A method and device for dynamic calibration of zero position of a brushless motor with bidirectional oscillation convergence

Abstract

The present application provides a method and device for dynamic calibration of the zero position of a brushless motor with bidirectional oscillation convergence, which determines 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; constructs an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameters and the oscillation calibration parameters; 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; drives the motor to be calibrated to run according to the angle oscillation convergence reference curve, and obtains the actual angle curve of the motor to be calibrated; compares the actual angle 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 requirements, determines 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 an angle bidirectional oscillation convergence brushless motor. 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 bidirectional oscillation convergence, 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 startup and operation of the motor.

[0005] The present invention provides a method for dynamically calibrating the zero position of a brushless motor with bidirectional oscillation convergence. The method includes:

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

[0007] Constructing an angle oscillation convergence reference curve of the motor to be calibrated based on 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 angular position to an angular zero position in a bidirectional reciprocating oscillation manner over time;

[0008] Driving the motor to be calibrated to operate according to the angle oscillation 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 corresponding to different operating moments;

[0009] Comparing the actual angle 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 zero-position calibration of the motor to be calibrated is completed.

[0011] Furthermore, the operating parameters include a rated speed; the oscillation calibration parameters include a bidirectional oscillation frequency; the convergence calibration parameters include a deviation angle value and an angle attenuation coefficient; the deviation angle value refers to an angle value by which the initial angle position of the motor rotor deviates 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 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] Determining 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, constructing an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter includes:

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

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

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

[0025] Furthermore, comparing the actual angle 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 actual angle curve with the angle oscillation convergence reference curve, and intercepting a preset time 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 whether the zero-position calibration effect meets preset requirements by:

[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 converges in an exponential oscillation, 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 further 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 not, re-calibrate the motor to be calibrated to zero position;

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

[0039] The present application also provides a device for dynamically calibrating the zero position of a brushless motor with bidirectional oscillation convergence, the device comprising:

[0040] A determination module, 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;

[0041] A construction module is configured to construct an angle oscillation convergence reference curve of the motor to be calibrated based on the convergence calibration parameter and the oscillation calibration parameter; wherein the angle oscillation convergence reference curve is used to represent a motion mode in which the motor rotor converges from an initial angular position to an angular zero position in a bidirectional reciprocating oscillation manner over time;

[0042] an acquisition module, configured to drive the motor to be calibrated to operate 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 angular positions of the motor rotor at different operating moments;

[0043] A comparison module, configured to compare the actual angle curve with the angle oscillation convergence reference curve to determine a zero-position calibration effect of the motor to be calibrated;

[0044] 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.

[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. 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, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned angle bidirectional oscillation convergence brushless motor zero position dynamic calibration method are executed.

[0047] The embodiment of the present application provides a method and device for dynamic calibration of the zero position of a brushless motor with bidirectional oscillation convergence. 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.

[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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 A flowchart of a method for dynamic zero-position calibration of a brushless motor with bidirectional oscillation convergence according to an embodiment of the present application is shown;

[0051] Figure 2 A schematic diagram showing a calibration process during convergence of bidirectional oscillation of an angular position provided in 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] 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.

[0055] 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.

[0056] 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.

[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 This is a flow chart of a method for dynamic calibration of the zero position of a brushless motor with bidirectional oscillation convergence provided in an embodiment of the present application. This 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 angular 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] During specific implementation, the parameter values ​​of each calibration parameter can be set according to the actual application scenario of the motor, combined with the 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, f can reduce the motor frequency according to a predetermined multiple and take it to be 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 ensure that the oscillation amplitude of the motor rotation during the calibration process is greater than 360°, thereby completely eliminating the interference of various interfering torques at all angles, especially covering the gravity torque. Therefore, a is greater than 180°, for example, 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 a stop within a suitable time.

[0070] For example, assuming that the integration time span T0 is 3 seconds, Q refThe oscillation decays to position q1. The deviation d between q1 and the angular zero position q0 is no more than 0.1°, which is taken as 0.1°. q0 can be set to any angular position, such as 0°. From T0 = 3, d = 0.1, a = 200, and 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 the forward and reverse directions, while breaking the static and quasi-static balance of the rotor in both the forward and reverse directions as well as various resistances, making this calibration method more versatile and applicable in engineering practice.

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

[0075] The angle attenuation term is determined according to the deviation angle value and the angle attenuation coefficient; the angle bidirectional oscillation coefficient term is determined according to the bidirectional oscillation frequency; and 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.

[0076] See below Figure 2 , Figure 2 This is 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 angles 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 converges in an exponential oscillation (approaches 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, we can see 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] From the above formula, we can see 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 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.

[0091] S103 : driving the motor to be calibrated to operate according to the angle oscillation convergence reference curve, and obtaining 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 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.

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

[0095] 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.

[0096] Continue reading Figure 2 , driven by the d-axis current mode, the motor starts running and converges according to the angle oscillation reference curve Q ref Perform bilateral reciprocating oscillation convergence motion and gradually approach zero position q0, while linearly increasing the d-axis current r; during the bilateral oscillation of the calibration process, break the various resistances that may exist in the rotation of the motor rotor in both the forward and reverse 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 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 embodiment, step S104 may include: comparing the actual angle curve and 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, which can be expressed as:

[0101]

[0102] 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.

[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 a preset requirement, determining that the zero-position calibration of the motor to be calibrated is completed.

[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] 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.

[0107] The embodiment of the present application provides a method for dynamic calibration of the zero position of a brushless motor with bidirectional oscillation convergence of angles. On the one hand, the method uses an angle oscillation convergence reference curve for dynamic calibration, and approaches the angle zero position in a reciprocating oscillation manner. This 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, and enable the motor to 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. 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.

[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 is configured to determine an oscillation calibration parameter and a convergence calibration parameter of the motor to be calibrated based on the operating parameters of the motor to be calibrated;

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

[0111] An acquisition module 330 is configured to drive the motor to be calibrated 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 is a curve formed by the actual angular positions of the motor rotor at different operating times;

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

[0113] 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.

[0114] Furthermore, the operating parameters include a rated speed; the oscillation calibration parameters include a bidirectional oscillation frequency; the convergence calibration parameters include a deviation angle value and an angle attenuation coefficient; 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; 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 based on 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] Determining 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] Furthermore, 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] Determining a stop angle according to the angle zero position and a preset error angle value;

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

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

[0127] Furthermore, when the comparison module 340 is used to 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, the comparison module 340 is used to:

[0128] Comparing the actual angle curve with the angle oscillation convergence reference curve, and intercepting a preset time 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 judgment module 350 is further configured to determine whether the zero calibration effect meets a 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 converges in an exponential oscillation, 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 judgment 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 not, re-calibrate the motor to be calibrated to 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 FIG, 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 are specifically implemented in the method embodiment and will not be repeated here.

[0143] 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 angle bidirectional oscillation convergence in the method embodiment shown are specifically implemented in the method embodiment and will not be repeated here.

[0144] 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.

[0145] 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.

[0146] 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.

[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, 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.

[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 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 bidirectional oscillation convergence, characterized in that: The dynamic calibration method comprises: Determining oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated according to operating parameters of the motor to be calibrated; Constructing an angle oscillation convergence reference curve of the motor to be calibrated based on 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 angular position to an angular zero position in a bidirectional reciprocating oscillation manner over time; Driving the motor to be calibrated to operate according to the angle oscillation 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 corresponding to different operating moments; Comparing the actual angle 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 requirements, determining that the zero-position calibration of the motor to be calibrated is completed; 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 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; Determining the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°; determining the angle attenuation coefficient according to the bidirectional oscillation frequency, the deviation angle value, and the angle zero position; Constructing an angle oscillation convergence reference curve of the motor to be calibrated according to the convergence calibration parameter and the oscillation calibration parameter, comprising: 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.

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 oscillation 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 oscillation convergence reference curve, and 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 calibration method further includes determining that the zero-position calibration effect meets 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 oscillation, the formula of the angle oscillation convergence reference curve is expressed as: 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: in, represents the angle oscillation convergence reference curve; Indicates the zero position of the angle; Indicates the deviation angle value; represents the angle attenuation coefficient; represents the bidirectional oscillation frequency; Indicates the running time.

6. The dynamic calibration method according to claim 1, characterized in that: The 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 device for dynamic zero-position calibration of a brushless motor with bidirectional oscillation convergence, characterized in that: The dynamic calibration device comprises: A determination module, 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; A construction module is configured to construct an angle oscillation convergence reference curve of the motor to be calibrated based on the convergence calibration parameter and the oscillation calibration parameter; wherein the angle oscillation convergence reference curve is used to represent a motion mode in which the motor rotor converges from an initial angular position to an angular zero position in a bidirectional reciprocating oscillation manner over time; an acquisition module, configured to drive the motor to be calibrated to operate 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 angular positions of the motor rotor at different operating moments; A comparison module, configured to compare the actual angle curve with the angle oscillation 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 operating parameters include a rated speed; the oscillation calibration parameters include a bidirectional oscillation frequency; the convergence calibration parameters include a deviation angle value and an angle attenuation coefficient; 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; the angle attenuation coefficient is used to control the bidirectional angle convergence speed of the motor rotor; when the determination module is used to determine the oscillation calibration parameters and convergence calibration parameters of the motor to be calibrated based on the operating parameters of the motor to be calibrated, the determination module is used to: 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; Determining the deviation angle value so that the total amplitude of the bidirectional oscillation of the motor rotor is greater than 360°; determining the angle attenuation coefficient according to the bidirectional oscillation frequency, the deviation angle value, and the angle zero position; When the construction module 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 is used to: 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.

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 angle bidirectional oscillation convergence brushless motor zero position dynamic calibration method as described in any one of claims 1 to 6.

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