Direct current motor control method, system and device and storage medium

Abstract

The invention discloses a direct current motor control method, system and device and a storage medium. The method comprises the steps of obtaining operation parameters of the direct current motor; the operation parameter comprises an input voltage; determining a first threshold value and a second threshold value according to the operation parameters; the first threshold value is the minimum voltage for stable operation of the direct current motor, and the second threshold value is the maximum voltage for stable operation of the direct current motor; if the input voltage does not belong to the first interval, adjusting the input voltage; the two end points of the first interval are the first threshold value and the second threshold value respectively. The operation reliability of the direct current motor can be improved; and control cost is reduced. The method can be widely applied to the technical field of motor control.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a direct current motor control method, system, device and storage medium. Background Art

[0002] Fan coil units (DC fan coils) operate unstably when the power supply voltage fluctuates or is low, which can easily lead to a drop in fan speed, reduced system efficiency, and even frequent alarms or shutdowns due to failures. Equipment will have over- and under-voltage protection. The general protection method is to trigger shutdown protection when the voltage is lower than or higher than the threshold. The protection mechanism is simple and rough, and there is no more refined over- and under-voltage protection. This problem is particularly significant in areas with poor power supply quality, affecting the reliability of the equipment and user experience. In related technologies, solutions to this problem are mostly limited to external voltage stabilization equipment, which is costly and difficult to achieve system-level optimization. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of the present invention is to provide an efficient DC motor control method, system, device and storage medium.

[0005] In order to achieve the above technical objectives, one aspect of an embodiment of the present invention provides a DC motor control method, comprising the following steps: obtaining the operating parameters of the DC motor; the operating parameters include input voltage; determining a first threshold and a second threshold according to the operating parameters; the first threshold is the minimum voltage for stable operation of the DC motor, and the second threshold is the maximum voltage for stable operation of the DC motor; if the input voltage does not belong to the first interval, adjusting the input voltage; the two endpoints of the first interval are the first threshold and the second threshold, respectively. The embodiment of the present application determines the two voltages for stable operation of the DC motor, and then determines the first interval, and adjusts the input voltage of the DC motor according to the relationship between the input voltage and the first interval, so as to achieve stable operation of the DC motor under unstable voltage, which is beneficial to improving the operating reliability of the DC motor; the control method is simple and reduces the control cost.

[0006] In some embodiments, in the DC motor control method of the embodiment of the present invention, if the input voltage does not belong to the first interval, adjusting the input voltage includes:

[0007] If the input voltage belongs to the second interval, the duty cycle is increased according to the relationship between the input voltage and the duty cycle; the second interval is an interval with a third threshold and the first threshold as endpoints, and the third threshold is a low voltage protection threshold of the DC motor;

[0008] or,

[0009] If the input voltage belongs to the third interval, the duty cycle is reduced according to the relationship between the input voltage and the duty cycle; the third interval is an interval with the second threshold and the fourth threshold as endpoints, and the fourth threshold is the high voltage protection threshold of the DC motor.

[0010] In some embodiments, in one embodiment of the present invention, the operating parameters include output torque and output speed; and determining the first threshold and the second threshold according to the operating parameters includes:

[0011] Determine the safe temperature rise power of the DC motor and the on-resistance of the switch tube;

[0012] The first threshold is determined according to the safe temperature rise power, the on-resistance, the output torque and the output speed.

[0013] In some embodiments, in one embodiment of the present invention, determining the first threshold value according to the safe temperature rise power, the on-resistance, the output torque and the output speed includes:

[0014] Determining a first parameter according to the output torque and the output speed;

[0015] Determining a second parameter according to the safe temperature rise power and the on-resistance;

[0016] The first threshold is determined according to the first parameter and the second parameter; the first threshold is proportional to the first parameter, and the first threshold is inversely proportional to the second parameter.

[0017] In some embodiments, in one embodiment of the present invention, the operating parameters include output speed and torque constant; and determining the first threshold and the second threshold according to the operating parameters includes:

[0018] Determine the minimum motor efficiency of a DC motor;

[0019] The second threshold is determined according to the output speed, the torque constant and the minimum motor efficiency.

[0020] In some embodiments, in one embodiment of the present invention, determining the second threshold according to the output speed, the torque constant and the minimum motor efficiency includes:

[0021] Determining a third parameter according to the output speed and the minimum motor efficiency;

[0022] The second threshold is determined according to the torque constant and the third parameter; the second threshold is proportional to the torque constant, and the second threshold is proportional to the third parameter.

[0023] In some embodiments, in one embodiment of the present invention, the method further comprises:

[0024] If the input voltage is greater than or equal to the fourth threshold, or the input voltage is less than or equal to the third threshold, it is determined that the DC motor enters shutdown protection.

[0025] On the other hand, an embodiment of the present invention provides a DC motor control system, including:

[0026] The first module is used to obtain the operating parameters of the DC motor; the operating parameters include input voltage;

[0027] The second module is used to determine a first threshold and a second threshold according to the operating parameters; the first threshold is a minimum voltage for stable operation of the DC motor, and the second threshold is a maximum voltage for stable operation of the DC motor;

[0028] The third module is used to adjust the input voltage if the input voltage does not belong to the first interval; two endpoints of the first interval are the first threshold and the second threshold respectively.

[0029] On the other hand, an embodiment of the present invention provides a DC motor control device, comprising:

[0030] at least one processor;

[0031] at least one memory for storing at least one program;

[0032] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned DC motor control method.

[0033] On the other hand, an embodiment of the present invention provides a storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the above-mentioned DC motor control method.

[0034] The embodiments of the present application include at least the following beneficial effects: the method provided by the embodiments of the present invention includes: obtaining the operating parameters of the DC motor; the operating parameters include input voltage; according to the operating parameters, determining a first threshold and a second threshold; the first threshold is the minimum voltage for stable operation of the DC motor, and the second threshold is the maximum voltage for stable operation of the DC motor; if the input voltage does not belong to the first interval, adjusting the input voltage; the two endpoints of the first interval are the first threshold and the second threshold. The embodiments of the present application determine the two voltages for stable operation of the DC motor, and then determine the first interval, and adjust the input voltage of the DC motor according to the relationship between the input voltage and the first interval, so as to achieve stable operation of the DC motor under unstable voltage, which is beneficial to improving the operating reliability of the DC motor; the control method is simple and reduces the control cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention or the drawings of related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A schematic diagram of a flow chart of an embodiment of a DC motor control method provided by the present invention;

[0037] Figure 2 A schematic diagram of an embodiment of the interval division provided by the present invention;

[0038] Figure 3 A schematic structural diagram of an embodiment of a DC motor control system provided by the present invention;

[0039] Figure 4 A schematic structural diagram of an embodiment of a DC motor control device provided by the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0041] Existing fan coil units (DC fan coils) operate unstably when the power supply voltage fluctuates or is low, which can easily lead to a drop in fan speed, reduced system efficiency, and even frequent alarms or fault shutdowns. Equipment will have over-voltage and under-voltage protection. The general protection method is to trigger shutdown protection when the voltage is lower than or higher than the threshold. The protection mechanism is simple and rough, and there is no more refined over-voltage and under-voltage protection. This problem is particularly significant in areas with poor power supply quality, affecting the reliability of the equipment and user experience. At present, most solutions to this problem are limited to external voltage stabilization equipment, which is costly and difficult to achieve system-level optimization. Therefore, a stable operation strategy based on the fan coil unit master control system is proposed, which has important technical value.

[0042] The method of the present invention divides the operating voltage of the device into more detailed intervals based on the key indicators of the stable operation of the system, and performs more detailed control in the corresponding intervals to ensure the stable and long-life operation of the equipment, so as to provide a better user experience and higher operating stability.

[0043] The DC motor control method and system according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. First, the DC motor control method according to the embodiments of the present invention will be described with reference to the accompanying drawings.

[0044] Reference Figure 1 In an embodiment of the present invention, a DC motor control method is provided. The DC motor control method in the embodiment of the present invention can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The DC motor control method in the embodiment of the present invention mainly includes the following steps:

[0045] S100: Acquire operating parameters of the DC motor; the operating parameters include input voltage;

[0046] S200: Determine a first threshold and a second threshold according to the operating parameters; the first threshold is a minimum voltage for stable operation of the DC motor, and the second threshold is a maximum voltage for stable operation of the DC motor;

[0047] S300: If the input voltage does not belong to a first interval, adjust the input voltage; two endpoints of the first interval are the first threshold and the second threshold, respectively.

[0048] The present invention relates to the field of HVAC control technology, and provides a control method for a DC fan disk to be able to operate stably under power fluctuations. The method calculates a voltage range for stable and efficient operation under the current operating state by monitoring the system's motor input voltage, current, torque and other parameters, taking into account operating indicators such as power device temperature rise and motor operating efficiency. In some possible implementations, the first threshold is the minimum voltage for stable operation of the DC motor based on the power device temperature rise, and the second threshold is the maximum voltage for stable operation of the DC motor based on the motor operating efficiency.

[0049] Optionally, in an embodiment of the present invention, if the input voltage does not belong to the first interval, adjusting the input voltage includes:

[0050] If the input voltage belongs to the second interval, the duty cycle is increased according to the relationship between the input voltage and the duty cycle; the second interval is an interval with a third threshold and the first threshold as endpoints, and the third threshold is a low voltage protection threshold of the DC motor;

[0051] or,

[0052] If the input voltage belongs to the third interval, the duty cycle is reduced according to the relationship between the input voltage and the duty cycle; the third interval is an interval with the second threshold and the fourth threshold as endpoints, and the fourth threshold is the high voltage protection threshold of the DC motor.

[0053] In some possible implementations, the relationship between the input voltage and the duty cycle can be predetermined, and the adjusted duty cycle can be determined based on the input voltage obtained, or the intensity of the duty cycle adjustment can be determined. It can be understood that the PWM signal, i.e., the pulse width modulation signal, adjusts the average voltage obtained by the motor by quickly switching high and low levels, and its core lies in the duty cycle. The higher the duty cycle, the higher the average voltage and the faster the motor speed; the lower the duty cycle, the lower the average voltage and the slower the motor speed. The duty cycle in this application is the drive control signal of the DC motor.

[0054] Exemplarily, in some embodiments, the relationship between the input voltage and the duty cycle in each interval is determined, and the relationship can be presented in the form of a table. According to the input voltage, the corresponding relationship table is determined, and then the duty cycle is obtained by looking up the table. In other embodiments, the relationship can also be presented in the form of a curve. According to the input voltage, the corresponding relationship curve is determined, and then the duty cycle is obtained by looking up. In other embodiments, the relationship can also be presented in the form of a function. According to the input voltage, the corresponding relationship function is determined, and then the duty cycle is calculated. Of course, those skilled in the art can set the specific form of the relationship according to actual needs.

[0055] Optionally, in one embodiment of the present invention, the operating parameters include output torque and output speed; and determining the first threshold and the second threshold according to the operating parameters includes:

[0056] Determine the safe temperature rise power of the DC motor and the on-resistance of the switch tube;

[0057] The first threshold is determined according to the safe temperature rise power, the on-resistance, the output torque and the output speed.

[0058] Optionally, in one embodiment of the present invention, determining the first threshold value according to the safe temperature rise power, the on-resistance, the output torque and the output speed includes:

[0059] Determining a first parameter according to the output torque and the output speed;

[0060] Determining a second parameter according to the safe temperature rise power and the on-resistance;

[0061] The first threshold is determined according to the first parameter and the second parameter; the first threshold is proportional to the first parameter, and the first threshold is inversely proportional to the second parameter.

[0062] In some possible implementations, the safe temperature rise power is the maximum acceptable temperature rise of the power device. According to the calculation formula of the temperature rise power (heat loss), the calculation formula of the input power, and the calculation formula of the output power, the calculation formula of the first threshold can be obtained.

[0063] Optionally, in one embodiment of the present invention, the operating parameters include an output speed and a torque constant; and determining the first threshold and the second threshold according to the operating parameters includes:

[0064] Determine the minimum motor efficiency of a DC motor;

[0065] The second threshold is determined according to the output speed, the torque constant and the minimum motor efficiency.

[0066] Optionally, in one embodiment of the present invention, determining the second threshold according to the output speed, the torque constant and the minimum motor efficiency includes:

[0067] Determining a third parameter according to the output speed and the minimum motor efficiency;

[0068] The second threshold is determined according to the torque constant and the third parameter; the second threshold is proportional to the torque constant, and the second threshold is proportional to the third parameter.

[0069] In some possible implementations, the minimum motor efficiency is the minimum acceptable efficiency of the DC motor. According to the relationship between the output power and the rotation speed of the DC motor and the calculation formula of the input power and the output power, the calculation formula of the second threshold can be obtained.

[0070] Optionally, in one embodiment of the present invention, the method further includes:

[0071] If the input voltage is greater than or equal to the fourth threshold, or the input voltage is less than or equal to the third threshold, it is determined that the DC motor enters shutdown protection.

[0072] The control method provided by the present application is described in detail below with a specific embodiment, specifically:

[0073] 1. System composition:

[0074] The fan coil system consists of the following main parts:

[0075] Fan: used to circulate the cold / heat from the fins / coils to the room through air.

[0076] Fan drive module: controls the operation of the fan motor and provides feedback on the operating status.

[0077] Sensors: supply voltage, current, torque, temperature sensors.

[0078] Control module: obtains the power supply voltage status, the operating status of the fan drive module, intelligently adjusts the fan operation mode, and implements control strategies such as voltage compensation, speed reduction or intermittent operation to ensure stable operation of the system and basic user experience.

[0079] Thermostat module: provides a user interface to display the status of the fan system, prompt and record system anomalies and faults

[0080] 2. Determination of safe voltage range:

[0081] The input power of the motor is P in , output power P out , speed N, current I, voltage V;

[0082] Input power (motor):

[0083] P in =V·I (1)

[0084] Effective output power (mechanical energy):

[0085] P out =η·P in =η·V·I (2)

[0086] Where η is the motor efficiency;

[0087] The relationship between output power and speed:

[0088]

[0089] Where T is the output torque (N·m), ω is the angular velocity;

[0090] The relationship between voltage and speed:

[0091] N=K e ·V;

[0092] T=k T ·I (4)

[0093] Where K e is the motor constant, which indicates the proportional relationship between voltage and speed; K T Represents the torque constant, which is determined by the structure of the motor (such as the number of pole pairs, armature winding, etc.).

[0094] Heat loss of power devices:

[0095] P HL =I 2 ·R ds(on) (5)

[0096] Where P HL Indicates the heat loss power of the power device, R ds(on) is the on-resistance of the switch tube;

[0097] In order to protect power devices, the temperature rise needs to be controlled, so a safe temperature rise power P needs to be limited. max According to formulas 2, 3, and 5, it can be deduced that the minimum voltage under the temperature rise limit of the power device (that is, the first threshold in this application can be determined by the following formula):

[0098]

[0099] Maintaining the motor efficiency within a reasonable range can improve stability and define a minimum motor efficiency threshold μ min (That is, the minimum motor efficiency in this application). First, the relationship between voltage and speed is derived through formulas 2, 3, and 4:

[0100]

[0101] Substitute the minimum motor efficiency threshold μ into equation 7 min , the maximum voltage under the motor efficiency limit can be obtained (that is, the second threshold in this application can be determined by the following formula):

[0102]

[0103] There will be a maximum and minimum voltage within the range of heat generation power and motor efficiency limit. In actual equipment protection, the appropriate voltage stable operation range at the current speed should be selected according to the importance and urgency;

[0104] 3. Core control logic:

[0105] The fan coil system master controller collects the motor speed, voltage, current, and torque in real time through multiple sensors, considers the temperature rise and motor efficiency indicators, and combines the relationship 6, 7, and 8 to calculate the reasonable voltage operating range at the current speed, which can ensure the stable operation of the motor under different working conditions and avoid overheating and inefficient operation problems;

[0106] Reference Figure 2 As shown, at V min <V<V max In the stable operation voltage range (i.e., the first range in this application), the system operates in normal mode; in V under <V<V min In the interval (i.e., the second interval in this application), the voltage is low and the current will increase. Before the software overcurrent protection is triggered, the duty cycle of the fan drive control signal PWM is increased according to the relationship between voltage and duty cycle to compensate for the motor voltage. max <V<V over interval (i.e., the third interval in this application), reducing the duty cycle of the fan drive control signal PWM, reducing the motor voltage, reducing the target speed, and reducing the load output. under and V over They are low voltage protection and over voltage protection thresholds respectively. When the operating voltage exceeds these two thresholds, the machine will be shut down for protection.

[0107] In summary, the method provided by the embodiment of the present application includes: obtaining the operating parameters of the DC motor; the operating parameters include input voltage; according to the operating parameters, determining a first threshold and a second threshold; the first threshold is the minimum voltage for stable operation of the DC motor, and the second threshold is the maximum voltage for stable operation of the DC motor; if the input voltage does not belong to the first interval, adjusting the input voltage; the two endpoints of the first interval are the first threshold and the second threshold respectively. The embodiment of the present application determines the first interval by determining two voltages for stable operation of the DC motor, and adjusts the input voltage of the DC motor according to the relationship between the input voltage and the first interval, so as to achieve stable operation of the DC motor under unstable voltage, which is beneficial to improving the operating reliability of the DC motor; the control method is simple and reduces the control cost.

[0108] Secondly, refer to the attached Figure 3 A direct current motor control system proposed according to an embodiment of the present invention is described.

[0109] Figure 3 1 is a schematic diagram of the structure of a DC motor control system according to an embodiment of the present invention, wherein the system specifically comprises:

[0110] The first module 310 is used to obtain operating parameters of the DC motor; the operating parameters include input voltage;

[0111] The second module 320 is used to determine a first threshold and a second threshold according to the operating parameters; the first threshold is a minimum voltage for stable operation of the DC motor, and the second threshold is a maximum voltage for stable operation of the DC motor;

[0112] The third module 330 is configured to adjust the input voltage if the input voltage does not belong to a first interval; two endpoints of the first interval are the first threshold and the second threshold, respectively.

[0113] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0114] Reference Figure 4 , an embodiment of the present invention provides a DC motor control device, comprising:

[0115] at least one processor 410;

[0116] At least one memory 420, used to store at least one program;

[0117] When the at least one program is executed by the at least one processor 410, the at least one processor 410 implements the DC motor control method.

[0118] Similarly, the contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0119] An embodiment of the present invention further provides a computer-readable storage medium, in which a program executable by a processor is stored. The program executable by the processor is used to execute the above-mentioned DC motor control method when executed by the processor.

[0120] Similarly, the contents of the above method embodiments are all applicable to the present storage medium embodiments. The functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0121] An embodiment of the present invention further provides an air conditioner, comprising the above-mentioned DC motor control system.

[0122] Similarly, the contents of the above method embodiments are all applicable to the present air conditioning embodiment. The functions specifically implemented by the present air conditioning embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0123] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0124] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0125] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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, including several programs to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0126] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution systems, devices or apparatuses.

[0127] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0128] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0129] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0130] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0131] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A DC motor control method, characterized in that: The following steps are involved: Acquiring operating parameters of the DC motor; the operating parameters include input voltage; Determine a first threshold and a second threshold according to the operating parameters; the first threshold is a minimum voltage for stable operation of the DC motor, and the second threshold is a maximum voltage for stable operation of the DC motor; If the input voltage does not belong to a first interval, the input voltage is adjusted; two endpoints of the first interval are the first threshold and the second threshold respectively.

2. The DC motor control method according to claim 1, characterized in that: If the input voltage does not belong to the first interval, adjusting the input voltage includes: If the input voltage belongs to the second interval, the duty cycle is increased according to the relationship between the input voltage and the duty cycle; the second interval is an interval with a third threshold and the first threshold as endpoints, and the third threshold is a low voltage protection threshold of the DC motor; or, If the input voltage belongs to the third interval, the duty cycle is reduced according to the relationship between the input voltage and the duty cycle; the third interval is an interval with the second threshold and the fourth threshold as endpoints, and the fourth threshold is the high voltage protection threshold of the DC motor.

3. The DC motor control method according to claim 1, characterized in that: The operating parameters include output torque and output speed; and determining the first threshold and the second threshold according to the operating parameters includes: Determine the safe temperature rise power of the DC motor and the on-resistance of the switch tube; The first threshold is determined according to the safe temperature rise power, the on-resistance, the output torque and the output speed.

4. The DC motor control method according to claim 3, characterized in that: The determining the first threshold value according to the safe temperature rise power, the on-resistance, the output torque and the output speed includes: Determining a first parameter according to the output torque and the output speed; Determining a second parameter according to the safe temperature rise power and the on-resistance; The first threshold is determined according to the first parameter and the second parameter; the first threshold is proportional to the first parameter, and the first threshold is inversely proportional to the second parameter.

5. The DC motor control method according to claim 1, characterized in that: The operating parameters include output speed and torque constant; and determining the first threshold and the second threshold according to the operating parameters includes: Determine the minimum motor efficiency of a DC motor; The second threshold is determined according to the output speed, the torque constant and the minimum motor efficiency.

6. The DC motor control method according to claim 5, characterized in that: The step of determining the second threshold according to the output speed, the torque constant and the minimum motor efficiency comprises: Determining a third parameter according to the output speed and the minimum motor efficiency; The second threshold is determined according to the torque constant and the third parameter; the second threshold is proportional to the torque constant, and the second threshold is proportional to the third parameter.

7. The DC motor control method according to claim 2, characterized in that: The method further comprises: If the input voltage is greater than or equal to the fourth threshold, or the input voltage is less than or equal to the third threshold, it is determined that the DC motor enters shutdown protection.

8. A DC motor control system, characterized in that: include: The first module is used to obtain the operating parameters of the DC motor; the operating parameters include input voltage; The second module is used to determine a first threshold and a second threshold according to the operating parameters; the first threshold is a minimum voltage for stable operation of the DC motor, and the second threshold is a maximum voltage for stable operation of the DC motor; The third module is used to adjust the input voltage if the input voltage does not belong to the first interval; two endpoints of the first interval are the first threshold and the second threshold respectively.

9. A DC motor control device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the DC motor control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to implement the DC motor control method according to any one of claims 1 to 7 when executed by the processor.

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