Ball motor magnetic field current control method

Abstract

The application relates to the technical field of motor control, and discloses a ball motor magnetic field current control method, which comprises determining key parameters of a ball motor, the key parameters comprising required current, target rotating speed and required torque; real-time monitoring and acquiring operating state parameters of the ball motor, and then generating a feedback signal, the operating state parameters covering real-time rotating speed, real-time torque and real-time temperature; according to the feedback signal and a given target value, calculating the adjustment amplitude of the magnetic field current, and adjusting the required current through a driving circuit according to the calculated adjustment amplitude; when the ball motor reaches a given working state or a task is completed, gradually reducing the magnetic field current to ensure that the motor stops stably. The method can realize accurate control of the ball motor, improve the operating efficiency and response speed of the motor, and ensure that the motor always maintains the best performance under various working conditions by real-time monitoring of the operating state parameters of the ball motor and adjusting the magnetic field current accordingly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a ball motor magnetic field current control method. BACKGROUND

[0002] Ball motor is a unique motor that uses balls as transmission medium to achieve its function. This motor has been widely used in many fields due to its high efficiency, low noise and long service life, etc. Especially in precise positioning, robotics, aerospace and other occasions requiring high precision and reliability, ball motor plays an important role.

[0003] During the operation of the ball motor, the accurate control of the magnetic field current is crucial to ensure the performance and efficiency of the motor. The control of the magnetic field current involves the generation and adjustment of the internal magnetic field of the motor, which affects the motor's speed, torque and overall running stability. Traditional magnetic field current control methods usually rely on fixed control strategies, which take into account certain working conditions and load ranges when designed. However, these methods often appear to be inadequate when faced with changing working environments and load fluctuations. Due to the lack of flexibility and adaptability, traditional control methods are difficult to maintain optimal performance under various working conditions, resulting in the potential of the motor not being fully realized. SUMMARY

[0004] In view of this, the present application 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 application proposes a ball motor magnetic field current control method, comprising:

[0006] determining the basic parameters of the ball motor, including the required current, target speed and required torque;

[0007] real-time monitoring of the operating state parameters of the ball motor and forming a feedback signal, the operating state parameters including 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 the required current is adjusted through the drive circuit according to the calculated adjustment amount;

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

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

[0010] calculating the magnetic field strength gradient according to the magnetic field strength change and the ball position change;

[0011] calculating the hysteresis loss coefficient according to the magnetic field intensity and frequency;

[0012] calculating the vibration response coefficient according to the elastic modulus of the ball and the ball radius;

[0013] calculating the rolling resistance coefficient according to the friction factor of the ball material and the acting force;

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

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

[0016] detecting the position of the ball in the bearing track in real time through the position sensor to obtain the ball position variation; measuring the magnetic field intensity around the ball position using the magnetic field sensor; calculating the magnetic field intensity gradient according to the magnetic field intensity variation and the ball position variation through the following calculation formula: ; wherein, ΔB represents the magnetic field intensity variation, Δx represents the ball position variation, and ▽B represents the magnetic field intensity gradient.

[0017] Preferably, when calculating the hysteresis loss coefficient according to the magnetic field intensity and frequency, it comprises: ; wherein, η h represents the hysteresis loss coefficient, k h represents a coefficient related to material properties, B represents the magnetic field intensity, and f represents the magnetic field variation frequency.

[0018] Preferably, when calculating the vibration response coefficient according to the elastic modulus of the ball and the ball radius, it comprises: ; wherein, k v represents the vibration response coefficient, r represents the ball radius, and E represents the elastic modulus.

[0019] Preferably, when calculating the rolling resistance coefficient according to the friction factor of the ball material and the acting force, it comprises: ; wherein, k f represents the rolling resistance coefficient, μ represents the friction factor, and F represents the acting force.

[0020] Preferably, when calculating the basic parameters of the ball motor according to the magnetic field intensity gradient, the hysteresis loss coefficient, the vibration response coefficient and the rolling resistance coefficient, it comprises:

[0021] determining the demand current according to the magnetic field intensity gradient and the magnetic field demand through the following calculation formula: ; wherein, I rated represents the demand current, and B min represents the magnetic field demand.

[0022] The stable response speed requirement is calculated according to the vibration response coefficient, and the target rotating speed is determined by the following calculation formula: ; wherein ω desired represents the minimum response rotating speed required by the system; ω target represents the target rotating speed;

[0023] The demand torque is calculated according to the rolling resistance coefficient and the force condition of the ball by the following calculation formula: ; wherein T req represents the demand torque.

[0024] Preferably, the running state parameters of the ball motor are monitored in real time to form a feedback signal, and the running state parameters include real-time rotating 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 when the demand current is adjusted by the driving circuit according to the calculated adjustment amount, it includes:

[0025] The real-time rotating speed ω feedback is measured by a speed sensor;

[0026] The real-time torque T feedback is obtained by a torque sensor;

[0027] The real-time temperature θ feedback is obtained by a temperature sensor;

[0028] The target rotating speed ω target , the demand torque T target and the allowable temperature upper limit θ max are set;

[0029] According to the real-time rotating speed, the real-time torque, the real-time temperature, the target rotating speed, the demand torque and the allowable temperature upper limit, the adjustment amount is calculated by using a proportional-integral-derivative control algorithm.

[0030] Preferably, when the adjustment amount is calculated according to the real-time rotating speed, the real-time torque, the real-time temperature, the target rotating speed, the demand torque and the allowable temperature upper limit by using a proportional-integral-derivative control algorithm, it includes:

[0031] ; wherein K p represents the proportional gain; K i represents the integral gain; K d represents the differential gain; ∫e ω dt represents the cumulative component of the rotating speed error; ∫e T dt represents the cumulative component of the torque error; ∫e θ dt represents the cumulative component of the temperature error; de ωrepresents the rate of change of the speed error; de θ represents the rate of change of the temperature error; de T represents the rate of change of the torque error; e T represents the error of the torque; ΔI T represents the adjustment amount of the torque; e θ represents the error of the temperature; ΔI θ represents the value of the current adjustment amount ΔI when the temperature is higher than the safety value; ΔI ω represents the speed adjustment amount for adjusting the current; ΔI represents the current adjustment amount; Inew represents the adjusted actual current.

[0032] The application also provides a ball motor magnetic field current control system for implementing the ball motor magnetic field current control method described above.

[0033] Compared with the prior art, the application has the following beneficial effects:

[0034] The application significantly improves the operating efficiency and response speed of the ball motor. By monitoring and adjusting the magnetic field current in real time, the motor is always kept in the best working state; accurate control of the magnetic field current effectively reduces the energy consumption of the ball motor and prolongs its service life. In addition, the application realizes 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 using an optimized control algorithm, the application realizes comprehensive management of the motor speed, torque, and temperature, ensuring stable performance of the motor under various working conditions. The control method exhibits excellent adaptability and flexibility, and can be applied to various types of ball motors, thus having broad application potential. BRIEF DESCRIPTION OF DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings refer to the same or similar components throughout the several drawings. In the drawings:

[0036] Figure 1 Flowchart of the ball motor magnetic field current control method. DETAILED DESCRIPTION

[0037] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Note that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0038] Referring to Figure 1 The present disclosure provides a ball motor magnetic field current control method, comprising:

[0039] Determining the basic parameters of the ball motor, including the demand current, target speed, and demand torque;

[0040] Real-time monitoring of the operating state parameters of the ball motor and forming a feedback signal, the operating state parameters including real-time speed, real-time torque, and real-time temperature; calculating the adjustment amount of the magnetic field current according to the feedback signal and the set target value, and adjusting the demand current through the drive circuit according to the calculated adjustment amount;

[0041] When the ball motor reaches the set working state or completes the task, gradually reduce the magnetic field current to make the motor stop smoothly.

[0042] It can be understood that the present disclosure provides a ball motor magnetic field current control method, which can effectively control the operating state of the ball motor and ensure its stable operation according to the established performance parameters. The specific steps are as follows:

[0043] First, determine the basic parameters of the ball motor, including the demand current, target speed, and demand torque. These parameters are the basis for controlling the operation of the ball motor, and they determine the performance of the motor during operation.

[0044] Second, real-time monitoring and obtaining the operating state parameters of the ball motor and forming a feedback signal. These operating state parameters include real-time speed, real-time torque, and real-time temperature. Real-time monitoring of these parameters is crucial to ensure stable operation of the motor, as they can reflect the current working state of the motor and whether there is a potential risk of overheating or overload.

[0045] Next, calculate the adjustment amount of the magnetic field current according to the feedback signal and the set target value. By analyzing the differences between real-time speed, torque, and temperature and the target value, it can be determined whether the magnetic field current needs to be adjusted and the adjustment amount. If there is a deviation between the actual parameters and the target value, the controller will calculate the necessary adjustment amount.

[0046] Then, based on the calculated adjustment amount, the demand current is adjusted by 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 does not overheat and be damaged.

[0047] Finally, when the ball motor reaches the set operating state or completes the designated task, the magnetic field current is gradually reduced to allow the motor to stop smoothly. This process is achieved by gradually reducing the current supplied to the motor, thereby avoiding mechanical shocks and potential damage caused by sudden power loss. By slowly reducing the current, the motor can smoothly decelerate and eventually stop, ensuring the safety of the operation and the long-term reliability of the motor.

[0048] In summary, the ball motor magnetic field current control method provided by the present application ensures efficient, stable and safe operation of the motor by monitoring and adjusting the current in real time.

[0049] In some embodiments of the present application, when determining the basic parameters of the ball motor, the following steps are included:

[0050] According to the magnetic field strength variation and the ball position variation, the magnetic field strength gradient is calculated;

[0051] According to the magnetic field strength and frequency, the hysteresis loss coefficient is calculated;

[0052] According to the elastic modulus of the ball and the ball radius, the vibration response coefficient is calculated;

[0053] According to the friction factor of the ball material and the force, the rolling resistance coefficient is calculated;

[0054] According to the magnetic field strength gradient, the hysteresis loss coefficient, the vibration response coefficient and the rolling resistance coefficient, the basic parameters of the ball motor are calculated.

[0055] It can be understood that in the present embodiment, when determining the basic parameters of the ball motor, the following steps are included:

[0056] First, according to the magnetic field strength variation and the ball position variation, the magnetic field strength gradient is calculated. The magnetic field strength gradient is a physical quantity that describes the speed of change of magnetic field strength with position, which is crucial for evaluating the internal magnetic field distribution and energy conversion efficiency of the ball motor. By accurately measuring the magnetic field strength at different positions, the gradient value of the magnetic field strength with position can be obtained.

[0057] Secondly, according to the magnetic field strength and frequency, the hysteresis loss coefficient is calculated. Hysteresis loss refers to the energy loss caused by the repeated flipping of magnetic domains within the material under 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 alternating magnetic field.

[0058] Next, the vibration response coefficient is calculated based on the elastic modulus of the ball and the ball radius. The vibration response coefficient is a parameter that describes the vibration characteristics of the ball when subjected to external forces, and it is closely related to the material properties and geometric dimensions of the ball. By calculating the elastic modulus and the ball radius, the vibration behavior of the ball under dynamic working conditions can be evaluated.

[0059] Then, the rolling resistance coefficient is calculated based on the friction factor of the ball material and the acting force. The rolling resistance coefficient is a parameter that measures the resistance experienced by the ball during motion, and it directly affects the efficiency and lifespan of the ball motor. By analyzing the friction characteristics of the ball material and the force acting on the ball, the rolling resistance coefficient can be obtained.

[0060] Finally, the basic parameters of the ball motor are calculated based on the magnetic field strength gradient, hysteresis loss coefficient, vibration response coefficient, and rolling resistance coefficient obtained above. These basic parameters include but are not limited to torque, efficiency, response speed, and other key performance indicators of the motor. 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.

[0061] In some embodiments of the present application, when calculating the magnetic field strength gradient based on the magnetic field strength variation and the ball position variation, it includes:

[0062] The position of the ball in the bearing track is detected in real time by the position sensor to obtain the ball position variation. The magnetic field strength around the ball position is measured using a magnetic field sensor. The magnetic field strength gradient is calculated based on the magnetic field strength variation and the ball position variation by the following calculation formula: ; Where ΔB represents the magnetic field strength variation, Δx represents the ball position variation, and ▽B represents the magnetic field strength gradient.

[0063] It can be understood that when calculating the magnetic field strength gradient based on the magnetic field strength variation and the ball position variation in the present embodiment, the following steps are included:

[0064] First, the position of the ball in the bearing track is detected in real time by the position sensor to obtain the ball position variation. 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.

[0065] Second, the magnetic field strength 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 can detect the presence of a magnetic field and convert its strength into an electrical signal.

[0066] Finally, the magnetic field strength gradient is calculated based on the changes in magnetic field strength and ball position using the following formula; in the formula, ΔB represents the change in magnetic field strength, Δx represents the change in ball position, and ▽B represents the magnetic field strength gradient. This formula is based on the definition of gradient, that is, the gradient of a vector field (magnetic field in this example) at a certain point is the direction and magnitude of the rate of change of the vector field at that point. By calculating the magnetic field strength gradient, the rate of change of the magnetic field in the direction of ball position change can be obtained, which is very useful for analyzing and understanding the distribution of the magnetic field within the bearing track.

[0067] In some embodiments of this application, the calculation of the hysteresis loss coefficient based on the magnetic field strength and frequency includes: ; where η h k represents the hysteresis loss coefficient. h The coefficients represent the properties of the material, B represents the magnetic field strength, and f represents the frequency of magnetic field changes.

[0068] It is understood that the calculation of the hysteresis loss coefficient based on the magnetic field strength and frequency in this embodiment includes the following steps:

[0069] Determine the coefficient k related to material properties h This coefficient is related to the type of material used, such as k for ferromagnetic materials. h The value will vary depending on its properties such as permeability and coercivity.

[0070] Measure or obtain the value of magnetic field strength B, which represents the magnitude of the magnetic field strength at a specific location or region.

[0071] Determine the frequency f of the magnetic field change, that is, the rate at which the magnetic field strength changes with time.

[0072] Calculate the hysteresis loss coefficient η using the formula h In the formula, m and n are exponents determined based on experimental data or theoretical analysis, which describe the degree of influence of magnetic field strength and frequency on the hysteresis loss coefficient.

[0073] Through the above steps, the hysteresis loss coefficient η can be obtained. h This coefficient reflects the energy loss inside the material due to the hysteresis effect under a specific magnetic field strength and frequency.

[0074] In some embodiments of this application, the calculation of the vibration response coefficient based on the elastic modulus and radius of the ball includes: ; where k v denoted by , r represents the ball radius, and E represents the elastic modulus.

[0075] It is understandable that this embodiment calculates the vibration response coefficient k. vThis can be done using a formula, where k v Let represent the vibration response coefficient, r represent the ball radius, and E represent the elastic modulus. This calculation method considers the physical properties of the balls, namely their elastic modulus and geometric dimensions, thus obtaining a coefficient that reflects the ball's response characteristics when subjected to vibration. In this way, the vibration characteristics of the balls can be quantitatively analyzed, thereby optimizing the design and performance of ball bearings.

[0076] In some embodiments of this application, the calculation of the rolling resistance coefficient based on the friction factor and the applied force of the ball material includes: ; where k f denoted by , μ represents the rolling resistance coefficient, F represents the friction factor, and F represents the applied force.

[0077] It is understood that, in this embodiment, the calculation of the rolling resistance coefficient based on the friction factor and force of the ball material includes the following steps:

[0078] Determine the friction factor μ of the ball material, which is a measure of the material's surface properties and reflects the resistance to sliding on the contact surface. Measure or calculate the force F acting on the balls, which can be due to gravity, external loads, or other forces. Use the formula to calculate the rolling resistance coefficient k. f , where k f Let represent the rolling resistance coefficient, μ represent the friction factor, and F represent the applied force. Based on the calculated rolling resistance coefficient kf, the motion characteristics of the balls, such as rolling efficiency and energy loss, can be further analyzed, thereby optimizing the ball material or structural design to reduce rolling resistance and improve the performance of the mechanical system.

[0079] In some embodiments of this application, the calculation of the basic parameters of the ball motor based on the magnetic field strength gradient, hysteresis loss coefficient, vibration response coefficient, and rolling resistance coefficient includes:

[0080] The required current is determined based on the magnetic field strength gradient and magnetic field demand using the following formula: Among them, I rated Indicates the required current, B min Indicates the magnetic field requirement;

[0081] The target rotational speed is determined by calculating the stable response speed requirement based on the vibration response coefficient using the following formula: ; where ω desired ω represents the minimum required rotational speed for the system to respond. target Indicates the target rotational speed;

[0082] The required torque is calculated using the following formula, based on the rolling resistance coefficient and the ball bearing stress: Among them, Treq indicates the required torque.

[0083] It can be understood that the embodiment has the advantage of providing a systematic method for calculating the basic parameters of the ball motor, ensuring that the performance of the motor meets the requirements in a specific application. By accurately calculating the required current, target speed and required torque, the design of the motor can be optimized, reducing unnecessary energy loss and improving efficiency and response speed. In addition, considering key factors such as magnetic field strength gradient, hysteresis loss coefficient, vibration response coefficient and rolling resistance coefficient, it helps to design a more stable and reliable ball motor with strong adaptability, so as to maintain good performance in various working environments.

[0084] In some embodiments of the present application, the running state parameters of the ball motor are monitored in real time to form a feedback signal, and 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 when the driving circuit adjusts the required current according to the calculated adjustment amount, it includes:

[0085] The real-time speed ω is measured by a speed sensor feedback ;

[0086] The real-time torque T is obtained by a torque sensor feedback ;

[0087] The real-time temperature θ is obtained by a temperature sensor feedback ;

[0088] The target speed ω, the required torque T and the allowable temperature upper limit θ are set target ; target ; max ;

[0089] According to the real-time speed, real-time torque, real-time temperature, target speed, required torque and allowable temperature upper limit, the adjustment amount is calculated using a proportional-integral-derivative control algorithm.

[0090] It can be understood that the embodiment real-time monitors the running state parameters of the ball motor to form a feedback signal, and 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 when the driving circuit adjusts the required current according to the calculated adjustment amount, it includes:

[0091] The real-time speed ω is measured by a speed sensor feedback ;

[0092] The real-time torque T is obtained by a torque sensor feedback ;

[0093] Obtaining real-time temperature θ through temperature sensor feedback ;

[0094] Setting target rotating speed ω target , required torque T target and allowable temperature upper limit θ max ;

[0095] According to the real-time rotating speed, real-time torque, real-time temperature, target rotating speed, required torque and allowable temperature upper limit, an adjustment amount is calculated by using a proportional-integral-derivative control algorithm.

[0096] In specific implementation, first, the speed sensor, torque sensor and temperature sensor respectively monitor the rotating 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 magnetic field current of the motor needs to be adjusted.

[0097] If adjustment is needed, a 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: proportion (P), integral (I) and derivative (D), to quickly and accurately adjust the output.

[0098] In the calculation process, the difference between the real-time rotating speed ω feedback and the target rotating speed ωtarget, the difference between the real-time torque T feedback and the required torque T target , and the difference between the real-time temperature θ feedback and the allowable temperature upper limit θ max are considered. Through the calculation of the PID algorithm, an adjustment amount is obtained, which indicates how the driving circuit changes the current supplied to the motor to make the operating state parameters of the motor closer to the target values.

[0099] Finally, the driving circuit adjusts the current according to the calculated adjustment amount, thereby achieving precise control of the operating state of the ball motor. In this way, the ball motor can maintain optimal performance under various working conditions, while avoiding damage caused by overheating or other abnormal conditions.

[0100] In some embodiments of the present application, when calculating the adjustment amount by using a proportional-integral-derivative control algorithm according to the real-time rotating speed, real-time torque, real-time temperature, target rotating speed, required torque and allowable temperature upper limit, it includes:

[0101] Where K p represents the proportional gain; K i represents the integral gain; K ddenotes the differential gain; ∫e ω  dt denotes the accumulated component of the speed error; ∫e T dt denotes the accumulated component of the torque error; ∫e θ dt denotes the accumulated component of the temperature error; de ω dt denotes the rate of change of the speed error; de θ dt denotes the rate of change of the temperature error; de T dt denotes the rate of change of the torque error; e T denotes the error of the torque; ΔI T denotes the adjustment amount of the torque; e θ denotes the error of the temperature; ΔI θ denotes the value of the current adjustment amount ΔI when the temperature is higher than the safety value; ΔI ω denotes the speed adjustment amount for adjusting the current; ΔI denotes the current adjustment amount; I new denotes the actual current after adjustment.

[0102] It can be understood that, according to the real-time speed, the real-time torque, the real-time temperature, the target speed, the required torque and the upper limit of the allowed temperature, the adjustment amount is calculated by using the proportional integral differential control algorithm, including the following steps:

[0103] the speed error e ω is calculated, i.e. the difference between the target speed and the real-time speed;

[0104] the torque error e T is calculated, i.e. the difference between the required torque and the real-time torque;

[0105] the temperature error e θ is calculated, i.e. the difference between the real-time temperature and the upper limit of the allowed temperature;

[0106] the accumulated component of the speed error ∫e ω dt is calculated;

[0107] the accumulated component of the torque error ∫e T  dt is calculated;

[0108] the accumulated component of the temperature error ∫e θ dt is calculated;

[0109] the rate of change of the speed error de ω dt is calculated;

[0110] the rate of change of the torque error de T dt is calculated;

[0111] the rate of change of the temperature error de θ dt is calculated;

[0112] According to the proportional gain K p , the integral gain K i , and the derivative gain K d , the rotational speed adjustment amount ΔI ω , the torque adjustment amount ΔI T , and the temperature adjustment amount ΔI θ are calculated.

[0113] The current adjustment amount ΔI is determined, which is the comprehensive result of the rotational speed adjustment amount ΔI ω , the torque adjustment amount ΔI T , and the temperature adjustment amount ΔI θ .

[0114] The adjusted actual current I new , which is the current plus the current adjustment amount ΔI, is calculated.

[0115] Where K p represents the proportional gain, used to adjust the system response speed and stability; K i represents the integral gain, used to eliminate system steady-state error; and K d represents the derivative gain, 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 operates in the best state.

[0116] The application also provides a ball motor magnetic field current control system for implementing the ball motor magnetic field current control method described above.

[0117] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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 code.

[0118] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems) and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the flowcharts and / or block diagrams. Figure 1 Each flow or multiple flows and / or blocks Figure 1means for performing the function specified by the block or blocks.

[0119] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by the block or blocks.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by the block or blocks.

[0121] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the present application. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the present application, and any modification or equivalent replacement should be covered in the protection scope of the claims of the present application.

Claims

1. A method for controlling the magnetic field current of a ball motor, characterized in that, include: Determine the basic parameters of the ball motor, including the required current, target speed, and required torque; The operating status parameters of the ball motor are monitored and acquired in real time, and a feedback signal is generated. The operating status parameters include real-time speed, real-time torque, and real-time temperature. Based on the feedback signal and the set target value, the adjustment amount of the magnetic field current is calculated. Based on the calculated adjustment amount, the required 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 so that the motor stops smoothly. Determining the basic parameters of a ball motor includes: calculating the magnetic field strength gradient based on the change in magnetic field strength and the change in ball position; calculating the hysteresis loss coefficient based on the magnetic field strength and frequency; calculating the vibration response coefficient based on the elastic modulus and radius of the balls; calculating the rolling resistance coefficient based on the friction factor and force of the ball material; and calculating the basic parameters of the ball motor based on the magnetic field strength gradient, hysteresis loss coefficient, vibration response coefficient, and rolling resistance coefficient, including: The required current is determined based on the magnetic field strength gradient and magnetic field demand using the following formula: Among them, I rated Indicates the required current, B min ▽B represents the magnetic field requirement, and ▽B represents the magnetic field strength gradient. The target rotational speed is determined by calculating the stable response speed requirement based on the vibration response coefficient using the following formula: ; where ω desired ω represents the minimum required rotational speed for the system to respond. target Indicates the target rotational speed; k v Indicates the vibration response coefficient; The required torque is calculated using the following formula, based on the rolling resistance coefficient and the ball bearing stress: Among them, T req Indicates the required torque, k f The value represents the rolling resistance coefficient, and r represents the ball radius; The system monitors and acquires the operating status parameters of the ball motor in real time and generates feedback signals. These operating status parameters include real-time rotational speed, real-time torque, and real-time temperature. Based on the feedback signals and a set target value, the adjustment amount of the magnetic field current is calculated. When adjusting the required current through the drive circuit based on the calculated adjustment amount, this includes: measuring the real-time rotational speed ω using a speed sensor. feedback Real-time torque T is obtained through a torque sensor. feedback Real-time temperature θ is obtained through a temperature sensor. feedback Set the target rotational speed ω target Required torque T target and the upper limit of the allowable temperature θ max ; Based on the real-time speed, real-time torque, real-time temperature, target speed, required torque, and allowable temperature limit, the adjustment amount is calculated using a proportional-integral-derivative (PID) control algorithm, including: Among them, K p Represents proportional gain; K i K represents the integral gain; d Represents differential gain; e ω Indicates rotational speed error; ∫e ω dt represents the cumulative component of the rotational speed error; ∫e T dt represents the cumulative component of the torque error; ∫e θ dt represents the cumulative component of the temperature error; de ω / dt represents the rate of change of rotational speed error; de θ / dt represents the rate of change of temperature error; de T / dt represents the rate of change of torque error; e T Indicates the error in torque; ΔI T Indicates the amount of torque adjustment; e θ Indicates the temperature error; ΔI θ This indicates that when the temperature is higher than the safe value, the current adjustment amount ΔI is reduced; ΔI ω This indicates the speed adjustment amount used to adjust the current; ΔI represents the current adjustment amount; I new This indicates the adjusted actual current.

2. The ball motor magnetic field current control method according to claim 1, characterized in that, When calculating the magnetic field strength gradient based on the change in magnetic field strength and the change in the position of the ball, the following is included: The position of the balls within the bearing track is detected in real time using a position sensor to obtain the change in ball position; the magnetic field strength around the ball position is measured using a magnetic field sensor; the magnetic field strength gradient is calculated based on the change in magnetic field strength and the change in ball position using the following formula: Where ΔB represents the change in magnetic field strength, Δx represents the change in the position of the ball, and ▽B represents the gradient of magnetic field strength.

3. The ball motor magnetic field current control method according to claim 2, characterized in that, When calculating the hysteresis loss coefficient based on magnetic field strength and frequency, the following is included: Where, η h k represents the hysteresis loss coefficient. h The coefficients represent the properties of the material, B represents the magnetic field strength, and f represents the frequency of magnetic field changes.

4. The ball motor magnetic field current control method according to claim 3, characterized in that, When calculating the vibration response coefficient based on the elastic modulus and radius of the balls, the following is included: ; where k v denoted by , r represents the ball radius, and E represents the elastic modulus.

5. The ball motor magnetic field current control method according to claim 4, characterized in that, When calculating the rolling resistance coefficient based on the friction factor and force of the ball material, the following is included: Where, k f denoted by , μ represents the rolling resistance coefficient, F represents the friction factor, and F represents the applied force.

6. A ball motor magnetic field current control system, characterized in that, Used to implement the ball motor magnetic field current control method according to any one of claims 1-5.

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