Direct-current oil pump motor control method and system

Abstract

The invention relates to a direct-current oil pump motor control method and system, and belongs to the technical field of motor control, and the method comprises the steps: receiving a motor action instruction, and determining a target rotating speed curve based on the type of the motor action instruction; wherein the action instruction types at least comprise a starting instruction and a stopping instruction, and the target rotating speed curve is a curve that the rotating speed of the direct-current oil pump motor gradually changes along with time; motor rotating speed and motor current data are collected in real time, the error between each collected motor rotating speed and a target rotating speed curve is analyzed in sequence, PID controller parameters are adjusted through a preset variable speed integral algorithm, and a PID control output signal is obtained through calculation; and according to the PID control output signal obtained through real-time calculation, a motor driver is continuously controlled to adjust motor action parameters, so that the rotating speed of the motor is stabilized at a target rotating speed value consistent with the target rotating speed curve until a motor action instruction is completed. The method has the advantages that instantaneous disturbance in the starting and stopping process of the direct current pump motor is effectively reduced, and the overall operation quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular, to a method and system for controlling a DC oil pump motor. Background Art

[0002] With the development of power electronics technology and automation control technology, DC pump motors have been widely used in many fields due to their high efficiency, high precision, and easy control characteristics.

[0003] However, the traditional starting and stopping methods of DC pump motors are often accompanied by large current shocks and mechanical vibrations, which not only damage the motor itself but also reduce the stability and service life of the system. Therefore, there is a need to design a motor control strategy that can improve the working performance and reliability of the motor. Summary of the Invention

[0004] In order to effectively reduce the instantaneous disturbance during the starting and stopping processes of the DC pump motor and improve the overall operation quality, the present application provides a method and system for controlling a DC oil pump motor.

[0005] In a first aspect, the present application provides a method for controlling a DC oil pump motor, including:

[0006] Receiving a motor action instruction, and determining a target speed curve based on the type of the motor action instruction; wherein, the type of the action instruction includes at least a start instruction and a stop instruction, and the target speed curve is a curve in which the speed of the DC oil pump motor gradually changes with time;

[0007] Real-time collecting motor speed and motor current data, sequentially analyzing the error between each collected motor speed and the target speed curve, and based on the error, adjusting the parameters of the PID controller through a preset variable-speed integral algorithm, and calculating a PID control output signal;

[0008] According to the PID control output signal calculated in real time, continuously controlling the motor driver to adjust the motor action parameters so that the motor speed is stabilized at a target speed value consistent with the target speed curve until the motor action instruction is completed; wherein, the motor action parameters include at least motor current or voltage data.

[0009] By adopting the above technical solution, the digital PID and the variable-speed integral algorithm are used to analyze and process the real-time collected motor data. Specifically, the variable-speed integral algorithm is used to adjust the PID integral coefficient based on the error between the actual motor speed and the target speed curve, reducing the overshoot or oscillation during motor starting caused by the large error accumulated in the integral term, as well as the oscillation and mechanical shock during the motor stopping process, realizing the smooth soft start and soft stop control of the DC oil pump motor, and achieving efficient and stable motor control.

[0010] Optionally, the method further includes:

[0011] The motor operation data is acquired in real time, and based on a pre-built fault self-diagnosis model, the motor operation data is analyzed to determine whether there is a fault behavior, and when a fault behavior exists, a warning message with the fault behavior is output; wherein the fault behavior at least includes excitation line break, excitation overcurrent, collector current overcurrent and overtemperature of the IGBT module, and armature current and voltage overlimit.

[0012] By adopting the above technical solutions, the present application has complete fault self-diagnosis functions, such as excitation line break and overcurrent protection, IGBT module over-temperature warning, armature current and voltage over-limit warning, etc., to achieve stable operation of the motor and improve the timeliness of warning and maintenance of motor faults.

[0013] Optionally, the method further includes:

[0014] Real-time monitoring of motor status parameters and status parameters of preset energy storage devices;

[0015] Analyze the motor state parameters and the energy storage device state parameters based on the preset energy recovery control algorithm and output the analysis results;

[0016] If the analysis result satisfies the preset energy recovery condition, the mechanical energy released by the motor is converted into electrical energy and stored in the energy storage device; wherein the energy recovery condition at least includes the motor entering a deceleration stop state;

[0017] If the analysis result satisfies the preset energy storage application conditions, the electric energy stored in the energy storage device is used to power the motor operation; wherein the energy storage application conditions at least include the motor entering a starting acceleration state.

[0018] By adopting the above technical solution, when the DC oil pump motor is in a deceleration or shutdown state, the motor rotor continues to rotate due to inertia. At this time, the motor can work in a power generation state. According to Faraday's law of electromagnetic induction, the rotating rotor cuts the magnetic lines of force in the magnetic field to generate an induced electromotive force, thereby realizing the conversion of mechanical energy into electrical energy. Therefore, the present application proposes to recover and store the electrical energy released by the motor during the soft start of the DC oil pump motor, and then re-apply the recovered and stored electrical energy to the smooth start process of the motor to improve energy utilization efficiency.

[0019] Optionally, the method further includes:

[0020] Whenever a motor action instruction is completed, an action instruction type, a completion time period, and an operation record of the corresponding DC oil pump motor of the motor action instruction are generated;

[0021] Predict the action behavior of the DC oil pump motor and the time period when the behavior occurs within a specified future duration based on the operation records stored in the historical period through a pre-built prediction model; wherein, the action behavior at least includes a start behavior and a stop behavior;

[0022] Match an energy storage device for each predicted action behavior so that the matched energy storage device can perform corresponding energy cycle operations during the corresponding behavior occurrence period. The energy cycle operations include recovering electric energy during the behavior occurrence period when the corresponding DC oil pump motor has a stop behavior; supplying electric energy to the DC oil pump motor during the behavior occurrence period when the corresponding DC oil pump motor has a start behavior.

[0023] By adopting the above technical solution, based on the stop and start behaviors of the DC oil pump motor in the historical period, learn and predict the action behaviors that the retention oil pump motor will have within a specified future duration and the time periods when the behaviors occur. Then, based on this prediction result, pre-match the energy storage device in advance so that the energy storage device can perform energy cycle operations when the corresponding behavior occurrence period arrives, improve the success rate of the energy recovery condition or meet the energy storage application condition, and further improve the utilization rate of the recovered electric energy.

[0024] Optionally, each of the energy storage devices is pre-set with a task list, and all matching tasks that are being executed or not yet executed at the current moment are stored in the task list; wherein, each of the matching tasks at least includes an action behavior, the behavior occurrence period corresponding to the action behavior, and the remaining electric energy when the belonging matching task is completed.

[0025] The method further includes:

[0026] Whenever an energy storage device is matched for an action behavior, generate a matching task and store the matching task in the preset task table of the corresponding energy storage device to update the preset task table.

[0027] The matching of an energy storage device for each predicted action behavior includes:

[0028] Use the behavior occurrence period corresponding to the predicted action behavior as the period to be matched, and determine whether there is a first energy storage device among all energy storage devices, and the first energy storage device satisfies: at the current moment, among the task lists corresponding to the first energy storage device, the behavior occurrence periods corresponding to all matching tasks have no intersection with the period to be matched;

[0029] If there is no first energy storage device, determine whether there is a third energy storage device among the second energy storage devices whose latest added matching tasks in the corresponding task list intersect with the to-be-matched time period. If there is no third energy storage device, execute a preset power replenishment plan until a third energy storage device appears; wherein, the third energy storage device satisfies: at the current moment, among the tasks in the task list corresponding to the third energy storage device, the latest added matching task intersects with the to-be-matched time period, and when the latest added matching task and the action behavior corresponding to the to-be-matched time period are executed simultaneously within the to-be-matched time period, the remaining electric energy of the third energy storage device at the to-be-matched time period is always greater than a preset minimum electric energy threshold; the preset power replenishment plan is to convert clean energy into electric energy to supply power to the second energy storage device;

[0030] Match the first energy storage device or the third energy storage device with the predicted action behavior.

[0031] By adopting the above technical solution, when matching an energy storage device for an action behavior, the first energy storage device will be preferentially selected. If there is no first energy storage device, select a second energy storage device (i.e., the third energy storage device) from the remaining energy storage devices other than the first energy storage device (i.e., the second energy storage device) that can execute multiple action behaviors simultaneously and whose corresponding remaining electric energy is always greater than a preset minimum electric energy threshold during the execution process. If there is no third energy storage device, use clean energy to supply power to the second energy storage device until a third energy storage device appears, so as to achieve intelligent and efficient matching of all action behaviors.

[0032] Optionally, the method further includes:

[0033] Whenever a motor action instruction with a shutdown instruction type is received, if the time difference between the current reception moment and the predicted shutdown time period is greater than a preset difference, determine the shutdown reason based on a preset fault self-diagnosis model. If the shutdown reason is a work requirement and the work requirement meets a preset memory condition, optimize the prediction model based on the motor action instruction corresponding to the current reception moment.

[0034] By adopting the above technical solution, regular optimization of the prediction model is achieved to improve the prediction accuracy of the prediction model, and the specific optimization trigger timing is the appearance of a new work requirement that meets the preset memory condition, so that the prediction model can adaptively adjust its prediction logic according to the change of the work requirement.

[0035] Optionally, the method further includes:

[0036] Real-time feedback the working state of the DC oil pump motor based on a preset interaction interface;

[0037] Real-time monitor the interaction behavior triggered by the operator based on the interaction interface and respond to the interaction behavior.

[0038] By adopting the above technical solution, an operator interaction interface is provided, which facilitates the operator to intuitively view the working state of the DC oil pump motor at any time, and can also respond to the interaction behaviors triggered by the operator to improve the operator experience.

[0039] In a second aspect, the present application provides a DC oil pump motor control system, including:

[0040] An action instruction trigger module, configured to receive a motor action instruction and determine a target speed curve based on the type of the motor action instruction; wherein, the type of the action instruction includes at least a start instruction and a stop instruction, and the target speed curve is a curve in which the speed of the DC oil pump motor changes gradually with time;

[0041] An opening and closing scheme decision module, configured to collect motor speed and motor current data in real time, sequentially analyze the error between each collected motor speed and the target speed curve, and based on the error, adjust the PID controller parameters through a preset variable speed integral algorithm, and calculate a PID control output signal;

[0042] An opening and closing action execution module, configured to continuously control the motor driver to adjust the motor action parameters according to the PID control output signal calculated in real time, so that the motor speed is stabilized at a target speed value consistent with the target speed curve until the motor action instruction is completed; wherein, the motor action parameters include at least motor current or voltage data.

[0043] In a third aspect, the present application provides a DC oil pump motor control device, including a memory and a processor, and a computer program capable of being loaded and executed by the processor as described in any one of the first aspects is stored on the memory.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, storing a computer program capable of being loaded and executed by the processor as described in any one of the first aspects.

[0045] In summary, the present application includes at least one of the following beneficial technical effects:

[0046] In the present application, the digital PID and the variable speed integral algorithm are used to analyze and process the motor data collected in real time. Specifically, the variable speed integral algorithm is used to adjust the PID integral coefficient based on the error between the actual motor speed and the target speed curve, reduce the large error accumulated by the integral term, which causes overshoot or oscillation during motor startup, and oscillation and mechanical shock during motor shutdown, and realize smooth soft start and soft stop control of the DC oil pump motor, and achieve efficient and stable motor control;

[0047] Furthermore, this application has a perfect fault self-diagnosis function, such as field disconnection and overcurrent protection, over-temperature warning of IGBT modules, over-limit warning of armature current and voltage, etc., to achieve the stable operation of the motor and improve the timeliness of early warning and maintenance of motor faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0049] Figure 1 It is a schematic flowchart of a method for controlling a DC oil pump motor disclosed in an embodiment of the present application.

[0050] Figure 2 It is a structural block diagram of a DC oil pump motor control system disclosed in an embodiment of the present application.

[0051] Description of reference numerals: 201, action instruction trigger module; 202, opening and closing scheme decision module; 203, opening and closing action execution module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The following will further elaborate on this application in conjunction with the attached Figure 1-2 to make a more detailed description of this application.

[0053] An embodiment of the present application discloses a method for controlling a DC oil pump motor (hereinafter simply referred to as the control method), which is used to control the operation of the DC oil pump motor, such as controlling the smooth soft start and soft stop of the DC oil pump motor, and realizing the fault self-diagnosis and early warning during the operation of the DC oil pump motor, etc., to ensure the stable operation of the DC oil pump motor. The execution subject of the control method is a DC oil pump motor control system (hereinafter simply referred to as the control system). The following will specifically elaborate on the specific process steps of the control system executing the control method in conjunction with the attached Figure 1 to specifically describe the specific process steps of the control system executing the control method.

[0054] S101. Receive a motor action instruction, and determine a target speed curve based on the type of the motor action instruction; wherein, the type of the action instruction includes at least a start instruction and a stop instruction, and the target speed curve is a curve in which the speed of the DC oil pump motor gradually changes with time.

[0055] In implementation, the motor action instructions disclosed in this embodiment are specifically divided into two categories (i.e., action instruction types). One is the start instruction, and the other is the stop instruction. The control system is pre-connected to a touch display screen with an interactive interface through communication. An operator can trigger the motor action instructions by means of the touch display screen, that is, put forward the requirement of starting the motor or stopping the motor. Further, the control system pre-stores the target speed curve corresponding to each action instruction type. For example, the target speed curve corresponding to the start instruction is a curve in which the speed gradually increases to the target maximum speed as time progresses, and the target speed curve corresponding to the stop instruction is a curve in which the speed gradually decreases to the target minimum speed (i.e., the speed is 0) as time progresses. Correspondingly, after receiving the motor action instruction, the control system will determine the corresponding target speed curve according to the foregoing corresponding relationship. Exemplarily, a ramp function or an S-shaped curve can be specifically used as the target speed curve

[0056] S102, Real-time collect the motor speed and motor current data, analyze the error between each collected motor speed and the target speed curve in turn. Based on the error, adjust the PID controller parameters through a preset variable-speed integral algorithm, and calculate the PID control output signal;

[0057] S103, According to the PID control output signal calculated in real time, continuously control the motor driver to adjust the motor action parameters so that the motor speed is stabilized at the target speed value consistent with the target speed curve until the motor action instruction is completed; wherein, the motor action parameters at least include motor current or voltage data.

[0058] In implementation, after receiving the motor action instruction, the control system will start to collect the motor speed and motor current data in real time through a preset sensor, and correspond each collection moment to the moment point in the determined target speed curve. Specifically, the earliest collection moment is corresponded to the 0 moment of the target speed curve, and then according to the unit time △t of adjacent collection moments, the 0+△t moment in the target speed curve is corresponded to the second collection moment, and so on, the i-th collection moment is corresponded to the 0+i△t moment in the target speed curve.

[0059] Then, in the order of the acquisition time, the rotational speed of the motor collected at each acquisition time is compared with the rotational speed value at the corresponding time in the target rotational speed curve, and the error is calculated. Then, the variable-speed integral algorithm is used to adjust the integral coefficient of the PID controller according to the error (the PID parameters and the variable-speed integral parameters are initialized in advance). Then, the PID control output signal is calculated. The PID controller included in the control system sends the control output signal to the motor driver of the DC oil pump motor through a PWM signal or an analog signal. Then, the motor driver adjusts the current or voltage parameters of the motor and the output duty cycle of the IGBT according to the output signal, so as to realize the adjustment of the motor speed. The control system is used to repeat the above actions, that is, according to the rotational speed error between each acquisition time and the corresponding time of the target rotational speed curve, continuously adjust and output the PID control output signal, and adjust the current or voltage parameters of the DC oil pump motor until the motor speed finally reaches the target rotational speed.

[0060] By using the fixed-frequency width modulation method to change the duty cycle, thereby changing the average value of the armature voltage, the starting current and starting torque can be effectively suppressed. By setting the initial duty cycle, the electromagnetic torque is made greater than the load torque, so as to smoothly achieve the purpose of soft start. In summary, by realizing the control of the motor speed according to the rotational speed change of the target rotational speed curve, the smooth soft start and soft stop of the DC oil pump motor are achieved.

[0061] In addition, using high-frequency high-power IGBT switching devices to replace the traditional DC contactor switching method fundamentally eliminates various disadvantages of using DC contactors for control and switching; adopting two control methods of remote (DCS) and local control can also start the DC oil pump by linking the low-pressure signal of the main pipe.

[0062] Optionally, the control method further includes the following steps:

[0063] Obtain the motor operation data in real time, and based on the pre-constructed fault self-diagnosis model, analyze the motor operation data to determine whether there is a fault behavior. When there is a fault behavior, output a warning message with the fault behavior; wherein, the fault behavior at least includes field open circuit, field overcurrent, collector current overcurrent and overtemperature of the IGBT module, and armature current and voltage exceeding the limit.

[0064] In implementation, the control system is also used to obtain the motor operation data in real time, specifically including the motor current, excitation current, collector current of the IGBT module, collector temperature of the IGBT module, armature current, armature voltage, as well as the start-up duration during the execution of the start instruction and the shutdown duration during the execution of the shutdown instruction; the fault self-diagnosis model is used to compare the motor current during the execution of the start instruction with a preset first threshold and compare the start-up duration with a preset start-up time. If the motor current during the start-up process exceeds the preset first threshold or the start-up duration exceeds the preset start-up time, a fault behavior with the content of abnormal start-up is output. Similarly, when the motor current during the shutdown process exceeds the preset second threshold or the shutdown duration exceeds the preset shutdown time, a fault behavior with the content of abnormal shutdown is output.

[0065] The fault self-diagnosis model is also used to output a fault behavior with the content of excitation disconnection when the excitation current is 0 or lower than a preset third threshold, and output a fault behavior with the content of over-excitation current when the excitation current exceeds a preset fourth threshold; it is also used to output a fault behavior with the content of over-current of the collector current of the IGBT module when the collector current of the IGBT module exceeds a preset fifth threshold; when the collector current of the IGBT module exceeds a preset sixth threshold, a fault behavior with the content of over-temperature of the collector of the IGBT module is output. The fault self-diagnosis model is also used to output a fault behavior with the content of over-limit of the armature current when the armature current exceeds a preset seventh threshold; when the armature voltage exceeds a preset eighth threshold, a fault behavior with the content of over-limit of the armature voltage is output. The control system is used to display the fault behaviors output by the fault self-diagnosis model on a preset interaction interface for the operator to know.

[0066] Optionally, the control method further includes the following steps:

[0067] Real-time monitor the state parameters of the motor and the state parameters of a preset energy storage device;

[0068] Analyze the motor state parameters and the energy storage device state parameters based on a preset energy recovery control algorithm and output the analysis result;

[0069] If the analysis result meets the preset energy recovery conditions, convert the mechanical energy released by the motor into electrical energy and store it in the energy storage device; wherein, the energy recovery conditions at least include the motor entering the deceleration shutdown state;

[0070] If the analysis result meets the preset energy storage application conditions, use the electrical energy stored in the energy storage device to supply power for the operation of the motor; wherein, the energy storage application conditions at least include the motor entering the start-up acceleration state.

[0071] In the implementation, the motor state parameters specifically include motor speed, motor current and motor voltage; the energy storage device is a preset device for storing electric energy, such as a lithium battery pack; in the present application, the energy storage device is connected to the motor, so that when the mechanical energy generated by the motor rotation is converted into electric energy during the motor shutdown process, the aforementioned electric energy is stored in the energy storage device through a DC-DC converter and a preset electric energy conversion circuit; it is also used to transmit the electric energy of the energy storage device to the motor through a DC-DC converter and a preset electric energy conversion circuit during the motor startup process to realize the power supply of the motor startup process. Among them, the electric energy conversion circuit specifically includes an input filter circuit for filtering out the high-frequency noise generated when the motor generates electricity, and also includes a power switching device (such as MOSFET or IGBT) for realizing DC-DC conversion, and also includes a control circuit for generating a PWM signal to control the power switching device according to the state of the motor and the energy storage device. The specific circuit structure is a prior art and will not be described here.

[0072] The status parameters of the energy storage device specifically include the voltage of the energy storage device, the current of the energy storage device, and the current remaining electrical energy of the energy storage device (such as expressed in the form of a percentage). The energy recovery condition can be specifically when a shutdown command is executed on the motor, or it can be specifically manifested as: when the motor speed is higher than the no-load speed and the current is reversed. The energy storage application condition can specifically be that the motor is in the starting state and the remaining electrical energy of the energy storage device is greater than the preset minimum electrical energy threshold. The default minimum electrical energy threshold is the maximum electrical energy required to power the motor starting process. That is, when the remaining electrical energy of the energy storage device is greater than the preset minimum electrical energy threshold, it is considered that the energy storage device has sufficient electrical energy to charge a single motor.

[0073] Accordingly, the input of the energy recovery control algorithm is the motor state parameter and the energy storage device state parameter, and the output of the energy recovery control algorithm is the determination result of whether the energy recovery condition or the energy storage application condition is met. The control system is used to control the DC-DC converter to switch to the step-down mode based on the above-mentioned DC-DC converter and the preset electric energy conversion circuit when the energy recovery condition is met, so as to reduce the high voltage generated by the motor to the working voltage of the energy storage device, achieve the matching of the motor terminal voltage with the energy storage device voltage, control the electric energy to flow from the motor to the energy storage device, and finally achieve electric energy recovery. It is also used to control the DC-DC converter to switch to the boost mode when the energy storage application condition is met, so as to increase the low voltage of the energy storage device to the working voltage of the motor, achieve the matching of the energy storage device voltage with the motor terminal voltage, control the electric energy to flow from the energy storage device to the electric energy, so as to realize the auxiliary power supply for the motor starting process through the energy storage device, and finally achieve the recycling and reuse of the recovered electric energy.

[0074] Optionally, the control method further includes the following steps:

[0075] S104, whenever a motor action instruction is completed, generate an action instruction type with the motor action instruction, the completion period, and the operation record of the DC oil pump motor to which it belongs;

[0076] S105, based on the operation records stored in the historical period, predict the action behavior of the DC oil pump motor and the time period when the behavior occurs within a specified future duration through a pre-constructed prediction model; among them, the action behavior includes at least a start behavior and a stop behavior;

[0077] S106, match an energy storage device for each predicted action behavior so that the matched energy storage device can perform corresponding energy cycle operations during the time period when the corresponding behavior occurs. The energy cycle operations include recovering electric energy during the time period when the corresponding DC oil pump motor has a stop behavior; supplying electric energy to the DC oil pump motor during the time period when the corresponding DC oil pump motor has a start behavior;

[0078] S107, whenever an energy storage device is matched for an action behavior, generate a matching task and store the matching task in the preset task table of the corresponding energy storage device to update the preset task table;

[0079] Among them, each energy storage device corresponds to a preset task list, and the task list stores all the matching tasks that are being executed or not executed at the current moment; among them, each matching task includes at least an action behavior, the time period when the corresponding action behavior occurs, and the remaining electric energy when the corresponding matching task is completed;

[0080] S106 specifically includes the following sub-steps:

[0081] Use the time period when the predicted action behavior occurs as the time period to be matched, and determine whether there is a first energy storage device among all energy storage devices, and the first energy storage device satisfies: at the current moment, among the matching tasks corresponding to the task list of the first energy storage device, the time periods corresponding to all matching tasks have no intersection with the time period to be matched;

[0082] If there is no first energy storage device, then determine whether there is a third energy storage device among the second energy storage devices where the intersection between the matching task newly added to the corresponding task list and the time period to be matched exists. If there is no third energy storage device, execute a preset power replenishment plan until a third energy storage device appears; among them, the third energy storage device satisfies: at the current moment, among the matching tasks corresponding to the task list of the third energy storage device, the intersection between the newly added matching task and the time period to be matched exists, and when the newly added matching task and the action behavior corresponding to the time period to be matched are executed simultaneously within the time period to be matched, the remaining electric energy of the third energy storage device within the time period to be matched is always greater than the preset minimum electric energy threshold; the preset power replenishment plan is to convert clean energy into electric energy to supply power to the second energy storage device;

[0083] Match the first energy storage device or the third energy storage device with the predicted action behavior.

[0084] In implementation, the start instructions and / or stop instructions executed by the motor in the historical period are analyzed through a prediction model, and the possible action behaviors (i.e., start behavior or stop behavior) of the future DC oil pump motor and the occurrence time period of the corresponding action behavior (i.e., the behavior occurrence time period) are predicted. Here, the prediction model uses existing prediction algorithms to achieve prediction, which will not be elaborated here.

[0085] For each predicted action behavior, the control system will pre-match an energy storage device for each action behavior so that when the corresponding action behavior occurs, the energy storage device can be used in a timely manner to perform the energy cycle operation. In the process of matching an energy storage device for each action behavior, the specific search logic for finding a suitable energy storage device is as follows (and it should be noted here that the following logic is applicable to application scenarios with one or more motors and one or more energy storage devices):

[0086] First, determine whether there is a first energy storage device, that is, when there is no energy storage device with a matching task to be executed during the behavior occurrence time period (hereinafter referred to as the to-be-matched time period) corresponding to the predicted action behavior. If there is a first energy storage device, match the first energy storage device with the predicted action behavior (hereinafter referred to as the to-be-matched behavior). If there are multiple first energy storage devices, select the first energy storage device with the smallest time difference between its behavior occurrence time period and the matching time period in the corresponding task list, that is, the first energy storage device with the smallest time difference between its behavior occurrence time period and the matching task, to match with the to-be-matched behavior.

[0087] If there is no first energy storage device, determine whether there is a third energy storage device among all energy storage devices that are not the first energy storage device (i.e., the second energy storage device). Here, the second energy storage device refers to an energy storage device with a matching task being executed during the to-be-matched time period, that is, there is a matching task (hereinafter referred to as the reference task) in the energy storage device whose behavior occurrence time period intersects with the matching time period. The third energy storage device refers to the third energy storage device whose remaining electric energy can always remain greater than the preset minimum electric energy threshold during the to-be-matched time period when it simultaneously executes the reference task and the to-be-matched behavior, that is, the real-time remaining electric energy of the third energy storage device during the to-be-matched time period can ensure that it can complete both the reference task and the to-be-matched behavior simultaneously. The calculation method of the remaining electric energy can be obtained by summing the electric energy increment Q1 per unit time when executing the reference task (the electric energy increment can be negative to represent the consumed electric energy) and the electric energy increment Q2 per unit time when executing the to-be-matched behavior, that is, the electric energy increment Q = Q1 + Q2 per unit time when the third energy storage device simultaneously executes the reference task and the to-be-matched behavior.

[0088] It should be explained here that the control system prestores the power increment Q' per unit time corresponding to the starting behavior and the stopping behavior respectively. Q' is used to represent the electric energy that the energy storage device needs to supply per unit time when matching the motor starting behavior, and the electric energy that can be recovered per unit time when matching the motor stopping behavior. By first calculating the remaining electric energy of the energy storage device at the start time of the period to be matched, and then using the above calculation method of the power increment Q to calculate the remaining electric energy of the energy storage device at each unit time within the period to be matched, and then determining whether the remaining electric energy is always greater than the preset minimum electric energy threshold. If not, then based on the difference between the remaining electric energy and the minimum electric energy threshold, before the period to be matched arrives, use the preset power replenishment plan to replenish the corresponding difference in electric energy to the second energy storage device, so that a third energy storage device can be found from the second energy storage device, and finally the third energy storage device is matched with the behavior to be matched. Repeat the above steps until the matching operation of all predicted action behaviors and energy storage devices is completed. Among them, the preset power replenishment plan refers to a power supply plan that converts clean energy (such as solar energy) into electric energy and transports the electric energy to the second energy storage device.

[0089] Optionally, the control method further includes:

[0090] Whenever a motor action instruction with a stop instruction type of action instruction is received, if the time difference between the current reception time and the predicted stop period is greater than the preset difference, then based on the preset fault self-diagnosis model, determine the stop reason. If the stop reason is a work requirement and the work requirement meets the preset memory condition, then based on the motor action instruction corresponding to the current reception time, optimize the prediction model.

[0091] In implementation, if the fault self-diagnosis model is used to determine whether a fault behavior has been output within a specified duration before the reception time when an action type of stop instruction is received. If so, then determine that the stop reason is a fault reason, otherwise determine that the stop reason is a work requirement. When it is determined that the stop reason is a work requirement, the control system is used to output through the preset interaction interface whether to remember the content of the current work requirement for the operator to select whether to remember. If so, it is considered that the work requirement meets the preset memory condition. At this time, the motor action instruction corresponding to the current reception time is stored and the prediction model is optimized based on this.

[0092] Optionally, the control method further includes:

[0093] Real-time feedback the working state of the DC oil pump motor based on the preset interaction interface;

[0094] Real-time monitor the interaction behavior triggered by the operator based on the interaction interface and respond to the interaction behavior.

[0095] In implementation, the interactive behavior of the operator can be to query the working state data of the DC oil pump motor in a historical period, or to trigger a motor action instruction, or to feedback an operation behavior on whether to remember the working requirements.

[0096] The embodiment of the present application also discloses a control system for a DC oil pump motor. The system includes:

[0097] An action instruction trigger module 201, configured to receive a motor action instruction and determine a target speed curve based on the type of the motor action instruction; wherein, the type of the action instruction includes at least a start instruction and a stop instruction, and the target speed curve is a curve in which the speed of the DC oil pump motor gradually changes with time;

[0098] An opening and closing scheme decision module 202, configured to collect motor speed and motor current data in real time, sequentially analyze the error between each collected motor speed and the target speed curve, and based on the error, adjust the parameters of the PID controller through a preset variable speed integration algorithm, and calculate a PID control output signal;

[0099] An opening and closing action execution module 203, configured to continuously control the motor driver to adjust the motor action parameters according to the PID control output signal calculated in real time, so that the motor speed is stabilized at a target speed value consistent with the target speed curve until the motor action instruction is completed; wherein, the motor action parameters include at least motor current or voltage data.

[0100] Optionally, it further includes a fault self-diagnosis module, configured to obtain motor operation data in real time, analyze the motor operation data based on a pre-constructed fault self-diagnosis model, determine whether there is a fault behavior, and when there is a fault behavior, output a warning information with the fault behavior; wherein, the fault behavior includes at least field open circuit, field overcurrent, collector current overcurrent and overtemperature of the IGBT module, and armature current and voltage overlimit.

[0101] Optionally, it further includes an energy recovery and utilization module, configured to monitor the state parameters of the motor and the state parameters of a preset energy storage device in real time; analyze the motor state parameters and the energy storage device state parameters based on a preset energy recovery control algorithm and output an analysis result; if the analysis result meets the preset energy recovery condition, convert the mechanical energy released by the motor into electrical energy and store it in the energy storage device; wherein, the energy recovery condition includes at least that the motor enters a deceleration and stop state; if the analysis result meets the preset energy storage utilization condition, supply power to the motor operation with the electrical energy stored in the energy storage device; wherein, the energy storage utilization condition includes at least that the motor enters a start and acceleration state.

[0102] Optionally, the energy recovery module is further configured to generate an action instruction type, a completion period of the motor action instruction, and an operation record of the DC oil pump motor each time a motor action instruction is completed; predict the action behavior of the DC oil pump motor within a specified future duration and the period when the behavior occurs based on the operation records stored in historical periods through a pre-constructed prediction model; wherein the action behavior includes at least a start behavior and a stop behavior; match an energy storage device for each predicted action behavior so that the matched energy storage device can perform corresponding energy cycle operations during the corresponding behavior occurrence period, and the energy cycle operations include recovering electric energy during the behavior occurrence period when the corresponding DC oil pump motor has a stop behavior; supplying electric energy to the DC oil pump motor during the behavior occurrence period when the corresponding DC oil pump motor has a start behavior.

[0103] Optionally, the energy recovery module is further configured to generate a matching task each time an energy storage device is matched for an action behavior and store the matching task in a preset task table of the corresponding energy storage device to update the preset task table.

[0104] The energy recovery module is further configured to use the behavior occurrence period corresponding to the predicted action behavior as a period to be matched, and determine whether there is a first energy storage device among all energy storage devices, and the first energy storage device satisfies: at the current moment, among the task lists corresponding to the first energy storage device, the behavior occurrence periods corresponding to all matching tasks have no intersection with the period to be matched; it is further configured to, if there is no first energy storage device, determine whether there is a third energy storage device among the second energy storage devices where the intersection exists between the matching task newly added to the corresponding task list and the period to be matched, and if there is no third energy storage device, execute a preset power replenishment plan until a third energy storage device appears; wherein the third energy storage device satisfies: at the current moment, among the task lists corresponding to the third energy storage device, the intersection exists between the matching task newly added and the period to be matched, and when the matching task newly added and the action behavior corresponding to the period to be matched are executed simultaneously during the period to be matched, the remaining electric energy of the third energy storage device at the period to be matched is always greater than a preset minimum electric energy threshold; the preset power replenishment plan is to convert clean energy into electric energy to supply power to the second energy storage device; it is further configured to match the first energy storage device or the third energy storage device with the predicted action behavior.

[0105] Optionally, it further includes a prediction optimization module, which is configured to, each time a motor action instruction with a stop instruction type is received, if the time difference between the current reception moment and the predicted stop period is greater than a preset difference, determine the stop reason based on a preset fault self-diagnosis model, and if the stop reason is a work requirement and the work requirement meets a preset memory condition, optimize the prediction model based on the motor action instruction corresponding to the current reception moment.

[0106] Optionally, it further includes an intelligent interaction module for real-time feedback of the working state of the DC oil pump motor based on a preset interaction interface; real-time monitoring of the interaction behaviors triggered by the operator based on the interaction interface, and responding to the interaction behaviors.

[0107] An embodiment of the present application also discloses a control device for a DC oil pump motor. The control device for a DC oil pump motor includes a memory and a processor. A computer program capable of being loaded and executed by the processor, such as the above-mentioned control method for a DC oil pump motor, is stored on the memory.

[0108] An embodiment of the present application also discloses a computer-readable storage medium, which stores a computer program capable of being loaded and executed by the processor, such as the above-mentioned control method for a DC oil pump motor. The computer-readable storage medium includes, for example: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0109] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0110] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting the protection scope of the application. Obviously, the described embodiments are only partial embodiments of the present application, rather than all embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope to be protected by the present application.

Claims

1. A DC oil pump motor control method, characterized in that: include: Receive a motor action instruction, and determine a target speed curve based on the motor action instruction type; wherein the action instruction type includes at least a start instruction and a stop instruction, and the target speed curve is a curve of the DC oil pump motor speed gradually changing with time; Collecting motor speed and motor current data in real time, analyzing the error between each motor speed collected and the target speed curve in turn, adjusting PID controller parameters based on the error through a preset variable speed integral algorithm, and calculating a PID control output signal; According to the PID control output signal obtained by real-time calculation, the motor driver is continuously controlled to adjust the motor action parameters so that the motor speed is stabilized at a target speed value consistent with the target speed curve until the motor action instruction is completed; wherein the motor action parameters include at least motor current or voltage data.

2. The DC oil pump motor control method according to claim 1, characterized in that: The method further comprises: The motor operation data is acquired in real time, and based on a pre-built fault self-diagnosis model, the motor operation data is analyzed to determine whether there is a fault behavior, and when a fault behavior exists, a warning message with the fault behavior is output; wherein the fault behavior at least includes excitation line break, excitation overcurrent, collector current overcurrent and overtemperature of the IGBT module, and armature current and voltage overlimit.

3. The DC oil pump motor control method according to claim 1, characterized in that: The method further comprises: Real-time monitoring of motor status parameters and status parameters of preset energy storage devices; Analyze the motor state parameters and the energy storage device state parameters based on the preset energy recovery control algorithm and output the analysis results; If the analysis result satisfies the preset energy recovery condition, the mechanical energy released by the motor is converted into electrical energy and stored in the energy storage device; wherein the energy recovery condition at least includes the motor entering a deceleration stop state; If the analysis result satisfies the preset energy storage application conditions, the electric energy stored in the energy storage device is used to power the motor operation; wherein the energy storage application conditions at least include the motor entering a starting acceleration state.

4. The DC oil pump motor control method according to claim 3, characterized in that: The method further comprises: Whenever a motor action instruction is completed, an action instruction type, a completion time period, and an operation record of the corresponding DC oil pump motor of the motor action instruction are generated; Based on the operation records stored in the historical period, the action behavior of the DC oil pump motor within a specified time period in the future and the time period when the behavior occurs are predicted through a pre-built prediction model; wherein the action behavior at least includes the start-up behavior and the shutdown behavior; An energy storage device is matched for each predicted action behavior so that the matched energy storage device can perform corresponding energy circulation operations during the corresponding behavior period, and the energy circulation operations include recovering electric energy during the behavior period when the corresponding DC oil pump motor stops; and supplying electric energy to the DC oil pump motor during the behavior period when the corresponding DC oil pump motor starts.

5. The DC oil pump motor control method according to claim 4, characterized in that: Each of the energy storage devices is preset with a task list, and the task list stores all matching tasks that are being executed or not yet executed at the current moment; wherein each of the matching tasks at least includes an action behavior, a time period for the corresponding action behavior, and the remaining power when the matching task is completed; The method further comprises: Whenever an energy storage device is matched for an action behavior, a matching task is generated, and the matching task is stored in a preset task table corresponding to the energy storage device, so as to update the preset task table; The matching of energy storage devices for each predicted action behavior includes: The behavior occurrence time period corresponding to the predicted action behavior is used as the time period to be matched, and it is determined whether there is a first energy storage device among all energy storage devices, and the first energy storage device satisfies: at the current moment, in the task list corresponding to the first energy storage device, the behavior occurrence time periods corresponding to all matching tasks do not intersect with the time period to be matched; If the first energy storage device does not exist, determine whether there is a third energy storage device from the second energy storage device in which the most recently added matching task in the corresponding task list intersects with the time period to be matched. If there is no third energy storage device, execute the preset power replenishment plan until the third energy storage device appears; wherein the third energy storage device satisfies: at the current moment, the most recently added matching task in the task list corresponding to the third energy storage device and the time period to be matched intersect, and when the most recently added matching task and the action behavior corresponding to the time period to be matched are simultaneously executed in the time period to be matched, the remaining power of the third energy storage device in the time period to be matched is always greater than the preset minimum power threshold; the preset power replenishment plan is to convert clean energy into electric energy to power the second energy storage device; The first energy storage device or the third energy storage device is matched with the predicted action behavior.

6. The DC oil pump motor control method according to claim 4, characterized in that: The method further comprises: Whenever a motor action instruction of the action instruction type being a shutdown instruction is received, if the time difference between the current receiving moment and the predicted shutdown period is greater than a preset difference, the shutdown cause is determined based on a preset fault self-diagnosis model; if the shutdown cause is a work requirement, and the work requirement satisfies a preset memory condition, the prediction model is optimized based on the motor action instruction corresponding to the current receiving moment.

7. The DC oil pump motor control method according to claim 1, characterized in that: The method further comprises: Real-time feedback of the working status of the DC oil pump motor based on the preset interactive interface; The interactive behaviors triggered by the operator based on the interactive interface are monitored in real time, and the interactive behaviors are responded to.

8. A DC oil pump motor control system, characterized in that: include: An action instruction trigger module (201) is used to receive a motor action instruction and determine a target speed curve based on the motor action instruction type; wherein the action instruction type includes at least a start instruction and a stop instruction, and the target speed curve is a curve of the DC oil pump motor speed gradually changing with time; An opening and closing scheme decision module (202) is used to collect motor speed and motor current data in real time, analyze the error between each collected motor speed and the target speed curve in turn, adjust the PID controller parameters based on the error through a preset variable speed integral algorithm, and calculate a PID control output signal; The opening and closing action execution module (203) is used to continuously control the motor driver to adjust the motor action parameters according to the PID control output signal obtained by real-time calculation, so that the motor speed is stabilized at a target speed value consistent with the target speed curve until the motor action instruction is completed; wherein the motor action parameters at least include motor current or voltage data.

9. A DC oil pump motor control device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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