Ball motor magnetic field current control method

Abstract

The invention relates to the technical field of motor control, and discloses a ball motor magnetic field current control method, which comprises the following steps: determining key parameters of a ball motor, the key parameters comprising a required current, a target rotating speed and a required torque; running state parameters of the ball motor are monitored and obtained in real time, then feedback signals are generated, and the running state parameters cover the real-time rotating speed, the real-time torque and the real-time temperature; calculating the adjustment amplitude of the magnetic field current according to the feedback signal and a set target value, and adjusting the required current through a driving circuit according to the calculated adjustment amplitude; when the ball motor reaches a set working state or a task is completed, the magnetic field current is gradually reduced to ensure that the motor is stably stopped. According to the method, the ball motor can be accurately controlled, and the operation efficiency and the response speed of the motor are improved; by monitoring the running state parameters of the ball motor in real time and adjusting the magnetic field current according to the running state parameters, it can be ensured that the motor always keeps the optimal performance under various working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method for controlling magnetic field current of a ball motor. Background Art

[0002] Ball motor is a unique motor that uses balls as a transmission medium to achieve its function. This motor has been widely used in many fields due to its remarkable characteristics such as high efficiency, low noise and long life. In particular, ball motors play an important role in precision positioning, robotics, aerospace and other occasions that require high precision and reliability.

[0003] During the operation of a ball motor, precise control of the field current is critical to ensure motor performance and efficiency. Control of the field current involves the generation and regulation of the magnetic field inside the motor, which affects the motor's speed, torque, and overall operating stability. Traditional field current control methods usually rely on fixed control strategies that are designed with certain operating conditions and load ranges in mind. However, these methods often fall short when faced with changing operating environments and load fluctuations. Due to their lack of flexibility and adaptability, traditional control methods have difficulty maintaining optimal performance under a variety of different operating conditions, resulting in the motor's potential not being fully realized. Summary of the invention

[0004] In view of this, the present invention proposes a ball motor magnetic field current control method, which aims to adjust the magnetic field current in real time according to the actual operating state of the motor, so as to optimize the performance and efficiency of the motor.

[0005] The present invention proposes a ball motor magnetic field current control method, comprising:

[0006] Determine basic parameters of the ball motor, wherein the basic parameters include required current, target speed and required torque;

[0007] Real-time monitoring is performed to obtain the operating state parameters of the ball motor and form a feedback signal, wherein the operating state parameters include real-time rotation speed, real-time torque and real-time temperature; according to the feedback signal and the set target value, the adjustment amount of the magnetic field current is calculated, and according to the calculated adjustment amount, the demand current is adjusted through the drive circuit;

[0008] When the ball motor reaches the set working state or completes the task, the magnetic field current is gradually reduced to make the motor stop smoothly.

[0009] Preferably, determining the basic parameters of the ball motor includes:

[0010] Calculate the magnetic field intensity gradient according to the change in magnetic field intensity and the change in ball position;

[0011] Calculate the hysteresis loss coefficient based on the magnetic field strength and frequency;

[0012] The vibration response coefficient is calculated based on the elastic modulus and ball radius of the ball;

[0013] Calculate the rolling resistance coefficient based on the friction factor of the ball material and the force;

[0014] The basic parameters of the ball motor are calculated according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient.

[0015] Preferably, when calculating the magnetic field intensity gradient according to the magnetic field intensity change and the ball position change, it includes:

[0016] The position sensor is used to detect the position of the ball in the bearing track in real time to obtain the change in the ball position. The magnetic field sensor is used to measure the magnetic field strength around the ball position. The magnetic field strength gradient is calculated based on the change in magnetic field strength and the change in ball position using the following calculation formula:

[0017]

[0018] Among them, ΔB represents the change in magnetic field intensity, Δx represents the change in ball position, represents the magnetic field intensity gradient.

[0019] Preferably, when calculating the hysteresis loss coefficient according to the magnetic field strength and frequency, it includes:

[0020] η h =k h ·B 2 f;

[0021] Among them, ηh represents the hysteresis loss coefficient, kh represents the coefficient related to material properties, B represents the magnetic field intensity, and f represents the frequency of magnetic field change.

[0022] Preferably, when calculating the vibration response coefficient according to the elastic modulus and the ball radius of the ball, it includes:

[0023]

[0024] Among them, kv is the vibration response coefficient, r is the ball radius, and E is the elastic modulus.

[0025] Preferably, the rolling resistance coefficient is calculated according to the friction factor and the force of the ball material, including:

[0026] k f =μ·F;

[0027] Among them, kf represents the rolling resistance coefficient, μ represents the friction factor, and F represents the force.

[0028] Preferably, the basic parameters of the ball motor are calculated according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient, including:

[0029] The required current is determined according to the magnetic field intensity gradient and the magnetic field requirement by the following calculation formula:

[0030]

[0031] Among them, Irated represents the demand current, and Bmin represents the magnetic field demand;

[0032] The stable response speed requirement is calculated according to the vibration response coefficient by the following calculation formula to determine the target speed:

[0033] ω target =k v ·ω desired ;

[0034] Among them, ωdesired represents the minimum response speed required by the system; ωtarget represents the target speed;

[0035] The required torque is calculated according to the rolling resistance coefficient and the ball force through the following calculation formula:

[0036] T req =k f ·r;

[0037] Wherein, Treq represents the required torque.

[0038] Preferably, the operating state parameters of the ball motor are acquired by real-time monitoring and a feedback signal is formed, wherein the operating state parameters include real-time rotation speed, real-time torque and real-time temperature; the adjustment amount of the magnetic field current is calculated according to the feedback signal and the set target value, and the demand current is adjusted by the drive circuit according to the calculated adjustment amount, including:

[0039] The real-time speed ωfeedback is measured by the speed sensor;

[0040] Obtain real-time torque Tfeedback through the torque sensor;

[0041] Get real-time temperature θfeedback through the temperature sensor;

[0042] Set the target speed ωtarget, the required torque Ttarget and the allowable upper temperature limit θmax;

[0043] The adjustment amount is calculated using a proportional-integral-derivative control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and an allowable upper temperature limit.

[0044] Preferably, when calculating the adjustment amount using a proportional-integral-differential control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and allowable upper temperature limit, the method includes:

[0045] e ω =ω target -ω feedback ;

[0046]

[0047] e T =T target -T feedback ;

[0048]

[0049] e θ =θ max -θ feedback ;

[0050]

[0051] ΔI=ΔI ω +ΔI T -ΔI θ ;

[0052] Inew=Irated+ΔI;

[0053] Wherein, Kp represents proportional gain; Ki represents integral gain; Kd represents differential gain; ∫eω dt represents the cumulative component of speed error; ∫eT dt represents the cumulative component of torque error; ∫eθ dt represents the cumulative component of temperature error; deω / dt represents the rate of change of speed error; deθ / dt represents the rate of change of temperature error; deT / dt represents the rate of change of torque error; eT represents the torque error; ΔI T represents the torque adjustment; eθ represents the temperature error; ΔI θ Indicates that when the temperature is higher than the safe value, the current adjustment amount ΔI is reduced; ΔI ω It represents the speed adjustment used to adjust the current; ΔI represents the current adjustment; Inew represents the actual current after adjustment.

[0054] The present invention also provides a ball motor magnetic field current control system for implementing the above-mentioned ball motor magnetic field current control method.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] The present invention significantly improves the operating efficiency and response speed of the ball motor. By real-time monitoring and adjusting the magnetic field current, the motor is ensured to always remain in the best working state; precise control of the magnetic field current effectively reduces the energy consumption of the ball motor and extends its service life. In addition, the present invention achieves fine control of the ball motor, enhances the stability and reliability of the motor, and reduces the risk of failure caused by excessive temperature or excessive torque. By adopting an optimized control algorithm, the present invention achieves comprehensive management of motor speed, torque and temperature, ensuring stable performance of the motor under various working conditions. This control method exhibits excellent adaptability and flexibility, and can be applied to various types of ball motors, so it has broad application potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0058] Figure 1 It is a flow chart of the ball motor magnetic field current control method. DETAILED DESCRIPTION

[0059] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0060] See also Figure 1 The present invention provides a ball motor magnetic field current control method, comprising:

[0061] Determine basic parameters of the ball motor, wherein the basic parameters include required current, target speed and required torque;

[0062] Real-time monitoring is performed to obtain the operating state parameters of the ball motor and form a feedback signal, wherein the operating state parameters include real-time rotation speed, real-time torque and real-time temperature; according to the feedback signal and the set target value, the adjustment amount of the magnetic field current is calculated, and according to the calculated adjustment amount, the demand current is adjusted through the drive circuit;

[0063] When the ball motor reaches the set working state or completes the task, the magnetic field current is gradually reduced to make the motor stop smoothly.

[0064] It can be understood that the present invention provides a method for controlling the magnetic field current of a ball motor, which can effectively control the operating state of the ball motor and ensure that it works stably according to the established performance parameters. The specific steps are as follows:

[0065] First, determine the basic parameters of the ball motor, which include the required current, target speed and required torque. These parameters are the basis for controlling the operation of the ball motor and determine the performance of the motor during operation.

[0066] Secondly, the operating status parameters of the ball motor are monitored and obtained in real time, and feedback signals are generated. These operating status parameters include real-time speed, real-time torque, and real-time temperature. Real-time monitoring of these parameters is essential to ensure stable operation of the motor, because they can reflect the current working status of the motor and whether there is a potential risk of overheating or overload.

[0067] Next, the field current adjustment is calculated based on the feedback signal and the set target value. By analyzing the difference between the real-time speed, torque and temperature and the target value, it can be determined whether the field current needs to be adjusted and the adjustment range. If there is a deviation between the actual parameter and the target value, the controller will calculate the necessary adjustment.

[0068] The required current is then adjusted based on the calculated adjustment amount through the drive circuit. The drive circuit receives instructions from the controller and adjusts the current supplied to the ball motor accordingly to achieve the desired speed and torque while ensuring that the motor is not damaged by overheating.

[0069] Finally, when the ball motor reaches the set working state or completes the set task, the field current is gradually reduced to stop the motor smoothly. This process is achieved by gradually reducing the current supplied to the motor, thus avoiding mechanical shock and potential damage caused by sudden power failure. By slowly reducing the current, the motor can smoothly decelerate and eventually stop, ensuring the safety of operation and the long-term reliability of the motor.

[0070] In summary, the ball motor magnetic field current control method provided by the present invention ensures efficient, stable and safe operation of the motor by real-time monitoring and adjusting the current.

[0071] In some embodiments of the present application, determining the basic parameters of the ball motor includes:

[0072] Calculate the magnetic field intensity gradient according to the change in magnetic field intensity and the change in ball position;

[0073] Calculate the hysteresis loss coefficient based on the magnetic field strength and frequency;

[0074] The vibration response coefficient is calculated based on the elastic modulus and ball radius of the ball;

[0075] Calculate the rolling resistance coefficient based on the friction factor of the ball material and the force;

[0076] The basic parameters of the ball motor are calculated according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient.

[0077] It can be understood that, in this embodiment, determining the basic parameters of the ball motor includes the following steps:

[0078] First, the magnetic field intensity gradient is calculated based on the change in magnetic field intensity and the change in ball position. The magnetic field intensity gradient is a physical quantity that describes how fast the magnetic field intensity changes with position. It is crucial for evaluating the magnetic field distribution and energy conversion efficiency inside the ball motor. By accurately measuring the magnetic field intensity at different positions, the gradient value of the magnetic field intensity changing with position can be obtained.

[0079] Secondly, the hysteresis loss coefficient is calculated based on the magnetic field strength and frequency. Hysteresis loss refers to the energy loss caused by the repeated reversal of magnetic domains inside the material under the action of the alternating magnetic field. By analyzing the hysteresis loop of the material at different frequencies, the hysteresis loss coefficient can be obtained, which reflects the energy loss characteristics of the material in the alternating magnetic field.

[0080] Next, the vibration response coefficient is calculated based on the elastic modulus and ball radius of the ball. The vibration response coefficient is a parameter that describes the vibration characteristics of the ball when subjected to external forces. It is closely related to the material properties and geometric dimensions of the ball. By calculating the elastic modulus and ball radius, the vibration behavior of the ball under dynamic working conditions can be evaluated.

[0081] Then, the rolling resistance coefficient is calculated based on the friction factor of the ball material and the force. The rolling resistance coefficient is a parameter that measures the resistance of the ball during movement, which directly affects the efficiency and life of the ball motor. The rolling resistance coefficient can be obtained by analyzing the friction characteristics of the ball material and the force acting on the ball.

[0082] Finally, based on the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient calculated above, the basic parameters of the ball motor are calculated comprehensively. These basic parameters include but are not limited to key performance indicators such as motor torque, efficiency, and response speed. Through the comprehensive evaluation of these parameters, a ball motor with better performance and higher efficiency can be designed to meet the needs of different application scenarios.

[0083] In some embodiments of the present application, when calculating the magnetic field intensity gradient according to the magnetic field intensity change and the ball position change, it includes:

[0084] The position sensor is used to detect the position of the ball in the bearing track in real time to obtain the change in the ball position. The magnetic field intensity around the ball position is measured using a magnetic field sensor. The magnetic field intensity gradient is calculated based on the change in magnetic field intensity and the change in ball position using the following calculation formula:

[0085]

[0086] Among them, ΔB represents the change in magnetic field intensity, Δx represents the change in ball position, represents the magnetic field intensity gradient.

[0087] It can be understood that when calculating the magnetic field intensity gradient according to the magnetic field intensity change and the ball position change, the present embodiment includes the following steps:

[0088] First, the position of the ball in the bearing track is detected in real time by a position sensor, so as to obtain the change in the ball position. The position sensor can be any suitable sensor, such as an optical sensor, an inductive sensor or a magnetic sensor, which can provide accurate ball position information.

[0089] Second, the strength of the magnetic field around the ball position is measured using a magnetic field sensor. The magnetic field sensor can be a Hall effect sensor, a magnetoresistive sensor, or any other type of sensor that is able to detect the presence of a magnetic field and convert its strength into an electrical signal.

[0090] Finally, the magnetic field intensity gradient is calculated based on the change in magnetic field intensity and the change in ball position using the following formula; in the formula, ΔB represents the change in magnetic field intensity, Δx represents the change in ball position, and ▽B represents the magnetic field intensity gradient. This formula is based on the definition of gradient, that is, the gradient of a vector field (magnetic field in this case) at a certain point is the direction and magnitude of the maximum rate of change of the vector field at that point. By calculating the magnetic field intensity gradient, the rate of change of the magnetic field in the direction of the ball position change can be obtained, which is very useful for analyzing and understanding the distribution of the magnetic field in the bearing track.

[0091] In some embodiments of the present application, when calculating the hysteresis loss coefficient according to the magnetic field strength and frequency, it includes:

[0092] η k =k h ·B 2 f;

[0093] Among them, ηh represents the hysteresis loss coefficient, kh represents the coefficient related to material properties, B represents the magnetic field intensity, and f represents the frequency of magnetic field change.

[0094] It can be understood that when calculating the hysteresis loss coefficient according to the magnetic field strength and frequency, this embodiment includes the following steps:

[0095] Determine the material property-related coefficient kh, which depends on the type of material used. For example, the kh value of ferromagnetic materials will vary depending on their magnetic permeability, coercivity, etc.

[0096] Measure or obtain the value of the magnetic field strength B, which represents the strength of the magnetic field in a specific location or area.

[0097] Determine the frequency of magnetic field variation f, that is, the rate at which the magnetic field strength changes with time.

[0098] The hysteresis loss coefficient ηh is calculated using the formula, where m and n are exponents determined based on experimental data or theoretical analysis, which describe the degree of influence of magnetic field intensity and frequency on the hysteresis loss coefficient.

[0099] Through the above steps, the hysteresis loss coefficient ηh can be obtained, which reflects the energy loss caused by the hysteresis effect inside the material under a specific magnetic field intensity and frequency.

[0100] In some embodiments of the present application, when calculating the vibration response coefficient according to the elastic modulus and the ball radius of the ball, it includes:

[0101]

[0102] Among them, kv is the vibration response coefficient, r is the ball radius, and E is the elastic modulus.

[0103] It is understandable that the vibration response coefficient kv in this embodiment can be calculated by a formula, where kv represents the vibration response coefficient, r represents the ball radius, and E represents the elastic modulus. Such a calculation method takes into account the physical properties of the ball, namely its elastic modulus and geometric dimensions, so that a coefficient reflecting the response characteristics of the ball when subjected to vibration can be obtained. In this way, the vibration characteristics of the ball can be quantitatively analyzed, thereby optimizing the design and performance of the ball bearing.

[0104] In some embodiments of the present application, when calculating the rolling resistance coefficient according to the friction factor and the force of the ball material, it includes:

[0105] k f =μ·F;

[0106] Among them, kf represents the rolling resistance coefficient, μ represents the friction factor, and F represents the force.

[0107] It can be understood that when calculating the rolling resistance coefficient according to the friction factor and the force of the ball material, the present embodiment includes the following steps:

[0108] Determine the friction factor μ of the ball material, which is a measure of the surface properties of the material and reflects the resistance of the material when sliding on the contact surface. Measure or calculate the force F acting on the ball, which can be due to gravity, external load or other forces. Use the formula to calculate the rolling resistance coefficient kf, where kf represents the rolling resistance coefficient, μ represents the friction factor, and F represents the force. Based on the calculated rolling resistance coefficient kf, the motion characteristics of the ball can be further analyzed, such as rolling efficiency, energy loss, etc., and then the ball material or structural design can be optimized to reduce rolling resistance and improve the performance of the mechanical system.

[0109] In some embodiments of the present application, when calculating the basic parameters of the ball motor according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient, it includes:

[0110] The required current is determined according to the magnetic field intensity gradient and the magnetic field requirement by the following calculation formula:

[0111]

[0112] Among them, Irated represents the demand current, and Bmin represents the magnetic field demand;

[0113] The stable response speed requirement is calculated according to the vibration response coefficient by the following calculation formula to determine the target speed:

[0114] ω target =k v ·ω desired ;

[0115] Among them, ωdesired represents the minimum response speed required by the system; ωtarget represents the target speed;

[0116] The required torque is calculated according to the rolling resistance coefficient and the ball force through the following calculation formula:

[0117] T req =k f ·r;

[0118] Wherein, Treq represents the required torque.

[0119] It can be understood that the advantage of this embodiment is that it provides a systematic method to calculate the basic parameters of the ball motor, ensuring that the performance of the motor in a specific application meets the requirements. By accurately calculating the required current, target speed and required torque, the design of the motor can be optimized, unnecessary energy loss can be reduced, and efficiency and response speed can be improved. In addition, considering key factors such as magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient will help to design a more stable, reliable and adaptable ball motor, so that it can maintain good performance in various working environments.

[0120] In some embodiments of the present application, the operating state parameters of the ball motor are acquired by real-time monitoring and a feedback signal is formed, wherein the operating state parameters include real-time rotation speed, real-time torque and real-time temperature; the adjustment amount of the magnetic field current is calculated according to the feedback signal and the set target value, and the demand current is adjusted by the drive circuit according to the calculated adjustment amount, including:

[0121] The real-time speed ωfeedback is measured by the speed sensor;

[0122] Obtain real-time torque Tfeedback through the torque sensor;

[0123] Get real-time temperature θfeedback through the temperature sensor;

[0124] Set the target speed ωtarget, the required torque Ttarget and the allowable upper temperature limit θmax;

[0125] The adjustment amount is calculated using a proportional-integral-derivative control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and an allowable upper temperature limit.

[0126] It can be understood that the present embodiment monitors and obtains the operating state parameters of the ball motor in real time and forms a feedback signal, wherein the operating state parameters include real-time speed, real-time torque and real-time temperature; and calculates the adjustment amount of the magnetic field current according to the feedback signal and the set target value. When the demand current is adjusted by the drive circuit according to the calculated adjustment amount, it includes:

[0127] The real-time speed ωfeedback is measured by the speed sensor;

[0128] Obtain real-time torque Tfeedback through the torque sensor;

[0129] Get real-time temperature θfeedback through the temperature sensor;

[0130] Set the target speed ωtarget, the required torque Ttarget and the allowable upper temperature limit θmax;

[0131] The adjustment amount is calculated using a proportional-integral-derivative control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and an allowable upper temperature limit.

[0132] In the specific implementation, first, the speed sensor, torque sensor and temperature sensor respectively monitor the speed, torque and temperature of the ball motor in real time, and transmit these data as feedback signals to the control system. The control system compares these feedback signals with the preset target values ​​to determine whether the motor's magnetic field current needs to be adjusted.

[0133] If adjustment is required, the proportional integral derivative (PID) control algorithm can be used to calculate the adjustment amount. The PID control algorithm is a commonly used feedback control algorithm that calculates the control amount through the combination of three parameters: proportional (P), integral (I) and differential (D) to achieve the purpose of quickly and accurately adjusting the output.

[0134] During the calculation process, the difference between the real-time speed ωfeedback and the target speed ωtarget, the difference between the real-time torque Tfeedback and the required torque Ttarget, and the difference between the real-time temperature θfeedback and the upper limit of the allowed temperature θmax are considered. Through the calculation of the PID algorithm, an adjustment amount is obtained, which indicates how the drive circuit changes the current supplied to the motor to make the motor's operating state parameters closer to the target value.

[0135] Finally, the drive circuit adjusts the current according to the calculated adjustment amount, thereby achieving precise control of the ball motor's operating state. In this way, it can ensure that the ball motor can maintain optimal performance under various working conditions while avoiding damage caused by overheating or other abnormal conditions.

[0136] In some embodiments of the present application, when calculating the adjustment amount using a proportional-integral-differential control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and allowable upper temperature limit, the following steps are included:

[0137] e ω =ω target -ω feedback ;

[0138]

[0139] e T =T target -T feedback ;

[0140]

[0141] eθ =θ max -θ feedback ;

[0142]

[0143] ΔI=ΔI ω +ΔI T -ΔI θ ;

[0144] Inew=Irated+ΔI;

[0145] Wherein, Kp represents proportional gain; Ki represents integral gain; Kd represents differential gain; ∫eω dt represents the cumulative component of speed error; ∫eT dt represents the cumulative component of torque error; ∫eθ dt represents the cumulative component of temperature error; deω / dt represents the rate of change of speed error; deθ / dt represents the rate of change of temperature error; deT / dt represents the rate of change of torque error; eT represents the torque error; ΔI T represents the torque adjustment; eθ represents the temperature error; ΔI θ Indicates that when the temperature is higher than the safe value, the current adjustment amount ΔI is reduced; ΔI ω It represents the speed adjustment used to adjust the current; ΔI represents the current adjustment; Inew represents the actual current after adjustment.

[0146] It can be understood that, when the adjustment amount is calculated using the proportional-integral-differential control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and allowable upper temperature limit, the present embodiment includes the following steps:

[0147] Calculate the speed error eω, which is the difference between the target speed and the real-time speed;

[0148] Calculate the torque error eT, which is the difference between the required torque and the real-time torque;

[0149] Calculate the temperature error eθ, which is the difference between the real-time temperature and the upper limit of the allowed temperature;

[0150] Calculate the cumulative component of the speed error ∫eω dt;

[0151] Calculate the cumulative component of the torque error ∫eT dt;

[0152] Calculate the cumulative component of temperature error ∫eθ dt;

[0153] Calculate the rate of change of the speed error deω / dt;

[0154] Calculate the rate of change of torque error deT / dt;

[0155] Calculate the rate of change of temperature error deθ / dt;

[0156] According to the proportional gain Kp, integral gain Ki and differential gain Kd, the speed adjustment ΔI is calculated. ω , Torque adjustment ΔI T and temperature adjustment ΔI θ ;

[0157] Determine the current adjustment ΔI, which is the speed adjustment ΔI ω , Torque adjustment ΔI T and temperature adjustment ΔI θ The comprehensive results of

[0158] The adjusted actual current Inew is calculated, which is the current current plus the current adjustment amount ΔI.

[0159] Among them, Kp represents the proportional gain, which is used to adjust the system response speed and stability; Ki represents the integral gain, which is used to eliminate the system steady-state error; Kd represents the differential gain, which is used to predict the future behavior of the system and reduce overshoot. By adjusting these gain parameters, the performance of the control system can be optimized to ensure that the motor runs in the best state.

[0160] The present invention also provides a ball motor magnetic field current control system for implementing the above-mentioned ball motor magnetic field current control method.

[0161] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0162] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A ball motor magnetic field current control method, characterized in that: include: Determine basic parameters of the ball motor, wherein the basic parameters include required current, target speed and required torque; Real-time monitoring is performed to obtain the operating state parameters of the ball motor and form a feedback signal, wherein the operating state parameters include real-time rotation speed, real-time torque and real-time temperature; according to the feedback signal and the set target value, the adjustment amount of the magnetic field current is calculated, and according to the calculated adjustment amount, the demand current is adjusted through the drive circuit; When the ball motor reaches the set working state or completes the task, the magnetic field current is gradually reduced to make the motor stop smoothly.

2. The ball motor magnetic field current control method according to claim 1, characterized in that: When determining the basic parameters of the ball motor, include: Calculate the magnetic field intensity gradient according to the change in magnetic field intensity and the change in ball position; Calculate the hysteresis loss coefficient based on the magnetic field strength and frequency; The vibration response coefficient is calculated based on the elastic modulus and ball radius of the ball; Calculate the rolling resistance coefficient based on the friction factor of the ball material and the force; The basic parameters of the ball motor are calculated according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient.

3. The ball motor magnetic field current control method according to claim 2, characterized in that: When calculating the magnetic field intensity gradient based on the change in magnetic field intensity and the change in ball position, it includes: The position sensor is used to detect the position of the ball in the bearing track in real time to obtain the change in the ball position. The magnetic field intensity around the ball position is measured using a magnetic field sensor. The magnetic field intensity gradient is calculated based on the change in magnetic field intensity and the change in ball position using the following calculation formula: Among them, ΔB represents the change in magnetic field strength, Δx represents the change in ball position, and ▽B represents the magnetic field strength gradient.

4. The ball motor magnetic field current control method according to claim 3, characterized in that: When calculating the hysteresis loss coefficient based on magnetic field strength and frequency, it includes: ηh=k h ·B 2 ·f; Among them, ηh represents the hysteresis loss coefficient, kh represents the coefficient related to material properties, B represents the magnetic field intensity, and f represents the frequency of magnetic field change.

5. The ball motor magnetic field current control method according to claim 4, characterized in that: When calculating the vibration response coefficient based on the elastic modulus and ball radius of the ball, it includes: Among them, kv is the vibration response coefficient, r is the ball radius, and E is the elastic modulus.

6. The ball motor magnetic field current control method according to claim 5, characterized in that: When calculating the rolling resistance coefficient based on the friction factor of the ball material and the force, it includes: k f =μ·F; Among them, kf represents the rolling resistance coefficient, μ represents the friction factor, and F represents the force.

7. The ball motor magnetic field current control method according to claim 6, characterized in that: When calculating the basic parameters of the ball motor according to the magnetic field intensity gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient, it includes: The required current is determined according to the magnetic field intensity gradient and the magnetic field requirement by the following calculation formula: Among them, Irated represents the demand current, and Bmin represents the magnetic field demand; The stable response speed requirement is calculated according to the vibration response coefficient by the following calculation formula to determine the target speed: oh target =k v ·oh desired ; Among them, ωdesired represents the minimum response speed required by the system; ωtarget represents the target speed; The required torque is calculated according to the rolling resistance coefficient and the ball force through the following calculation formula: T req =k f ·r; Wherein, Treq represents the required torque.

8. The ball motor magnetic field current control method according to claim 7, characterized in that: Real-time monitoring and acquisition of the running state parameters of the ball motor, and forming a feedback signal, wherein the running state parameters include real-time speed, real-time torque and real-time temperature; according to the feedback signal and the set target value, the adjustment amount of the magnetic field current is calculated, and according to the calculated adjustment amount, the demand current is adjusted through the drive circuit, including: The real-time speed ωfeedback is measured by the speed sensor; Obtain real-time torque Tfeedback through the torque sensor; Get real-time temperature θfeedback through the temperature sensor; Set the target speed ωtarget, the required torque Ttarget and the allowable upper temperature limit θmax; The adjustment amount is calculated using a proportional-integral-derivative control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and an allowable upper temperature limit.

9. The ball motor magnetic field current control method according to claim 8, characterized in that: When calculating the adjustment amount using a proportional-integral-differential control algorithm according to the real-time speed, real-time torque, real-time temperature, target speed, required torque and allowable upper temperature limit, the adjustment amount includes: e ω =ω target -oh feedback ; e T =T target -T feedback ; e θ =θ max -θ feedback ; ΔI=ΔI ω +ΔI T -ΔI θ ; Inew=Irated+ΔI; Wherein, Kp represents proportional gain; Ki represents integral gain; Kd represents differential gain; ∫eω dt represents the cumulative component of speed error; ∫eT dt represents the cumulative component of torque error; ∫eθ dt represents the cumulative component of temperature error; deω / dt represents the rate of change of speed error; deθ / dt represents the rate of change of temperature error; deT / dt represents the rate of change of torque error; eT represents the torque error; ΔI T represents the torque adjustment; eθ represents the temperature error; ΔI θ Indicates that when the temperature is higher than the safe value, the current adjustment amount ΔI is reduced; ΔI ω It represents the speed adjustment used to adjust the current; ΔI represents the current adjustment; Inew represents the actual current after adjustment.

10. A ball motor magnetic field current control system, characterized in that: Used to implement the ball motor magnetic field current control method described in any one of claims 1-9.

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