Motor control method, device and equipment and computer readable storage medium

Abstract

The invention relates to the field of motors, in particular to a motor control method, device and equipment and a computer readable storage medium. The motor comprises a rotor and a magnet. The magnet and the rotor rotate synchronously; the method comprises the following steps: detecting the magnetic flux density of a magnet; determining target control parameters of the motor according to the magnetic flux density; and controlling the motor according to the target control parameter. The working reliability and stability of the motor can be improved.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor control method, device, equipment and computer-readable storage medium. Background Art

[0002] In the relevant motor control scheme, it is necessary to determine the rotor's position, speed and other motion states, and adjust the rotor's driving strategy according to the rotor's motion state. If the rotor's motion state error is large, the existing scheme will generally try to drive the motor at maximum power, which will cause excessive current, thereby damaging the power components and / or causing motor failure, thereby reducing the motor's working stability and operation continuity.

[0003] Therefore, a more reliable and stable motor control solution is needed. Summary of the invention

[0004] In view of this, embodiments of the present application provide a motor control method, device, equipment, and computer-readable storage medium, which can solve the problem of low reliability of existing motors.

[0005] In a first aspect, an embodiment of the present application provides a motor control method, wherein the motor includes a rotor and a magnet; the magnet rotates synchronously with the rotor; the motor control method includes: detecting the magnetic flux density of the magnet; determining a target control parameter of the motor according to the magnetic flux density; The motor is controlled according to the target control parameter.

[0006] By adopting the above technical solution, the operation mode of the motor is dynamically switched based on the magnetic flux density of the magnet. When the magnet is close to or has been demagnetized, the motor is switched to an operation mode that does not determine the motion state of the rotor based on the magnetic induction detection result of the magnet, thereby ensuring the accuracy of the motion state of the rotor under various working conditions. This solution can effectively avoid the inaccurate detection of the motion state such as the rotor position and speed caused by the demagnetization of the magnet when running in the sensed operation mode. Controlling the rotation of the rotor based on the inaccurate rotor motion state will cause abnormal events such as overcurrent and restart, thereby reducing the working continuity and reliability of the motor. This solution can enhance the reliability, durability and adaptability of the motor under different working conditions by determining the target control parameters of the motor based on the magnetic flux density of the magnet. Preferably, when this solution is applied to the motor control of the oil pump, it can solve the driving failure caused by the main oil pressure or insufficient lubrication of the vehicle caused by the oil pump, and provide safer driving protection.

[0007] In some embodiments, the target control parameter includes a first operating mode corresponding to the current operating process of the motor; the method further includes: comparing the magnetic flux density with a preset magnetic flux density threshold; If the magnetic flux density is less than the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the target magnet; and the second motion state is used to control the rotor.

[0008] In some embodiments, the method further comprises: If the magnetic flux density is greater than or equal to the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is determined according to the first motion state of the magnet.

[0009] In some embodiments, the target control parameter also includes a second operating mode corresponding to the next operating process of the motor; the method further includes: If the magnetic flux density is less than the magnetic flux density threshold, the first operating mode is determined to be the second operating mode.

[0010] In some embodiments, the target control parameter includes a first operating mode corresponding to the current operating process of the motor; the method further includes: Monitoring preset abnormal operation events of the motor; If the first occurrence number of the abnormal operation event monitored is greater than a preset first number threshold, the preset non-sensing operation mode is determined as the first operation mode; wherein, in the non-sensing operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the target magnet; and the second motion state is used to control the rotor.

[0011] In some embodiments, the target control parameter also includes a second operating mode corresponding to the next operating process of the motor; the method further includes: Monitoring target events; the target events include events whose first occurrence times are greater than or equal to the first times threshold; If the second occurrence number of the target event monitored is greater than or equal to a preset second number threshold, the first operating mode is determined to be the second operating mode.

[0012] In some embodiments, the method further comprises: If it is monitored that the second occurrence number is less than the second number threshold, the second operation mode is determined according to the magnetic flux density and / or the first occurrence number.

[0013] In a second aspect, an embodiment of the present application further provides a motor control device, the motor control device comprising: A detection module is used to detect the magnetic flux density of a magnet in a motor; the motor includes a rotor; the magnet rotates synchronously with the rotor; A determination module, configured to determine a target control parameter of the motor according to the magnetic flux density; A control module is used to control the motor according to the target control parameter.

[0014] In a third aspect, an embodiment of the present application further provides a motor control device, comprising: a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the motor control device executes the motor control method as described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the motor control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of a motor control method according to an embodiment of the present application.

[0017] Figure 2 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0018] Figure 3 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0019] Figure 4 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0020] Figure 5 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0021] Figure 6 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0022] Figure 7 The present invention is a flowchart of a motor control method according to another embodiment of the present application.

[0023] Figure 8 It is a structural schematic diagram of a motor control device provided according to an embodiment of the present application.

[0024] Fig. 9 It is a structural schematic diagram of a motor control device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0028] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0029] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0030] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0031] Related term explanation: Brushless Direct Current Motor: Brushless Direct Current Motor, referred to as BLDC. It is a permanent magnet synchronous motor with position feedback that uses a DC power input and uses an inverter to convert it into a three-phase AC power supply. In BLDC, the position of the rotor's rotating magnetic field is detected by a Hall position sensor, and the corresponding winding is excited through the logic circuit and the drive circuit. That is, the winding responds to the magnetic field of the motor's permanent magnet, thereby generating the required torque.

[0032] Rotor pump: A pump that increases the energy of the liquid by changing the working volume through the relative movement between the rotor and the pump body.

[0033] In the related art, the motor has been widely used as a driving mechanism. For example, in the automotive field, the automotive transmission oil pump is responsible for providing the necessary lubrication to the transmission system and maintaining the pressure of the main oil circuit. Automobile-related pumps such as lubricating outer rotor pumps and high-pressure main oil circuit pressure rotor pumps require motors to provide power. Specifically, the controller, motor, lubricating outer rotor pump and high-pressure main oil circuit pressure rotor pump can be integrated in the oil pump control scheme. The motor includes a rotor, and the rotor is connected to external loads such as the lubricating outer rotor pump and the high-pressure main oil circuit pressure rotor pump. The controller adjusts the driving strategy of the rotor according to the position, speed and other motion states of the rotor. For example, the motor can be a brushless DC motor, and a shaft head magnet is installed at one end of the rotor. When the rotor rotates, the shaft head magnet is driven to move synchronously. The shaft head magnet is detected by a preset magnetic sensor such as a Hall sensor. Since the shaft head magnet moves synchronously with the rotor, the first motion state of the shaft head magnet can be determined according to the detection result of the magnetic sensor, and the second motion state of the rotor is determined according to the first motion state, and then the control strategy of the rotor is adjusted according to the second motion state. This operation mode of determining the second motion state of the rotor according to the detection result of the magnetic sensor is generally called a sensory operation mode. Optionally, the position of the rotor can also be determined by detecting the zero point of the induced electromotive force of the unpowered phase when the motor is rotating. This method of determining the second motion state independently of the shaft head magnet and the magnetic sensor is generally called the non-sensing operation mode.

[0034] However, the shaft head magnet may demagnetize due to the passage of time and / or product quality issues, and the magnetic sensor detects the first motion state through the magnetic induction phenomenon between the shaft head magnet and the magnetic sensor. The generation of the magnetic induction phenomenon is strongly dependent on the magnetism of the sensed object. Therefore, when the shaft head magnet is demagnetized to the point of being almost or having failed, it will be difficult for the Hall sensor to accurately detect the shaft head magnet, thereby affecting the accuracy of the second motion state of the rotor in the sensed operation mode.

[0035] Furthermore, when the error of the second motion state of the rotor is large, the control will continue to use the speed loop control strategy based on the misjudgment of the rotor position. If the rotor position deviates, the oil pump will try to drive the motor at maximum power, but this will cause excessive current, which will damage the power components and cause the controller to fail, eventually causing the motor to overcurrent or even restart.

[0036] It can be seen from the above that the motor control solution has the problem of poor working stability and reliability of the motor.

[0037] In view of this, the embodiments of the present application provide a motor control method, device, equipment and computer-readable storage medium, which can enhance the reliability, durability and adaptability of the motor under different working conditions. Preferably, when the solution is applied to the motor control of the oil pump, it can also solve the driving failure caused by the main oil pressure or insufficient lubrication of the vehicle caused by the oil pump, and provide safer driving protection.

[0038] See also Figure 1 , which is a flowchart of the steps of the motor control method provided in one embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The embodiment of the method can be implemented based on a preset electronic device, which has certain data processing, data storage and communication capabilities. Specifically, the electronic device can be a microcontroller (Micro Control Unit, MCU). The following takes the electronic device as a microcontroller as an example to illustrate the embodiment of the present invention.

[0039] The embodiment of the method is applied to the control of a motor. Among them, the motor can be a brushless DC motor. The motor includes a rotor and a magnet. The rotor rotates around the rotor axis under the control of a microcontroller to provide power for an external load. Specifically, the rotor can rotate at a specific speed, angle and other parameters under the control of the microcontroller. The external load can be, for example, a lubricating outer rotor pump and a high-pressure main oil circuit pressure rotor pump. The magnet has a certain magnetism when it leaves the factory, such as a magnet. It should be noted that the magnetism of the magnet may naturally decrease over time, or it may decrease due to product quality problems, etc. The magnet rotates synchronously with the rotor. The synchronous rotation can be achieved by directly or indirectly connecting the magnet to the rotor, such as the magnet can be set on the rotor shaft. For example, the magnet can be a shaft head magnet in a brushless DC motor.

[0040] See also Figure 1 As shown, the motor control method may include the following steps: Step 101: Detect the magnetic flux density of the magnet.

[0041] Among them, the magnetic flux density is the magnetic flux density of the magnet, and the magnetic flux density characterizes the number of magnetic lines of force that pass vertically through a unit area. The greater the magnetic flux density, the greater the magnetic induction intensity that the magnet can generate per unit area. Specifically, the magnet can be detected by a preset residual magnetism monitoring chip to obtain its magnetic flux density, and the present invention is not limited to this.

[0042] Optionally, in order to save data processing resources, the trigger condition for the detection of magnetic flux density may be the detection of the completion of motor initialization. The target initialization process may include power-on, sensor initialization, sensor calibration, controller initialization, etc. Power-on means that the power supply is usually connected. After the power supply is turned on, the voltage of the motor gradually rises and eventually reaches the value required for normal operation. After power-on, the electronic device can control the motor to start when receiving a start command.

[0043] It should be noted that the magnetic flux density of the magnet is generally a preset standard value when it leaves the factory, but as time goes by and / or problems with product quality occur, the magnetic flux density of the magnet may decrease, that is, demagnetization may occur.

[0044] Step 102: Determine target control parameters of the motor according to the magnetic flux density.

[0045] The target control parameter includes the first operating mode of the motor after the motor is powered on for the last time. It should be noted that the trigger of the motor's current startup process can be based on an external input control startup instruction, or can be based on a preset control logic restart, such as automatically restarting when the motor has an overcurrent, or automatically trying to restart when the motor fails to start.

[0046] In the related art, the motor can adopt one of the sensed operation mode and the non-sensor operation mode. In the sensed operation mode, the microcontroller relies on the detection of the magnet by the magnetic sensor to determine the motion state of the rotor, thereby adjusting the control strategy of the rotor according to the running state of the rotor. In the non-sensor operation mode, the position of the rotor is determined by calculating the induced electromotive force of the motor without referring to the detection of the magnet by the magnetic sensor.

[0047] Considering that the startup process in the non-sensing operation mode is relatively complicated, the non-sensing operation mode takes a long time to start or cannot start when the temperature is low and the load is large, and it is also difficult to run when the induced electromotive force is small due to low-speed operation. Therefore, the non-sensing brushless motor is not suitable for occasions with frequent start-stop and low-speed operation. Based on the above-mentioned defects of the non-sensing operation mode, when both the sensed operation mode and the non-sensing operation mode are applicable, it is preferred to control the motor in the sensed operation mode. However, considering that the reliability of the sensed operation mode depends on the detection result of the magnetic sensor on the magnet to determine the rotor's speed, position and other motion states, and the magnetic sensor detects the first motion state through the magnetic induction phenomenon between the magnet, the generation of the magnetic induction phenomenon strongly depends on the strength of the magnetic induction of the magnet. The magnetic flux density of the magnet may decrease due to the passage of time and / or product quality problems. Therefore, when the magnetic flux density of the magnet decreases to close to or has been demagnetized, the magnetic sensor such as the Hall sensor will be difficult to accurately detect the magnet, thereby affecting the accuracy of the motion state of the rotor in the sensed operation mode. Further, when the error of the rotor's motion state is large, the control based on the misjudgment of the rotor position will continue to adopt the speed loop control strategy. If the rotor position deviates, the oil pump will try to drive the motor at maximum power, but this will cause excessive current, which will damage the power components and cause the controller to fail, ultimately causing the motor to overcurrent or even restart.

[0048] Therefore, in an embodiment of the present invention, the first operating mode after the current motor is started is selected by determining that the magnet is close to or has been demagnetized based on the magnetic flux density. Specifically, the magnetic flux density can be compared with a preset magnetic flux density threshold, which represents the minimum magnetic flux density that the magnet should have when it is effective, wherein the magnet is effective means that the magnet can be detected by a preset magnetic sensor through a magnetic induction reaction. If the magnetic flux density is less than the magnetic flux density threshold, it is determined that the magnet is currently invalid. At this time, if the sensed operation mode is adopted, the error in the motion state of the rotor will be large, causing subsequent control failures and abnormal events such as overcurrent and restart. Therefore, it is necessary to adopt the non-sensing operation mode, that is, the non-sensing operation mode is determined as the first operation mode. Correspondingly, based on the above-mentioned disadvantages and limitations of the non-sensing operation mode, if the magnetic flux density is greater than or greater than the magnetic flux density threshold, it is characterized that the magnet is effective, so the sensed operation mode is determined as the first operation mode.

[0049] Optionally, considering that the motor's operating mode is determined once each time it is started, which will affect the motor's starting efficiency, the target control information may also include a second operating mode corresponding to the motor's next operating process, and the second operating mode may be the same as the first operating mode adopted in the current operating process, that is, the motor uses the same operating mode each time it runs. Optionally, the second operating mode may also be determined in real time based on the current magnetic flux density, and optionally, the second operating mode may also be determined based on the real-time operating state of the motor.

[0050] Specifically, the selection strategy of the second operating mode may include the following: First, considering that if the magnet is demagnetized, its effectiveness will generally not be restored for a period of time unless the component is replaced, therefore, if the current magnetic flux density is less than the preset magnetic flux density threshold, on the basis of setting the first operating mode to the inductive operating mode, the inductive operating mode can continue to be adopted at the next startup, that is, the second operating mode is kept the same as the first operating mode, and the operating mode of the motor is not updated during the next operation. Second, even if the target magnet is not demagnetized during the current operation, it may reach a demagnetized state during the next operation, so its effectiveness is unknown during the next operation. Therefore, if the current magnetic flux density is greater than or equal to the preset magnetic flux density threshold, the next operation still needs to detect the magnetic flux density, and determine whether the operation can be applied to the inductive operation mode or needs to be switched to the inductive operation mode based on the magnetic flux density. Thirdly, considering that the demagnetization of the magnet is one of the possible causes of motor overcurrent and / or startup failure, and motor overcurrent is one of the possible causes of motor restart, it is also possible to reversely detect abnormal events during the operation of the motor, where the abnormal events include overcurrent and startup failure. According to the detection results of the abnormal events, it is inferred whether the target magnet has failed at present, so as to switch the operation mode of the motor from the inductive operation mode to the non-inductive operation mode, so as to avoid subsequent repetitive overcurrent and / or startup failure, and improve the working continuity and stability of the motor.

[0051] Step 103: Control the motor according to the target control parameter.

[0052] The motor is controlled to run in the first operation mode after the current startup. Optionally, the motor can also be controlled to run in the second operation mode after the next startup. It is understandable that the motor enters the current operation process after the current startup, and the stop of the current operation process can be based on a stop command input from an external source, or alternatively, can be based on a preset control logic, such as when the motor has an overcurrent, it will stop and then automatically restart.

[0053] In some embodiments, the demagnetization of the magnet may lead to misjudgment of the motion state of the rotor in the inductive operation mode. Figure 2 As shown, the motor control method may include the following steps: Step 201: Detect the magnetic flux density of the magnet.

[0054] Step 201 is similar to step 101 and will not be described again here.

[0055] Step 202: Compare the magnetic flux density with a preset magnetic flux density threshold.

[0056] The magnetic flux density threshold can be selected by analyzing the technical specifications in the chip manual corresponding to the motor and the statistical data of the actual production SPC (Statistical Process Control). Specifically, it is assumed that after analysis, when the magnetic flux density is between 2304 and 4416, the magnetic induction intensity between the magnet and the magnetic sensor enters a critical state. If the magnetic flux density continues to drop to less than 2304, the target magnet will fail. Therefore, in order to fully consider and cover possible detection errors and ensure the working stability and reliability of the motor, the magnetic flux density threshold can be set to be slightly higher than 2304, such as 2500.

[0057] Step 203: If the magnetic flux density is less than the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the target magnet; and the second motion state is used to control the rotor.

[0058] Among them, if the magnetic flux density is less than the magnetic flux density threshold, it indicates that the current magnet is close to or has failed, and its magnetic induction intensity is not sufficient to support accurate magnetic induction detection by magnetic sensors such as Hall sensors, thereby obtaining the first motion state. At this time, if the error of inferring the second operating state based on the first motion state is large, therefore, it is determined that the motor needs to adopt the non-sensing operation mode at this time, and the second motion state is determined by not referring to the first motion state to avoid the error of the second motion state of the rotor. Specifically, as mentioned above, in the non-sensing operation mode, the position of the rotor is determined by detecting the zero point of the induced electromotive force of the phase that is not powered when the motor rotates, and it does not need to rely on the magnetic induction process of the magnet and the magnetic sensor to determine the second motion state, so it is not affected by whether the magnet is demagnetized or not.

[0059] Step 204: Control the motor to currently operate in the first operating mode.

[0060] By controlling the motor to operate in the non-inductive operation mode when the magnet is close to or has been demagnetized, it is possible to effectively avoid inaccurate detection of motion states such as rotor position and speed caused by magnet demagnetization during operation in the inductive operation mode. Controlling the rotation of the rotor based on the inaccurate rotor motion state will cause abnormal events such as overcurrent and restart, thereby reducing the working continuity and reliability of the motor.

[0061] In some embodiments, the non-sensing operation mode has the disadvantages of complex startup process and high environmental requirements. Figure 3 As shown, the motor control method may include the following steps: Step 301: Detect the magnetic flux density of the magnet.

[0062] Step 301 is similar to step 101 and will not be described again here.

[0063] Step 302: Compare the magnetic flux density with a preset magnetic flux density threshold.

[0064] Step 302 is similar to step 202 and will not be described again here.

[0065] Step 303: If the magnetic flux density is greater than or equal to the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is determined according to the first motion state of the magnet.

[0066] Among them, considering that in the non-sensing operation mode, the induced electromotive force is needed to determine the position of the rotor, and when the motor just starts or the speed is low, the induced electromotive force it generates is very small, and cannot be used to detect the second motion information such as the position of the rotor, and the non-sensing operation mode takes a long time to start or cannot start when the temperature is low and the load is large. Therefore, the non-sensing operation mode has problems such as low starting efficiency and high environmental requirements. In comparison, the sensed operation mode has a wider range of applicable scenarios and higher starting efficiency. Therefore, if the magnetic flux density is greater than or equal to the magnetic flux density threshold, it indicates that the current magnet has not failed, and the accuracy of the sensed operation mode is guaranteed. Therefore, the sensed operation mode can be determined as the first operation mode.

[0067] Step 304: Control the motor to currently operate in the first operating mode.

[0068] By controlling the motor to operate in the inductive operation mode when the magnet has not failed, the starting efficiency and applicable scenarios of the motor can be improved, thereby improving the working performance and reliability of the motor.

[0069] In some embodiments, considering that determining which operation mode the motor adopts each time it is started will affect the starting efficiency of the motor, therefore, referring to Figure 4 As shown, the motor control method may include the following steps: Step 401: Detect the magnetic flux density of the magnet.

[0070] Step 401 is similar to step 101 and will not be described in detail.

[0071] Step 402: Compare the magnetic flux density with a preset magnetic flux density threshold.

[0072] Step 402 is similar to step 202 and will not be described in detail.

[0073] Step 403: If the magnetic flux density is less than the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the magnet; and the second motion state is used to control the rotor.

[0074] Step 403 is similar to step 203 and will not be described in detail.

[0075] Step 404: Control the motor to currently operate in the first operating mode.

[0076] Step 404 is similar to step 204 and will not be described in detail.

[0077] Step 405: If the magnetic flux density is less than the magnetic flux density threshold, determine the first operating mode as the second operating mode.

[0078] Among them, the second operating mode is the second operating mode corresponding to the next operation process of the motor. Considering that the magnetic flux density of the magnet generally does not recover by itself after demagnetization, the target magnet density of the magnet will be less than the magnetic flux density threshold for a period of time. In order to avoid the inefficiency and waste of resources of determining which operating mode to select after each startup, if the magnetic flux density is less than the magnetic flux density threshold, the first operating mode can be determined as the second operating mode, so as to keep the motor running in the non-inductive operating mode at the next startup.

[0079] Optionally, considering that the non-inductive operation mode has disadvantages such as difficulty in starting and limited applicable environment compared to the inductive operation mode, the inductive operation mode is preferably used when the inductive operation mode is applicable. The magnetic flux density of the magnet may change dynamically. If the magnetic flux density detected after the current power-on is greater than or equal to the magnetic flux density threshold, it does not mean that the magnetic flux density at the next startup is still greater than or equal to the magnetic flux density threshold. Therefore, if the magnetic flux density is greater than or equal to the magnetic flux density threshold, the second operation mode can be determined according to the magnetic flux density at the next startup.

[0080] Step 406: During the next operation of the motor, control the motor to operate in the second operation mode.

[0081] By directly adopting the second operation mode during the next operation of the motor, there is no need to determine the operation mode every time after starting, which can save processing resources and improve the working efficiency of the motor.

[0082] In some embodiments, one of the possible reasons for the abnormal operation of the motor is due to magnet demagnetization. Figure 5 As shown, the motor control method may include the following steps: Step 501: monitoring a preset abnormal operation event of the motor.

[0083] Among them, the abnormal operation event refers to the event that the motor does not operate according to the preset control logic, which may include overcurrent events, restart events, start failure events, etc. Among them, the start failure event refers to the failure of the motor to start and fail to start successfully.

[0084] Step 502: If the first occurrence number of the abnormal operation event monitored is greater than the preset first number threshold, the preset non-sensing operation mode is determined as the first operation mode; wherein, in the non-sensing operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the magnet; and the second motion state is used to control the rotor.

[0085] Considering that one of the possible reasons for abnormal operation events such as overcurrent in the motor is the failure of magnet demagnetization, if the first occurrence number of abnormal operation events monitored is greater than the preset first number threshold, the motor is controlled to start and run in the non-sensing operation mode to improve the motor's startup success rate and work continuity. Among them, the first number threshold can be set relatively small, such as 4 times. When the motor overcurrent is detected 4 times, it is switched to the non-sensing operation mode to increase the probability of successful motor restart and smooth operation after restart.

[0086] Step 503: Control the motor to operate in the first operating mode.

[0087] By monitoring abnormal operation events and dynamically switching the operation mode of the motor, the abnormal operation of the motor caused by magnet failure can be effectively eliminated, thereby improving the working reliability of the motor.

[0088] In some embodiments, considering the defects of the non-sensing operation mode such as the complicated startup process and high environmental requirements, as well as the inefficiency of determining the operation mode during each startup process, therefore, refer to Figure 6 As shown, the motor control method may include the following steps: Step 601: monitoring a preset abnormal operation event of the motor.

[0089] Step 601 is the same as step 501 and will not be described in detail.

[0090] Step 602: If the first occurrence number of the abnormal operation event monitored is greater than the preset first number threshold, the preset non-sensing operation mode is determined as the first operation mode; wherein, in the non-sensing operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the magnet; and the second motion state is used to control the rotor.

[0091] Step 602 is the same as step 502 and will not be described again.

[0092] Step 603: Control the motor to operate in the first operating mode.

[0093] Step 603 is the same as step 503 and will not be described again.

[0094] Step 604: monitor target events; the target events include events whose first occurrence times are greater than or equal to the first times threshold.

[0095] Considering that a single abnormal operation event may be an accidental situation or caused by reasons unrelated to the demagnetization of the magnet, the target event of switching to the non-sensing operation mode due to the abnormal operation event can also be monitored to exclude abnormal operation events caused by other reasons unrelated to the demagnetization of the magnet.

[0096] Step 605: If the second occurrence number of the target event monitored is greater than or equal to a preset second number threshold, the first operating mode is determined as a second operating mode.

[0097] Among them, the second operating mode is the second operating mode corresponding to the next operation process of the motor. Considering that if the operation abnormality is caused by accidental reasons, the abnormality can generally be eliminated after attempting to restart, and the accidental reasons will not exist for a long time, and the demagnetization state of the magnet will generally remain for a long time. Therefore, if the second occurrence number of the target event is greater than or equal to the second number threshold, it means that the operation abnormality of the motor is probably related to the demagnetization of the magnet. Therefore, the second operating mode can also be set to the first operating mode, that is, the inductive operating mode, so as to avoid the influence of magnet demagnetization failure. Among them, the second number threshold can be set to be relatively small, such as 3.

[0098] Step 606: During the next operation of the motor, control the motor to operate in the second operation mode.

[0099] By directly adopting the second operating mode during the next operation of the motor, there is no need to judge the operating mode every time after starting. This can save processing resources, improve the working efficiency of the motor, eliminate abnormal operating events caused by accidental factors, and improve the intelligence and accuracy of motor control.

[0100] In some embodiments, the abnormal operation event may be an isolated event or unrelated to the demagnetization of the magnet, therefore, refer to Figure 7 As shown, the motor control method may include the following steps: Step 701: monitoring a preset abnormal operation event of the motor.

[0101] Step 701 is the same as step 501 and will not be described again.

[0102] Step 702: If the first occurrence number of the abnormal operation event monitored is greater than the preset first number threshold, the preset non-sensing operation mode is determined as the first operation mode; wherein, in the non-sensing operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the magnet; and the second motion state is used to control the rotor.

[0103] Step 702 is the same as step 502 and will not be described again.

[0104] Step 703: Control the motor to operate in the first operating mode.

[0105] Step 703 is the same as step 503 and will not be described again.

[0106] Step 704: monitor target events; the target events include events whose first occurrence times are greater than or equal to the first times threshold.

[0107] Step 704 is the same as step 604 and will not be described again.

[0108] Step 705: If it is monitored that the second occurrence number is less than a preset second number threshold, determine the second operation mode according to the magnetic flux density and / or the first occurrence number.

[0109] Among them, considering that when the second number of occurrences is less than the preset second number threshold, there is a certain probability that the abnormal operation of the motor may be due to accidental reasons other than magnet demagnetization. In order to avoid the problem of difficulty in starting caused by directly switching to the inductive operation mode by default, the second operation mode can be determined according to the magnetic flux density and / or the first number of occurrences, so as to realize dynamic determination of the second operation mode and improve the intelligence and accuracy of motor control.

[0110] Specifically, the second operation mode can be determined according to the magnetic flux density. Figure 4 The corresponding steps for determining the second operation mode according to the first occurrence number can refer to the aforementioned Figure 5 The corresponding steps are not repeated here.

[0111] Step 706: During the next operation of the motor, control the motor to operate in the second operation mode.

[0112] By directly adopting the second operating mode during the next operation of the motor, there is no need to judge the operating mode every time after starting. This can save processing resources, improve the working efficiency of the motor, eliminate abnormal operating events caused by accidental factors, and improve the intelligence and accuracy of motor control.

[0113] Please refer to Figure 8 , is a schematic diagram of the hardware structure of the motor control device 80 provided in the embodiment of the present application. Figure 8 As shown, the motor control device 80 may include: The detection module 801 is used to detect the magnetic flux density of a magnet in a motor; the motor includes a rotor; the magnet rotates synchronously with the rotor; A determination module 802, configured to determine a target control parameter of the motor according to the magnetic flux density; The control module 803 is used to control the motor according to the target control parameter.

[0114] Please refer to Fig. 9 , is a schematic diagram of the hardware structure of the motor control device 90 provided in the embodiment of the present application. Fig. 9 As shown, the motor control device 90 may include a processor 901 and a memory 902. The memory 902 is used to store one or more computer programs 903. The one or more computer programs 903 are configured to be executed by the processor 901. The one or more computer programs 903 include instructions, and the above instructions can be used to implement the above motor control method in the motor control device 90.

[0115] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the motor control device 90. In other embodiments, the motor control device 90 may include more or fewer components than shown, or combine or split some components, or arrange the components differently.

[0116] The processor 901 may include one or more processing units, for example, the processor 901 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0117] The processor 901 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 901 is a cache memory. The memory may store instructions or data that the processor 901 has just used or circulated. If the processor 901 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 901, and thus improves the efficiency of the system.

[0118] In some embodiments, the processor 901 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0119] In some embodiments, the processor 901 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0120] In some embodiments, the memory 902 may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0121] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on a processor, the motor control device executes the above-mentioned related method steps to implement the motor control method in the above-mentioned embodiment.

[0122] Among them, the motor control device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0123] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0124] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0126] 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0128] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A motor control method, characterized in that: The motor comprises a rotor and a magnet; the magnet rotates synchronously with the rotor; and the method comprises: detecting the magnetic flux density of the magnet; determining a target control parameter of the motor according to the magnetic flux density; The motor is controlled according to the target control parameter.

2. The method according to claim 1, characterized in that The target control parameter includes a first operating mode corresponding to the current operating process of the motor; and the process of determining the first operating mode includes: comparing the magnetic flux density with a preset magnetic flux density threshold; If the magnetic flux density is less than the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the target magnet; and the second motion state is used to control the rotor.

3. The method according to claim 2, characterized in that The process of determining the first operating mode further includes: If the magnetic flux density is greater than or equal to the magnetic flux density threshold, the preset inductive operation mode is determined as the first operation mode; wherein, in the inductive operation mode, the second motion state of the rotor is determined according to the first motion state of the magnet.

4. The method according to claim 2, characterized in that: The target control parameter also includes a second operating mode corresponding to the next operating process of the motor; and the determination process of the second operating mode includes: If the magnetic flux density is less than the magnetic flux density threshold, the first operating mode is determined to be the second operating mode.

5. The method according to claim 1, characterized in that The target control parameter includes a first operating mode corresponding to the current operating process of the motor; the method further includes: Monitoring preset abnormal operation events of the motor; If the first occurrence number of the abnormal operation event is monitored to be greater than or equal to a preset first number threshold, the preset non-sensing operation mode is determined as the first operation mode; wherein, in the non-sensing operation mode, the second motion state of the rotor is not determined based on the first motion state of the magnet; the first motion state is obtained by magnetic induction of the target magnet; and the second motion state is used to control the rotor.

6. The method according to claim 5, characterized in that The target control parameter also includes a second operation mode corresponding to the next operation process of the motor; The process of determining the second operation mode includes: Monitoring target events; the target events include events whose first occurrence times are greater than or equal to the first times threshold; If the second occurrence number of the target event monitored is greater than or equal to a preset second number threshold, the first operating mode is determined to be the second operating mode.

7. The method according to claim 6, characterized in that The process of determining the second operation mode further includes: If it is monitored that the second occurrence number is less than the second number threshold, the second operation mode is determined according to the magnetic flux density and / or the first occurrence number.

8. A motor control device, characterized in that: The motor control device comprises: A detection module is used to detect the magnetic flux density of a magnet in a motor; the motor includes a rotor; the magnet rotates synchronously with the rotor; A determination module, configured to determine a target control parameter of the motor according to the magnetic flux density; A control module is used to control the motor according to the target control parameter.

9. A motor control device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the motor control device executes the motor control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor is caused to execute the motor control method according to any one of claims 1 to 7 .

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