Motor driving method, motor driver, equipment and storage medium

Abstract

The invention discloses a motor driving method, a motor driver, equipment and a storage medium, and relates to the technical field of linear motors. The method is applied to a motor driver, and comprises the following steps: acquiring position information and speed information of a target rotor; determining a target coil winding covered by the target rotor according to the position information; according to the position information, the speed information and the target position of the target rotor, a duty ratio signal is determined; the duty ratio signals are used for controlling H-type inverter bridges in one-to-one correspondence with the target coil windings, so that the current amplitude and phase in the target coil windings are controlled; and according to the duty ratio signal, controlling H-type inverter bridges in one-to-one correspondence with the target coil windings so as to control the target mover to move. Therefore, the technical problem of relatively high energy loss in related technologies can be solved.

Description

Technical Field

[0001] The present application relates to a motor driving method, a motor driver, a device, and a storage medium, and relates to the technical field of linear motors. Background Art

[0002] Traditional track transmission systems usually connect sliders through complex transmission components such as gears, chains, linkages, and synchronous belts, and use a single rotating motor for centralized driving to drive multiple sliders to move synchronously along the track together to transport items to the target position. Since linear motors do not have complex transmission mechanisms and have significant advantages such as high thrust density, high speed, and high efficiency, they are widely used in the machine tool field.

[0003] In the related art, the existing structure of a linear motor divides the windings into three phases of UVW, and during the operation of the linear motor, all windings need to be energized. However, during the operation of the mover, due to the limited windings coupled with the mover, there is a technical problem of relatively high energy loss. Summary of the Invention

[0004] The present invention provides a motor driving method, a motor driver, a device, and a storage medium to at least solve the technical problem of relatively high energy loss in the related art. The technical solution of the present application is as follows:

[0005] According to the first aspect of the embodiments of the present application, a motor driving method is provided, which is applied to a motor driver and includes: obtaining the position information and speed information of a target mover; determining a target coil winding covered by the target mover according to the position information; determining a duty ratio signal according to the position information, speed information, and target position of the target mover; the duty ratio signal is used to control an H-bridge inverter corresponding to each target coil winding so as to control the current amplitude and phase in the target coil winding; controlling the H-bridge inverter corresponding to each target coil winding according to the duty ratio signal so as to control the movement of the target mover.

[0006] In a possible implementation manner, the determining the duty ratio signal according to the position information, speed information, and target position of the target mover includes: determining a mover position deviation according to the position information and the target position; determining a speed command value according to the mover position deviation; the speed command value is positively correlated with the mover position deviation; determining a mover speed deviation according to the speed command value and the speed information of the target mover; determining a Q-axis current command value of the target mover according to the mover speed deviation; the Q-axis current command value is positively correlated with the mover speed deviation; determining a phase current command value according to the Q-axis current command value and a preset D-axis current command value; determining a phase voltage according to the phase current command value, and determining a duty ratio signal according to the phase voltage.

[0007] In a possible implementation, a permanent magnet array arranged alternately with opposite polarities is mounted on the above-mentioned target mover.

[0008] In a possible implementation, the above-mentioned stator is composed of multiple stator integrated modules, and two adjacent stator integrated modules are cascaded through cables. The number of corresponding coil windings is determined according to the driving parameters of each stator integrated module, including: when the driving parameter is a motor with a first number of phases, the number of coil windings is an integer multiple of the first number of phases; when the driving parameter is a motor with a first number of phases and a second number of phases, the number of coil windings is an integer multiple of the product of the first number of phases and the second number of phases; the first number of phases is different from the second number of phases.

[0009] According to the second aspect of the embodiments of the present application, a motor driver is provided. The motor driver includes: an acquisition unit, a determination unit, and a control unit; the acquisition unit is used to acquire the position information and speed information of the target mover; the determination unit is used to determine the target coil windings covered by the target mover according to the position information; the determination unit is further used to determine a duty ratio signal according to the position information, the speed information, and the target position of the target mover; the duty ratio signal is used to control the H-bridge inverters corresponding to each target coil winding so as to control the current amplitude and phase in the target coil winding; the control unit is used to control the H-bridge inverters corresponding to each target coil winding according to the duty ratio signal so as to control the movement of the target mover.

[0010] In a possible implementation, in the above-mentioned motor driver, the determination unit is specifically used to: determine the mover position deviation according to the position information and the target position; determine the speed command value according to the mover position deviation; the speed command value is positively correlated with the mover position deviation; determine the mover speed deviation according to the speed command value and the speed information of the target mover; determine the Q-axis current command value of the target mover according to the mover speed deviation; the Q-axis current command value is positively correlated with the mover speed deviation; determine the phase current command value according to the Q-axis current command value and the preset D-axis current command value; determine the phase voltage according to the phase current command value, and determine the duty ratio signal according to the phase voltage.

[0011] In a possible implementation, in the above-mentioned motor driver, a permanent magnet array arranged alternately with opposite polarities is mounted on the target mover.

[0012] In a possible implementation, in the above-mentioned motor driver, the stator is composed of multiple stator integrated modules, and two adjacent stator integrated modules are cascaded through cables. The number of corresponding coil windings is determined according to the driving parameters of each stator integrated module, including: when the driving parameter is a motor with a first number of phases, the number of coil windings is an integer multiple of the first number of phases; when the driving parameter is a motor with a first number of phases and a second number of phases, the number of coil windings is an integer multiple of the product of the first number of phases and the second number of phases; the first number of phases is different from the second number of phases.

[0013] According to a third aspect of the embodiments of the present application, there is provided an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the method according to the first aspect and any possible implementation manner thereof as described above.

[0014] According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, enabling the electronic device to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0015] According to a fifth aspect of the embodiments of the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the electronic device, enabling the electronic device to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0016] The technical solution of the first aspect provided by the embodiments of the present application at least brings the following beneficial effects:

[0017] The technical solution provided by the embodiments of the present application obtains the position information and speed information of the target mover; then, according to the position information, determines the target coil windings covered by the target mover; then, according to the position information, speed information and the target position of the target mover, determines the duty cycle signal; the duty cycle signal is used to control the H-bridge inverters corresponding to each target coil winding one by one, so as to control the current amplitude and phase in the target coil winding; further, according to the duty cycle signal, controls the H-bridge inverters corresponding to each target coil winding one by one, so as to control the movement of the target mover. In this way, the target coil windings covered by the target mover are determined in advance, and then the H-bridge inverters corresponding to the target coil windings are individually controlled according to the determined duty cycle signal, without the need to energize and control all the coil windings, which can effectively reduce energy consumption. And, since the coil windings are all independent of each other, multiple movers can operate simultaneously on a section of the stator motor module, and the edge spacing of the movers can only reserve the width of one coil, which can increase the density of mover arrangement and improve the conveying efficiency.

[0018] It should be noted that the technical effects brought by any implementation manner in the second aspect to the fifth aspect can refer to the technical effects brought by the corresponding implementation manner in the first aspect, which will not be elaborated here.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0020] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation to this application.

[0021] Figure 1 is a schematic structural diagram of a motor drive system shown according to an exemplary embodiment;

[0022] Figure 2 is a schematic structural diagram of a conveying system shown according to an exemplary embodiment;

[0023] Figure 3 is a schematic diagram of a motor drive method shown according to an exemplary embodiment;

[0024] Figure 4 is a schematic diagram of a cogging motor drive system shown according to an exemplary embodiment;

[0025] Figure 5 is a schematic diagram of another motor drive method shown according to an exemplary embodiment;

[0026] Figure 6 is a block diagram of a motor driver shown according to an exemplary embodiment;

[0027] Figure 7 is a block diagram of an electronic device shown according to an exemplary embodiment. Detailed Embodiments

[0028] In order to be able to more clearly understand the technical means of the present invention and implement it in accordance with the content of the specification, the following further describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification, claims and above-mentioned accompanying drawings of this application are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0030] Before introducing the motor drive method provided by this application in detail, a brief introduction to the application scenarios involved in this application is given first.

[0031] Traditional rail transmission systems usually connect the sliding tables through complex transmission components such as gears, chains, connecting rods, synchronous belts, etc., and adopt the method of centralized driving by a single rotary motor to drive multiple sliding tables to move synchronously along the rail together to transport items to the target position. Since the positions of multiple sliding tables need to be set in advance, during the movement process, the positions of the sliding tables cannot be changed, nor can the number of sliding tables be changed, so the flexibility of the traditional rail transmission system is relatively low. Moreover, when the traditional rail transmission system is running, if the position of the sliding table deviates, the position of the sliding table cannot be accurately controlled.

[0032] Since linear motors can directly convert electrical energy into mechanical energy of linear motion without the need for complex intermediate mechanical transmission parts, and have significant advantages such as high thrust density, high speed, and high efficiency, they can better meet the requirements of flexible conveying systems and are widely used in the machine tool field.

[0033] In related technologies, existing linear motors are basically divided into two structural types: moving primary coils and moving secondary permanent magnets.

[0034] Among them, in the linear motor of the moving primary coil type, the permanent magnet is used as the long stator and is laid within the entire movement stroke range of the mover; the linear motor of the moving primary coil type uses a grating or magnetic grating to measure the position information of the mover, and the encoder head is installed on the mover and moves with the mover. The measurement data fed back by the encoder needs to be connected to the driver through cables. There must be cables such as motor power lines and encoder lines on the mover. These cables will affect the control accuracy and movement speed of the linear motor during the movement of the mover, and at the same time bring interference and reliability problems.

[0035] When using a linear motor of the moving secondary permanent magnet type, the armature winding and iron core are used as the long stator and are laid within the entire movement stroke range of the mover. Since the mover has no cables, it is very suitable for high-precision and high-speed direct drive applications.

[0036] The existing linear motor structure divides the windings into three phases: U, V, and W, and all windings need to be energized during the operation of the linear motor. However, during the operation of the mover, due to the limited windings coupled with the mover, there are technical problems of relatively high energy loss. In addition, due to the long-term uninterrupted power supply of the windings, it will also cause the temperature rise of the motor to be too high, resulting in the deterioration of the thrust performance of the motor. Moreover, using the existing linear motor structure, in order to achieve the safe control of the mover, the distance between the movers needs to be greater than the width of a set of U, V, and W coils. In this way, when the mover density is high, the arrangement of the trolleys is greatly limited.

[0037] Before introducing the motor driving method provided by this application in detail, the implementation environment (implementation architecture) involved in this application will be briefly introduced first.

[0038] The motor driving method provided by the embodiment of the present application can be applied to a motor drive system. Figure 1 A schematic structural diagram of the motor drive system is shown. As Figure 1 shown, the motor drive system 10 includes a motor driver 11, a coil winding 12, and an encoder 13. The motor driver 11 and the coil winding 12 are connected by a wired connection, and the motor driver 11 and the encoder 13 are connected by a wired connection.

[0039] The motor driver 11 can be used to interact with the encoder 13 for data, for example, to obtain the position information and speed information of the target mover from the encoder 13.

[0040] Furthermore, the motor driver 11 is also used to determine the target coil winding 12 covered by the target mover according to the position information.

[0041] The motor driver 11 is also used to determine a duty cycle signal according to the position information, speed information, and the target position of the target mover; the duty cycle signal is used to control the H-bridge inverters corresponding to each target coil winding 12, so as to control the current amplitude and phase in the target coil winding 12.

[0042] The motor driver 11 is also used to control the H-bridge inverters corresponding to each target coil winding 12 according to the duty cycle signal, so as to control the movement of the target mover.

[0043] Specifically, the motor driver 11 and the encoder 13 are connected by a serial bus such as B i ss-c or RS485, and the mover status and position information are exchanged between the motor driver 11 and the encoder 13.

[0044] In the actual application process, the actual conveying system may include multiple motor drive systems. Figure 2 A schematic structural diagram of the conveying system is shown. As Figure 2 shown, the conveying system includes a main control unit 21, a motor drive system module 22, a mover trolley integrated module 23, a mounting base 24, and a guide rail 25. The main control unit 21 is connected to the motor drive system module 22 by a wired connection.

[0045] Among them, the motor drive system module 22 includes a fixed bracket, a coil winding, a motor driver, and an encoder. The mover trolley integrated module 23 includes a guide roller, a motor magnetic plate (including a permanent magnet array installed on the inner surface of the yoke), and an encoder magnetic plate (including a permanent magnet array installed on the inner surface of the yoke).

[0046] The coil windings, motor driver, and encoder in the motor drive system are mounted on a fixed bracket, and the fixed bracket is fixed to the mounting base 24 by fastening screws. Among them, the mover trolley integrated module 23 is mounted on the motor drive system module 22 and moves translationally along the direction of the guide rail 25 through guide wheels. Each mover trolley integrated module 23 moves independently relative to other mover trolleys.

[0047] The main control unit 21 is used to generate mover trolley movement instructions after receiving the system movement requirements, and send them to each motor drive system module 22 through an industrial real-time bus (such as EtherCAT, PROFINET, etc.).

[0048] The motor drive system modules 22 are cascaded through cables and communicate using a serial bus such as RS422 or SPI.

[0049] In the actual application process, a status indicator is also designed on the motor drive system module 22, and this indicator is used to indicate the operating status of the electrode drive system module.

[0050] Figure 3 It is a flowchart of a motor drive method shown according to an exemplary embodiment, and this method is applied to a motor driver. Hereinafter, taking this method applied to a motor driver as an example, this method will be described. As Figure 3 shown, the motor drive method includes the following steps:

[0051] S301. The motor driver obtains the position information and speed information of the target mover.

[0052] As a possible implementation, the motor driver obtains the position information and speed information of the target mover through an encoder.

[0053] S302. The motor driver determines the target coil windings covered by the target mover according to the position information.

[0054] As a possible implementation, the motor driver compares the position information of the target mover with the position information of the coil windings to determine the target coil windings covered by the target coil.

[0055] S303. The motor driver determines a duty cycle signal according to the position information, speed information, and target position of the target mover.

[0056] Among them, the duty cycle signal is used to control the H-bridge inverter corresponding to each target coil winding so as to control the current amplitude and phase in the target coil winding.

[0057] As a possible implementation, the motor driver determines the mover position deviation according to the position information and the target position.

[0058] Next, the motor driver determines a speed command value based on the mover position deviation; the speed command value is positively correlated with the mover position deviation.

[0059] Next, the motor driver determines the mover speed deviation based on the speed command value and the speed information of the target mover.

[0060] Next, the motor driver determines the Q-axis current command value of the target mover based on the mover speed deviation; the Q-axis current command value is positively correlated with the mover speed deviation.

[0061] Then, the motor driver determines the phase current command value based on the Q-axis current command value and the preset D-axis current command value.

[0062] Furthermore, the motor driver determines the phase voltage based on the phase current command value, and determines the duty ratio signal based on the phase voltage.

[0063] S304. The motor driver controls the H-bridge inverter corresponding to each target coil winding according to the duty ratio signal, so as to control the movement of the target mover.

[0064] As a possible implementation, the motor driver controls the H-bridge inverter corresponding to each target coil winding according to the duty ratio signal; correspondingly, the H-bridge inverter controls the corresponding target coil winding, and finally controls the movement of the target mover.

[0065] It can be understood that the technical solution provided by the embodiments of the present application obtains the position information and speed information of the target mover; then, according to the position information, determines the target coil windings covered by the target mover; next, according to the position information, speed information and the target position of the target mover, determines the duty ratio signal; the duty ratio signal is used to control the H-bridge inverter corresponding to each target coil winding, so as to control the current amplitude and phase in the target coil winding; furthermore, according to the duty ratio signal, controls the H-bridge inverter corresponding to each target coil winding, so as to control the movement of the target mover. In this way, the target coil windings covered by the target mover are determined in advance, and then the H-bridge inverters corresponding to the target coil windings are individually controlled according to the determined duty ratio signal, without the need to energize and control all the coil windings, which can effectively reduce energy consumption. And, since the coil windings are all independent of each other, multiple movers can operate simultaneously on a section of the stator motor module, and the edge spacing between the movers can only reserve the width of one coil, which can increase the density of mover arrangement and improve the conveying efficiency.

[0066] In some embodiments, in the motor driving method provided by the embodiments of the present application, a permanent magnet array arranged alternately and with opposite polarities is installed on the above-mentioned target mover.

[0067] The winding in the motor drive system module is composed of a plurality of identical slotless or slotted module units arranged at equal intervals.

[0068] The following takes the slotted motor drive system as an example for introduction. As follows Figure 4 As shown, each slotted module unit includes a stator yoke 3, a coil winding 4, and a slot 5. The coil winding 4 is fixed directly above the stator yoke 3. The rotor includes a rotor yoke 1 and a permanent magnet 2. The permanent magnet 2 is arranged directly below the rotor yoke 1 and is located directly above the coil winding 4; adjacent permanent magnets have opposite polarities, and the N pole and S pole are arranged alternately.

[0069] In some embodiments, in the motor drive method provided by the embodiments of the present application, the stator is composed of a plurality of stator integrated modules, and two adjacent stator integrated modules are cascaded and connected by a cable. The number of corresponding coil windings is determined according to the drive parameters of each stator integrated module. As Figure 5 shown, it specifically includes the following steps:

[0070] S401. Determine the drive parameters of the motor.

[0071] Exemplarily, when the motor driver only supports a three-phase motor, the drive parameter of the motor is 3; when the motor driver only supports a five-phase motor, the drive parameter of the motor is 5; when the motor driver supports both a three-phase motor and a five-phase motor, the drive parameters of the motor are 3 and 5.

[0072] S402. When driving a motor with the first number of phases, the number of coil windings is an integer multiple of the first number of phases.

[0073] S403. When driving a motor with the first number of phases and the second number of phases, the number of coil windings is an integer multiple of the product of the first number of phases and the second number of phases.

[0074] Wherein, the first number of phases is different from the second number of phases.

[0075] It can be understood that in the technical solution provided by the embodiments of the present application, when driving a motor with the first number of phases, the number of coil windings is an integer multiple of the first number of phases. When driving a motor with the first number of phases and the second number of phases, the number of coil windings is an integer multiple of the product of the first number of phases and the second number of phases. In this way, determining the number of coil windings according to the drive parameters can avoid the situation where the stator integrated module cannot drive the corresponding stator motor.

[0076] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of methods. To implement the above functions, the motor drive device or electronic device includes the corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0077] According to the above method, the embodiments of the present application can exemplarily divide the functional modules of the motor drive device or electronic device. For example, the motor drive device or electronic device may include respective functional modules corresponding to each function division, or two or more functions may be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0078] For example, the embodiments of the present application also provide a motor driver.

[0079] In some embodiments, Figure 6 is a block diagram of a motor driver 500 shown according to an exemplary embodiment. Referring to Figure 6 , the motor driver 500 includes an acquisition unit 501, a determination unit 502, and a control unit 503.

[0080] The acquisition unit 501 is configured to acquire the position information and speed information of the target mover.

[0081] The determination unit 502 is configured to determine the target coil windings covered by the target mover according to the position information;

[0082] The determination unit 502 is further configured to determine a duty cycle signal according to the position information, the speed information, and the target position of the target mover; the duty cycle signal is used to control the H-bridge inverters corresponding to each target coil winding so as to control the current amplitude and phase in the target coil windings.

[0083] The control unit 503 is configured to control the H-bridge inverters corresponding to each target coil winding according to the duty cycle signal so as to control the movement of the target mover.

[0084] Optionally, the determination unit 502 provided by the embodiments of the present application is specifically configured to:

[0085] Determine the mover position deviation based on the position information and the target position.

[0086] Determine the speed command value according to the mover position deviation; the speed command value is positively correlated with the mover position deviation.

[0087] Determine the mover speed deviation based on the speed command value and the speed information of the target mover.

[0088] Determine the Q-axis current command value of the target mover according to the mover speed deviation; the Q-axis current command value is positively correlated with the mover speed deviation.

[0089] Determine the phase current command value according to the Q-axis current command value and the preset D-axis current command value.

[0090] Determine the phase voltage according to the phase current command value, and determine the duty cycle signal according to the phase voltage.

[0091] Optionally, a permanent magnet array arranged alternately with opposite polarities is installed on the target mover provided in the embodiment of the present application.

[0092] Optionally, the stator provided in the embodiment of the present application is composed of multiple stator integrated modules, and adjacent two stator integrated modules are cascaded through cables. Determine the number of coil windings corresponding to each stator integrated module, including:

[0093] When the drive parameter is a motor with a first number of phases, the number of coil windings is an integer multiple of the first number of phases.

[0094] When the drive parameter is a motor with a first number of phases and a second number of phases, the number of coil windings is an integer multiple of the product of the first number of phases and the second number of phases; the first number of phases is different from the second number of phases.

[0095] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment related to the method, and will not be elaborated here.

[0096] Figure 7 It is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 7 shown, the electronic device 600 includes but is not limited to: a processor 601 and a memory 602.

[0097] Among them, the above-mentioned memory 602 is used to store the executable instructions of the above-mentioned processor 601. It can be understood that the above-mentioned processor 601 is configured to execute instructions to implement the motor drive method in the above embodiment.

[0098] It should be noted that those skilled in the art can understand, Figure 7The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than Figure 7 shown, or combine certain components, or have a different component arrangement.

[0099] The processor 601 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines. By running or executing software programs and / or modules stored in the memory 602, and calling the data stored in the memory 602, it executes various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 601 may include one or more processing units. Optionally, the processor 601 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 601 either.

[0100] The memory 602 can be used to store software programs and various data. The memory 602 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one functional module (such as a determination unit, a processing unit, etc.). In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0101] In an exemplary embodiment, there is also provided a computer-readable storage medium including instructions, such as the memory 602 including instructions. The above instructions can be executed by the processor 601 of the electronic device 600 to implement the motor drive method in the above embodiment.

[0102] In actual implementation, Figure 6 the functions of the acquisition unit 501, the determination unit 502, and the control unit 703 in Figure 7 can all be implemented by the processor 601 in

[0103] calling the computer program stored in the memory 602. The specific execution process can refer to the description of the motor drive method part in the above embodiment, and will not be elaborated here.

[0104] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor 601 of an electronic device to complete the motor driving method in the above embodiment.

[0105] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, each process of the above embodiment of the motor driving method is implemented, and the same technical effects as those of the above motor driving method can be achieved. To avoid repetition, it will not be described in detail here.

[0106] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0107] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0108] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or may be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0110] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0111] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A motor driving method, applied to a motor driver, characterized in that: The method comprises: Obtaining the position information and speed information of the target mover; Determining the target coil winding covered by the target mover according to the position information; Determine a duty cycle signal according to the position information, the speed information and the target position of the target mover; the duty cycle signal is used to control an H-type inverter bridge corresponding to each target coil winding one by one, so as to control the current amplitude and phase in the target coil winding; According to the duty cycle signal, the H-type inverter bridge corresponding to each target coil winding is controlled to control the movement of the target mover.

2. The method according to claim 1, characterized in that Determining a duty cycle signal according to the position information, the speed information and the target position of the target mover includes: Determining a mover position deviation according to the position information and the target position; Determine a speed command value according to the mover position deviation; the speed command value is positively correlated with the mover position deviation; Determining a mover speed deviation according to the speed command value and the speed information of the target mover; Determining a Q-axis current command value of the target mover according to the mover speed deviation; wherein the Q-axis current command value is positively correlated with the mover speed deviation; Determining a phase current command value according to the Q-axis current command value and a preset D-axis current command value; According to the phase current command value, the phase voltage is determined, and according to the phase voltage, the duty ratio signal is determined.

3. The method according to claim 2, characterized in that The target mover is provided with an array of permanent magnets which are alternately arranged and have opposite polarities.

4. The method according to any one of claims 1 to 3, characterized in that The stator is composed of multiple stator integrated modules. Two adjacent stator integrated modules are cascaded and connected by cables. The number of corresponding coil windings is determined according to the drive parameters of each stator integrated module, including: When the driving parameter is a motor with a first phase number, the number of the coil windings is an integer multiple of the first phase number; When the driving parameter is a motor with the first number of phases and the second number of phases, the number of the coil windings is an integer multiple of the product of the first number of phases and the second number of phases; and the first number of phases is different from the second number of phases.

5. A motor driver, characterized in that: The motor driver comprises: an acquisition unit, a determination unit and a control unit; The acquisition unit is used to acquire the position information and speed information of the target mover; The determining unit is used to determine the target coil winding covered by the target mover according to the position information; The determination unit is further used to determine a duty cycle signal according to the position information, the speed information and the target position of the target mover; the duty cycle signal is used to control an H-type inverter bridge corresponding to each target coil winding one by one, so as to control the current amplitude and phase in the target coil winding; The control unit is used to control the H-type inverter bridge corresponding to each target coil winding one by one according to the duty cycle signal, so as to control the movement of the target mover.

6. The motor driver according to claim 5, characterized in that: The determining unit is specifically configured to: Determining a mover position deviation according to the position information and the target position; Determine a speed command value according to the mover position deviation; the speed command value is positively correlated with the mover position deviation; Determining a mover speed deviation according to the speed command value and the speed information of the target mover; Determining a Q-axis current command value of the target mover according to the mover speed deviation; wherein the Q-axis current command value is positively correlated with the mover speed deviation; Determining a phase current command value according to the Q-axis current command value and a preset D-axis current command value; According to the phase current command value, the phase voltage is determined, and according to the phase voltage, the duty ratio signal is determined.

7. The motor driver according to claim 2, characterized in that: The target mover is provided with an array of permanent magnets which are alternately arranged and have opposite polarities.

8. The motor driver according to any one of claims 1 to 3, characterized in that: The stator is composed of multiple stator integrated modules. Two adjacent stator integrated modules are cascaded and connected by cables. The number of corresponding coil windings is determined according to the drive parameters of each stator integrated module, including: When the driving parameter is a motor with a first phase number, the number of the coil windings is an integer multiple of the first phase number; When the driving parameter is a motor with the first number of phases and the second number of phases, the number of the coil windings is an integer multiple of the product of the first number of phases and the second number of phases; and the first number of phases is different from the second number of phases.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 4.

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