure. The motor shaft is also often subjected to various unexpected interference torques, which makes it impossible for the motor rotor permanent magnet to align to the angle zero position. The accuracy of the zero-position calibration is low, affecting the stability of the motor operation. In addition, the existing calibration method lacks monitoring of the zero-position calibration effect, which causes the motor control system to control the motor to be put into production when the calibration error is large, which is easy to cause accidents. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method and device for dynamic calibration of the zero position of an angle bidirectional oscillation convergence brushless motor, so as to solve the problems of low accuracy and reliability of the zero position calibration method in the prior art, realize efficient and reliable dynamic calibration of the motor zero position, avoid accidents caused by incorrect calibration, and ensure the safe and reliable starting and operation of the motor.

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

[0006] Determining oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated;

[0007] According to the convergence calibration parameter and the oscillation calibration parameter, an angle oscillation convergence reference curve of the motor to be calibrated is constructed; wherein the angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from the initial angle position to the angle zero position in a bidirectional reciprocating oscillation manner over time;

[0008] The motor to be calibrated is driven to run according to the angle oscillation convergence reference curve, and an actual angle curve of the motor to be calibrated is obtained; wherein the actual angle curve refers to a curve formed by actual angle positions of the motor rotor corresponding to different operating moments;

[0009] Comparing the angle actual curve with the angle oscillation 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 motor to be calibrated has completed the zero-position calibration.

[0011] Further, the operating parameters include the rated speed; the oscillation calibration parameters include the bidirectional oscillation frequency; the convergence calibration parameters include the deviation angle value and the angle attenuation coefficient; the deviation angle value refers to the angle value of the initial angle position of the motor rotor deviating from the angle zero position; the angle attenuation coefficient is used to control the bidirectional angle convergence speed of the motor rotor;

[0012] Determining oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated includes:

[0013] Determining a motor frequency corresponding to the motor to be calibrated according to the rated speed of the motor to be calibrated;

[0014] Reducing the motor frequency by a predetermined multiple to determine the bidirectional oscillation frequency;

[0015] Determine the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°;

[0016] The angle attenuation coefficient is determined according to the bidirectional oscillation frequency, the deviation angle value and the angle zero position.

[0017] Furthermore, according to the convergence calibration parameter and the oscillation calibration parameter, an angle oscillation convergence reference curve of the motor to be calibrated is constructed, including:

[0018] Determining an angle attenuation term according to the deviation angle value and the angle attenuation coefficient;

[0019] Determining an angle bidirectional oscillation coefficient term according to the bidirectional oscillation frequency;

[0020] The angle oscillation convergence reference curve is constructed according to the angle zero position and the product of the angle attenuation term and the angle bidirectional oscillation coefficient term.

[0021] Furthermore, obtaining the actual angle curve of the motor to be calibrated includes:

[0022] Determine the stop angle according to the angle zero position and the preset error angle value;

[0023] Recording the actual angle position corresponding to each running moment until the actual angle position corresponding to any running moment reaches the stop angle;

[0024] Based on the actual angle position corresponding to each recorded running moment, the angle actual curve is obtained.

[0025] Further, comparing the angle actual curve with the angle oscillation convergence reference curve to determine the zero position calibration effect of the motor to be calibrated includes:

[0026] Comparing the angle actual curve with the angle oscillation 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;

[0027] 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.

[0028] Furthermore, the calibration method further includes determining that the zero position calibration effect meets the preset requirements in the following manner:

[0029] 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.

[0030] Furthermore, when the angular position of the motor to be calibrated oscillates and converges in an exponential form, the formula of the angle oscillation convergence reference curve is expressed as:

[0031] Q ref =q0+a×e -bt ×sin(2πft)

[0032] When the angular position of the motor to be calibrated oscillates and converges in an inverse form, the formula of the angle oscillation convergence reference curve is expressed as:

[0033] Q ref =q0+a / (b×t)×sin(2πft)

[0034] Among them, Q ref represents the angle oscillation convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; f represents the bidirectional oscillation frequency; and t represents the running time.

[0035] Furthermore, the dynamic calibration method also includes:

[0036] 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;

[0037] If it is not reached, re-calibrate the motor to be calibrated at zero position;

[0038] If it has been reached, an alarm signal is generated and sent to relevant personnel.

[0039] The embodiment of the present application also provides a zero position dynamic calibration device for an angle bidirectional oscillation convergence brushless motor, the dynamic calibration device comprising:

[0040] A determination module, used to determine the oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated;

[0041] A construction module, used to construct an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter; wherein the angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from an initial angle position to an angle zero position in a bidirectional reciprocating oscillation manner over time;

[0042] An acquisition module, used to drive the motor to be calibrated to run according to the angle oscillation 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 angle position of the motor rotor corresponding to different running times;

[0043] A comparison module, used for comparing the angle actual curve with the angle oscillation convergence reference curve, to determine the zero position calibration effect of the motor to be calibrated;

[0044] The judging module is used to determine that the zero-position calibration of the motor to be calibrated has been completed when the zero-position calibration effect meets the preset requirements.

[0045] 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, and 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 bidirectional oscillation convergence brushless motor zero position dynamic calibration method are performed.

[0046] 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 an angle bidirectional oscillation convergence brushless motor are executed.

[0047] The embodiment of the present application provides a method and device for dynamic calibration of the zero position of an angle bidirectional oscillation convergence brushless motor. On the one hand, an angle oscillation convergence reference curve is used for dynamic calibration, and the angle zero position is approached in a reciprocating oscillation manner. The interference resistance in the motor calibration process can be broken from the positive and negative directions of the motor movement, and the static and quasi-static balance can be destroyed, so that the motor can produce significant calibration actions, overcome various interference torques, and improve the calibration accuracy; during the calibration process, the motor movement can cover both positive and negative directions, making the calibration more versatile and applicable to a wider range; on the other hand, by comparing the actual angle curve and the angle oscillation 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.

[0048] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. 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 related drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for dynamic zero-position calibration of an angle bidirectional oscillation convergence brushless motor provided in an embodiment of the present application is shown;

[0051] Figure 2 A schematic diagram showing a calibration process when an angle position bidirectional oscillation converges provided by an embodiment of the present application is shown;

[0052] Figure 3 A schematic diagram of the structure of a zero-position dynamic calibration device for an angle bidirectional oscillation convergence brushless motor provided in an embodiment of the present application is shown;

[0053] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0054] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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 usually 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 claimed for protection, 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 belongs to the scope of protection of the present application.

[0055] Research has found that the existing zero-position calibration method is very simple. It often only sets a fixed angle zero position, and 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 using 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.

[0056] However, in engineering practice, the motor may be in a weak equilibrium state during the calibration process. The zero-position pull generated by the calibration current is nearly parallel to the permanent magnet, and the zeroing torque generated is very small, even insufficient to overcome the static friction torque and resistance torque generated by the motor, reducer, load, etc., resulting in calibration failure. The motor shaft is also often subjected to various unexpected interference torques, which makes it impossible for the motor rotor permanent magnet to align to the angle zero position. The accuracy of the zero-position calibration is low, affecting the stability of the motor operation. In addition, the existing calibration method lacks monitoring of the zero-position calibration effect, which causes the motor control system to control the motor to be put into production when the calibration error is large, which is easy to cause accidents.

[0057] Based on this, an embodiment of the present application provides a method for dynamic calibration of the zero position of an angle bidirectional oscillation convergence brushless motor to solve the problems of low accuracy and reliability of the zero position calibration method in the prior art.

[0058] See also Figure 1 , Figure 1 The flowchart of a method for dynamic calibration of the zero position of a brushless motor with bidirectional oscillation convergence provided in the embodiment of the present application. The dynamic calibration method can be automatically executed by the motor driver. Figure 1 As shown in , the dynamic calibration method provided in the embodiment of the present application includes:

[0059] S101 . Determine oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to operating parameters of the motor to be calibrated.

[0060] Here, the operating parameters may include the rated speed; the oscillation calibration parameters may include the bidirectional oscillation frequency; the convergence calibration parameters may include the deviation angle value and the angle attenuation coefficient; the deviation angle value refers to the angle value of the initial angle position of the motor rotor (more specifically, the permanent magnet on the rotor) deviating from the angle zero position; the angle attenuation coefficient is used to control the bidirectional angle convergence speed of the motor rotor, that is, the speed at which the permanent magnet approaches the angle zero position.

[0061] In specific implementation, the parameter values ​​of various calibration parameters can be set according to the actual application scenario of the motor, combined with calibration requirements and operating parameters, to achieve flexible calibration of the motor, adjust the amplitude and frequency of bidirectional oscillation, the speed of oscillation convergence, etc.

[0062] In a possible implementation, step S101 may include:

[0063] S1011. Determine a motor frequency corresponding to the motor to be calibrated according to the rated speed of the motor to be calibrated.

[0064] S1012: Reduce the motor frequency by a predetermined multiple to determine the bidirectional oscillation frequency.

[0065] For steps S1011 and S1012, the bidirectional oscillation frequency f when the motor angle is attenuated is related to the rated speed of the motor; specifically, the rated speed of the motor to be calibrated has a corresponding frequency, for example, the rated speed of the motor is 3000RPM, that is, 50Hz, and f can reduce the motor frequency by a predetermined multiple and take it as no more than one tenth of the frequency generated by the rated speed of the motor, that is, f is no more than 5Hz; for example, it can be taken as 3Hz.

[0066] S1013. Determine the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°.

[0067] Here, the deviation angle value a should make the oscillation amplitude of the motor rotation greater than 360° during the calibration process, so as to completely break the interference of various interference torques at various angles, especially covering the gravity torque. Therefore, a is greater than 180°, such as 200°.

[0068] S1014. Determine the angle attenuation coefficient according to the bidirectional oscillation frequency, the deviation angle value and the angle zero position.

[0069] Here, the angle attenuation coefficient b is set in such a way that the bidirectional reciprocating oscillation of the motor can be attenuated to near stop within a suitable time.

[0070] For example, assuming that the integration time span T0 is 3 seconds, Q refThe oscillation decays to the position q1, and the deviation d between q1 and the angle zero position q0 is no more than 0.1°, which is taken as 0.1°. q0 can be set at any angle position, such as 0°. From T0=3, d=0.1, a=200, f=3, the detailed value of b can be calculated.

[0071] S102: constructing an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter.

[0072] The angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from an initial angle position to an angle zero position in a bidirectional reciprocating oscillation manner over time.

[0073] It should be noted that during the motor calibration process, the angle oscillation convergence reference curve can be used to control the motor rotor to move in both positive and negative directions, while breaking the static and quasi-static balance of the rotor in both positive and negative directions as well as various resistances, making this calibration method more versatile and applicable in a wider range of engineering practice.

[0074] In a possible implementation, step S102 may include:

[0075] According to the deviation angle value and the angle attenuation coefficient, the angle attenuation term is determined; according to the bidirectional oscillation frequency, the angle bidirectional oscillation coefficient term is determined; according to the angle zero position and the product of the angle attenuation term and the angle bidirectional oscillation coefficient term, the angle oscillation convergence reference curve is constructed.

[0076] See below Figure 2 , Figure 2 A schematic diagram of a calibration process when the angle position bidirectional oscillation converges provided by an embodiment of the present application. Figure 2 Reference curve Q for convergence of bidirectional oscillation at medium angle ref As shown, the angular position converges in a bidirectional reciprocating oscillation manner.

[0077] More specifically, the oscillation convergence methods in the embodiments of the present application include exponential convergence and inverse convergence.

[0078] When the angular position of the motor to be calibrated oscillates and converges in an exponential form (approaching zero), the formula of the angle oscillation convergence reference curve is expressed as:

[0079] Q ref =q0+a×e -bt ×sin(2πft)

[0080] Among them, Q ref represents the angle oscillation convergence reference curve; q0 represents the angle zero position; Q refand 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; f represents the bidirectional oscillation frequency; t represents the running time; a×e -bC It is the angle attenuation term; sin(2πft) is the angle bidirectional oscillation coefficient term.

[0081] From the above formula, it can be seen that the reference curve of the exponential oscillation convergence speed is the derivative of the angle oscillation convergence reference curve. The specific formula can be expressed as:

[0082] V ref =-a×e -bt ×b×[sin(2πft)-2πfcos(2πft)]

[0083] It can be seen that as time goes by, the angular velocity of the permanent magnet gradually decreases exponentially until it reaches 0.

[0084] When the angular position of the motor to be calibrated oscillates and converges in an inverse form, the formula of the angle oscillation convergence reference curve is expressed as:

[0085] Q ref =q0+a / (b×t)×sin(2πft)

[0086] Among them, Q ref represents the angle oscillation convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; f represents the bidirectional oscillation frequency; and t represents the running time.

[0087] It can be seen from the above formula that the reference curve of the inverse form of oscillation convergence speed is the derivative of the angle oscillation convergence reference curve. The specific formula can be expressed as:

[0088]

[0089] It can be seen that as time goes by, the angular velocity of the permanent magnet gradually decreases rapidly according to the second-order reciprocal oscillation until it reaches 0.

[0090] Therefore, compared with exponential convergence, the reciprocal convergence speed is faster at the beginning and slower when approaching 0, that is, the angular velocity of the permanent magnet changes faster in the early stage and changes more smoothly in the later stage. Therefore, compared with exponential convergence, the reciprocal convergence algorithm is simpler and faster in operation, and is more suitable for processing and operation of motor drivers based on embedded microprocessors.

[0091] S103 . Drive the motor to be calibrated to operate according to the angle oscillation convergence reference curve, and obtain an actual angle curve of the motor to be calibrated.

[0092] The actual angle curve refers to a curve formed by the actual angle positions of the motor rotor corresponding to different operating moments.

[0093] In specific implementation, the FOC algorithm of the motor driver can be combined for control. FOC (Field-Oriented Control) is a control algorithm for AC motors (such as brushless DC motors BLDC and permanent magnet synchronous motors PMSM, etc.). Its core idea is to decompose the three-phase current and voltage of the motor into two independent DC components: the magnetic field component (d-axis) and the torque component (q-axis), thereby achieving independent control of the motor magnetic field and torque.

[0094] In one example, the actual angle curve may be obtained by the following steps:

[0095] Determine the stop angle according to the angle zero position and the preset error angle value; record the actual angle position corresponding to each operating moment until the actual angle position corresponding to any operating moment reaches the stop angle; and obtain the angle actual curve based on the recorded actual angle position corresponding to each operating moment.

[0096] Continue reading Figure 2 , driven in the d-axis current mode, the motor starts running and converges to the reference curve Q according to the angle oscillation ref Perform bilateral reciprocating oscillation convergence motion and gradually approach zero position q0, while linearly increasing d-axis current r; in the bilateral oscillation of the calibration process, break the various resistances that may exist in the rotation of the motor rotor in both positive and negative directions, such as static friction torque, dynamic friction torque, load torque, gravity torque, etc. ref When the deviation d=abs(q1-q0) reaches the preset allowable 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°.

[0097] S104: Compare the actual angle curve with the angle oscillation convergence reference curve to determine the zero-position calibration effect of the motor to be calibrated.

[0098] 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.

[0099] In a possible implementation, step S104 may include: comparing the actual angle curve with the angle oscillation convergence reference curve, intercepting a preset time length from the running moment when the stop angle is reached, and obtaining 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.

[0100] 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 oscillation convergence reference curve, and the formula can be expressed as:

[0101]

[0102] The size of the average angle error (i.e., the evaluation function J) reflects the severity of the deviation of the actual motion curve from the angle reference curve during the process of the permanent magnet approaching the zero position q0. Obviously, if the J value is very small, it means that the actual approximation curve of the permanent magnet basically coincides with the angle reference curve, that is, the approximation convergence effect is very good. At this time, the motor calibration is successful, and the calibration dynamic process and calibration results are very good. If the J value is not small enough, that is, it is greater than the preset error threshold, the calibration error is too large, the motor calibration fails, and it needs to be recalibrated or the motor system problem needs to be checked.

[0103] 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.

[0104] S105. When the zero-position calibration effect meets the preset requirement, determine that the motor to be calibrated has completed the zero-position calibration.

[0105] 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.

[0106] When the zero-position calibration effect does not meet the preset requirements (i.e., greater than or equal to the preset error threshold), it means that the zero-position calibration has failed. After that, it is determined whether the number of zero-position calibrations of the motor to be calibrated reaches the preset number threshold. If not, the motor to be calibrated is automatically recalibrated. If it has reached, an alarm signal is generated and sent to relevant personnel to remind them to intervene manually. The number threshold can be set according to actual needs, such as 3 times.

[0107] The embodiment of the present application provides a method for dynamic calibration of the zero position of an angle bidirectional oscillation convergence brushless motor. On the one hand, it uses an angle oscillation convergence reference curve for dynamic calibration, and approaches the angle zero position in a reciprocating oscillation manner. It can break the interference resistance in the motor calibration process from both the positive and negative directions of the motor movement, destroy the static and quasi-static balance, so that the motor can produce significant calibration actions, overcome various interference torques, and improve the calibration accuracy; during the calibration process, the motor movement can cover both positive and negative directions, making the calibration more versatile and applicable to a wider range; on the other hand, by comparing the actual angle curve and the angle oscillation 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.

[0108] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a zero-position dynamic calibration device for an angle bidirectional oscillation convergence brushless motor provided in an embodiment of the present application. Figure 3 As shown in , the dynamic calibration device 300 includes:

[0109] A determination module 310, configured to determine an oscillation calibration parameter and a convergence calibration parameter of the motor to be calibrated according to the operating parameters of the motor to be calibrated;

[0110] A construction module 320 is used to construct an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter; wherein the angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from an initial angle position to an angle zero position in a bidirectional reciprocating oscillation manner over time;

[0111] The acquisition module 330 is used to drive the motor to be calibrated to run according to the angle oscillation convergence reference curve, and obtain the angle actual curve of the motor to be calibrated; wherein the angle actual curve refers to the curve formed by the actual angle position of the motor rotor corresponding to different running times;

[0112] A comparison module 340 is used to compare the angle actual curve with the angle oscillation convergence reference curve to determine the zero position calibration effect of the motor to be calibrated;

[0113] The judgment module 350 is used to determine that the zero-position calibration of the motor to be calibrated has been completed when the zero-position calibration effect meets the preset requirements.

[0114] Further, the operating parameters include the rated speed; the oscillation calibration parameters include the bidirectional oscillation frequency; the convergence calibration parameters include the deviation angle value and the angle attenuation coefficient; the deviation angle value refers to the angle value of the initial angle position of the motor rotor deviating from the angle zero position; the angle attenuation coefficient is used to control the bidirectional angle convergence speed of the motor rotor; when the determination module 310 is used to determine the oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated, the determination module is used to:

[0115] Determining a motor frequency corresponding to the motor to be calibrated according to the rated speed of the motor to be calibrated;

[0116] Reducing the motor frequency by a predetermined multiple to determine the bidirectional oscillation frequency;

[0117] Determine the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°;

[0118] The angle attenuation coefficient is determined according to the bidirectional oscillation frequency, the deviation angle value and the angle zero position.

[0119] Further, when the construction module 320 is used to construct the angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter, the construction module 320 is used to:

[0120] Determining an angle attenuation term according to the deviation angle value and the angle attenuation coefficient;

[0121] Determining an angle bidirectional oscillation coefficient term according to the bidirectional oscillation frequency;

[0122] The angle oscillation convergence reference curve is constructed according to the angle zero position and the product of the angle attenuation term and the angle bidirectional oscillation coefficient term.

[0123] 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:

[0124] Determine the stop angle according to the angle zero position and the preset error angle value;

[0125] Recording the actual angle position corresponding to each running moment until the actual angle position corresponding to any running moment reaches the stop angle;

[0126] Based on the actual angle position corresponding to each recorded running moment, the angle actual curve is obtained.

[0127] Furthermore, when the comparison module 340 is used to compare the angle actual curve with the angle oscillation convergence reference curve to determine the zero position calibration effect of the motor to be calibrated, the comparison module 340 is used to:

[0128] Comparing the angle actual curve with the angle oscillation 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;

[0129] 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.

[0130] Furthermore, the judging module 350 is further configured to determine whether the zero position calibration effect meets the preset requirement by:

[0131] 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.

[0132] Furthermore, when the angular position of the motor to be calibrated oscillates and converges in an exponential form, the formula of the angle oscillation convergence reference curve is expressed as:

[0133] Q ref =q0+a×e -bt ×sin(2πft)

[0134] When the angular position of the motor to be calibrated oscillates and converges in an inverse form, the formula of the angle oscillation convergence reference curve is expressed as:

[0135] Q ref =q0+a / (b×t)×sin(2πft)

[0136] Among them, Q ref represents the angle oscillation convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; f represents the bidirectional oscillation frequency; and t represents the running time.

[0137] Furthermore, the determination module 350 is further configured to:

[0138] 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;

[0139] If it is not reached, re-calibrate the motor to be calibrated at zero position;

[0140] If it has been reached, an alarm signal is generated and sent to relevant personnel.

[0141] 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 , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0142] 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 angle bidirectional oscillation convergence in the method embodiment shown in the figure, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0143] 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 angle bidirectional oscillation convergence in the method embodiment shown in the figure, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0144] Those skilled in the art can 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.

[0145] In the several embodiments provided in the present 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 only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] 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.

[0148] 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 can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform 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.

[0149] 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 protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for dynamic zero-position calibration of an angle bidirectional oscillation convergence brushless motor, characterized in that: The dynamic calibration method comprises: Determining oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated; According to the convergence calibration parameter and the oscillation calibration parameter, an angle oscillation convergence reference curve of the motor to be calibrated is constructed; wherein the angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from the initial angle position to the angle zero position in a bidirectional reciprocating oscillation manner over time; The motor to be calibrated is driven to run according to the angle oscillation convergence reference curve, and an actual angle curve of the motor to be calibrated is obtained; wherein the actual angle curve refers to a curve formed by actual angle positions of the motor rotor corresponding to different operating moments; Comparing the angle actual curve with the angle oscillation 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 requirement, it is determined that the motor to be calibrated has completed the zero-position calibration.

2. The dynamic calibration method according to claim 1, characterized in that: The operating parameters include the rated speed; the oscillation calibration parameters include the bidirectional oscillation frequency; the convergence calibration parameters include the deviation angle value and the angle attenuation coefficient; the deviation angle value refers to the angle value of the initial angle position of the motor rotor deviating from the angle zero position; The angle attenuation coefficient is used to control the bidirectional angle convergence speed of the motor rotor; Determining oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated includes: Determining a motor frequency corresponding to the motor to be calibrated according to the rated speed of the motor to be calibrated; Reducing the motor frequency by a predetermined multiple to determine the bidirectional oscillation frequency; Determine the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°; The angle attenuation coefficient is determined according to the bidirectional oscillation frequency, the deviation angle value and the angle zero position.

3. The dynamic calibration method according to claim 2, characterized in that: According to the convergence calibration parameter and the oscillation calibration parameter, constructing an angle oscillation convergence reference curve of the motor to be calibrated, including: Determining an angle attenuation term according to the deviation angle value and the angle attenuation coefficient; Determining an angle bidirectional oscillation coefficient term according to the bidirectional oscillation frequency; The angle oscillation convergence reference curve is constructed according to the angle zero position and the product of the angle attenuation term and the angle bidirectional oscillation coefficient term.

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

5. The dynamic calibration method according to claim 4, characterized in that: Comparing the angle actual curve with the angle oscillation convergence reference curve to determine the zero position calibration effect of the motor to be calibrated, including: Comparing the angle actual curve with the angle oscillation 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 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.

6. The dynamic calibration method according to claim 5, characterized in that: The calibration method further includes determining that the zero position 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.

7. The dynamic calibration method according to claim 2, characterized in that: When the angular position of the motor to be calibrated converges in an exponential oscillation, the formula of the angle oscillation convergence reference curve is expressed as: Q ref =q0+a×e -bf ×sin(2πft) When the angular position of the motor to be calibrated oscillates and converges in an inverse form, the formula of the angle oscillation convergence reference curve is expressed as: Q ref =q0+a / (b×t)×sin(2πft) Among them, Q ref represents the angle oscillation convergence reference curve; q0 represents the angle zero position; a represents the deviation angle value; b represents the angle attenuation coefficient; f represents the bidirectional oscillation frequency; and t represents the running time.

8. The dynamic calibration method according to claim 1, characterized in that: The calibration method further comprises: 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 it is not reached, re-calibrate the motor to be calibrated at zero position; If it has been reached, an alarm signal is generated and sent to relevant personnel.

9. A zero-position dynamic calibration device for an angle bidirectional oscillation convergence brushless motor, characterized in that: The dynamic calibration device comprises: A determination module, used to determine the oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to the operating parameters of the motor to be calibrated; A construction module, used to construct an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter; wherein the angle oscillation convergence reference curve is used to characterize the motion mode of the motor rotor converging from an initial angle position to an angle zero position in a bidirectional reciprocating oscillation manner over time; An acquisition module, used to drive the motor to be calibrated to run according to the angle oscillation 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 angle position of the motor rotor corresponding to different running times; A comparison module, used for comparing the angle actual curve with the angle oscillation convergence reference curve, to determine the zero position calibration effect of the motor to be calibrated; The judging module is used to determine that the zero-position calibration of the motor to be calibrated has been completed when the zero-position calibration effect meets the preset requirements.

10. 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 angle bidirectional oscillation convergence brushless motor zero position dynamic calibration method as described in any one of claims 1 to 8.

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