Motor control method and system of rotary grinding device, computer equipment and storage medium

Abstract

The invention relates to a motor control method and system of a rotary grinding device, computer equipment and a storage medium, in the process that a grinding head rotates along with a motor, operation of the motor is controlled by obtaining the adjustment amount according to the actual current value and the current threshold value of the motor, accurate control over operation of the motor can be achieved, and the grinding efficiency is improved. The motor is ensured to stably operate within a set current range, so that unexpected damage to blood vessels or failure of parts on the motor and a transmission path are avoided, and under the condition that the current actual rotating speed is larger than a set first rotating speed threshold value, the rotating speed adjustment amount is obtained according to the current actual rotating speed and the expected rotating speed; the motor can be adaptively adjusted according to actual conditions in the operation process of the motor, so that the motor can keep a stable operation state under different loads, and when the current actual rotating speed is smaller than or equal to the set second rotating speed threshold value, the motor is stopped, the motor can be effectively protected, and the service life of the motor is prolonged. And the stability, the safety and the adaptability of the rotary grinding device are improved.

Description

Technical Field

[0001] The present application relates to the field of control of rotational grinding devices, and particularly to a method and system for controlling a motor of a rotational grinding device, a computer device, and a storage medium. Background Art

[0002] The rotational grinding device is powered by a motor. After the system is started, the motor will accelerate to a set speed and run at a constant speed according to the set speed. Part of the torque output by the motor is used to overcome the friction force on the transmission path, and part of it is converted into the grinding force of the grinding head acting on the calcified lesion. Usually, the motor is controlled by a supporting control system, and both the speed and torque output by the motor can be adjusted through the control system.

[0003] During medical treatment, an operator selects a preset speed. During the rotation of the motor, the grinding head is driven to rotate through the transmission component. However, if the motor outputs too large a torque, it will cause unexpected damage to the blood vessel during the operation of the system, and may also cause the failure of the motor or the parts on the transmission path. On the contrary, if the motor outputs too small a torque, it will cause the motor to fail to start, or fail to reach the expected speed during operation, or stop frequently during operation. Therefore, it is particularly important to control the speed and torque of the motor of the rotational grinding device. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method and system for controlling a motor of a rotational grinding device, a rotational grinding device, a computer device, a computer-readable storage medium, and a computer program product that can effectively control the speed of the motor of the rotational grinding device.

[0005] In a first aspect, the present application provides a method for controlling a motor of a rotational grinding device, including:

[0006] Obtaining the current actual current and the first current actual speed of the motor;

[0007] When the current actual current value is greater than the corresponding current threshold, controlling the operation of the motor according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold;

[0008] When the first current actual speed is greater than the first speed threshold, adjusting the speed of the motor according to the first speed adjustment amount, where the first speed adjustment amount is an adjustment amount obtained based on the first current actual speed and the corresponding first current expected speed;

[0009] When the first current actual speed is less than or equal to the second speed threshold, stopping the operation of the motor, where the second speed threshold is less than the first speed threshold.

[0010] In one embodiment, the method includes:

[0011] When the current actual current is equal to the corresponding current threshold, determine the magnitude relationship between the first current actual rotation speed and the first rotation speed threshold and the second rotation speed threshold.

[0012] In one embodiment, the process of obtaining the first current actual rotation speed includes:

[0013] Obtain the change frequency of the Hall signal of the motor and the motor parameters of the motor, where the motor parameters include the number of pole pairs and the transmission ratio;

[0014] According to the change frequency and the motor parameters, obtain the first current actual rotation speed.

[0015] In one embodiment, adjusting the rotation speed of the motor according to the first rotation speed adjustment amount includes:

[0016] According to the first rotation speed adjustment amount, adjust the pulse width of the drive voltage;

[0017] Adjust the rotation speed of the motor according to the adjusted drive voltage.

[0018] In one embodiment, the method further includes determining the current threshold according to the operating stage of the motor, and the determining method of the operating stage of the motor includes:

[0019] Determine the operating stage of the motor according to the operating duration of the motor; or

[0020] Determine the operating stage of the motor according to the change amount of the speed of the motor per unit time.

[0021] In one embodiment, the method further includes:

[0022] When the first current actual rotation speed is less than or equal to the first rotation speed threshold and the first current actual rotation speed is greater than the second rotation speed threshold, continue to control the operation of the motor according to the current adjustment amount.

[0023] In a second aspect, the present application further provides a motor control system for a rotational grinding device, where the motor control system for the rotational grinding device includes: a motor drive module, a current sampling module, a drive interface, a Hall interface, and a control module;

[0024] The motor drive module is used to collect the current actual rotation speed of the motor through the Hall interface;

[0025] The current sampling module is used to collect the current actual current value of the motor;

[0026] The control module is used to obtain a current adjustment amount based on the current actual current value and the current threshold value collected by the current sampling module, and control the operation of the motor through the motor drive module according to the current adjustment amount through the drive interface; the control module is also used to obtain a first rotational speed adjustment amount according to the first current actual rotational speed and the corresponding first current desired rotational speed collected by the motor drive module, and the motor drive module adjusts the rotational speed of the motor according to the first rotational speed adjustment amount through the drive interface; the control module is also used to stop the operation of the motor through the motor drive module.

[0027] In a third aspect, the present application further provides a rotational grinding device, including the motor control system, the motor, the transmission assembly, and the grinding head in the second aspect described above;

[0028] The motor control system is used to adjust the rotational speed of the motor;

[0029] One end of the transmission assembly is connected to the motor, and the other end is connected to the grinding head; the transmission assembly is used to drive the grinding head to rotate during the rotation of the motor.

[0030] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method steps of any one in the first aspect are implemented.

[0031] In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method steps of any one in the first aspect are implemented.

[0032] In a sixth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method steps of any one in the first aspect are implemented.

[0033] For the motor control method, system, computer device, storage medium, and computer program product of the above rotational grinding device, during the process of the grinding head rotating following the motor, by obtaining an adjustment amount according to the actual current value and the current threshold value of the motor to control the operation of the motor, precise control of the motor operation can be achieved, ensuring that the motor operates stably within the set current range, thereby avoiding unexpected damage to blood vessels or causing the failure of parts on the motor and the transmission path. When the current actual rotational speed is greater than the set first rotational speed threshold value, by obtaining a rotational speed adjustment amount according to the current actual rotational speed and the desired rotational speed, adaptive adjustment can be performed according to the actual situation during the operation of the motor, so that the motor can maintain a stable operating state under different loads. When the current actual rotational speed is less than or equal to the set second rotational speed threshold value, stopping the operation of the motor can effectively protect the motor, thereby improving the stability, safety, and adaptability of the rotational grinding device. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present application or in the related art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the related art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a structural block diagram of a rotational grinding device in an embodiment;

[0036] Figure 2 It is a structural block diagram of a motor control system in an embodiment;

[0037] Figure 3 It is a structural block diagram of a partial structure of a rotational grinding device in an embodiment;

[0038] Figure 4 It is a structural block diagram of a rotational grinding device in another embodiment;

[0039] Figure 5 It is a structural block diagram of a motor control system in another embodiment;

[0040] Figure 6 It is an application environment diagram of a motor control method for a rotational grinding device in an embodiment;

[0041] Figure 7 It is a schematic flowchart of a motor control method for a rotational grinding device in an embodiment;

[0042] Figure 8 It is a schematic flowchart of a motor control method for a rotational grinding device in an embodiment;

[0043] Figure 9 It is a structural block diagram of a motor control device for a rotational grinding device in an embodiment;

[0044] Figure 10 It is an internal structural diagram of a computer device in an embodiment.

[0045] Explanation of reference numerals:

[0046] 100 - Motor control system, 200 - Motor, 300 - Transmission component, 400 - Grinding head, 500 - Display screen, 102 - Control unit; 104 - Acquisition unit; 110 - Motor drive module, 120 - Current sampling module, 130 - Drive interface, 140 - Hall interface, 150 - Control module, 160 - Power supply, 170 - Communication interface, 310 - Gear set, 320 - Bourdon tube; 10 - Current control module; 20 - Speed control module; 30 - Motor stop module. Detailed implementation manners

[0047] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] To solve the foregoing technical problems, the present application provides a motor control solution. The control modes of the motor include a current control mode and a speed control mode. It is determined how to switch between the two motor control modes according to the current actual current and the current actual speed of the motor. Specifically, the motor control solution provided by the present application may include: when the current actual current value of the motor is greater than the corresponding current threshold, the motor is controlled to operate according to the current adjustment amount. Wherein, the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold. During the process of controlling the motor to operate according to the current adjustment amount, when the first current actual speed of the motor is greater than the first speed threshold, the speed of the motor is adjusted according to the first speed adjustment amount. Wherein, the first speed adjustment amount is an adjustment amount obtained according to the first current actual speed and the corresponding first current desired speed. When the first current actual speed is less than or equal to the second speed threshold, the motor is stopped. Wherein, the second speed threshold is less than the first speed threshold.

[0049] It can be understood that the current threshold corresponds to the stage type of the current operation stage. For example, the operation process of the motor includes an acceleration operation process and a constant speed operation process. The current threshold corresponding to the acceleration operation stage is the first current threshold, and the current threshold corresponding to the constant speed operation stage is the second current threshold.

[0050] The above-mentioned motor control method can control the operation of the motor by obtaining the adjustment amount according to the actual current value and the current threshold of the motor, as well as the current actual speed and the desired speed, so as to achieve precise control of the motor operation, ensure that the motor operates stably within the set current range, thereby avoiding unexpected damage to blood vessels, or causing the failure of parts on the motor and the transmission path, and enabling the motor to maintain a stable operation state under different loads. In addition, when the current actual speed is less than or equal to the set second speed threshold, the operation of the motor is stopped, effectively protecting the motor. Therefore, the present application can improve the stability, safety and adaptability of the rotational grinding device. Based on this, in the motor control method of the present application, when at least one of the actual current and the first current actual speed triggers a control condition, the operation of the motor will be adjusted according to the preset control logic. It can be understood that in some implementation manners, the control logic when the actual current triggers the control condition is different from the control logic when the first current actual speed triggers the control condition.

[0051] It can be understood that the motor control method in this application can be applied to complex application scenarios such as rotational grinding devices. As can be seen from the foregoing, the rotational grinding device is powered by a motor. Part of the torque output by the motor is used to overcome the friction on the transmission path, and part is converted into the grinding force of the grinding head acting on the calcified lesion. Hereinafter, the solution of this application will be described in detail by taking the rotational grinding device as an example in conjunction with the accompanying drawings. For the convenience of understanding, before describing the specific solution, the specific structure of the rotational grinding device in this application will be described first. In an exemplary embodiment, as Figure 1 shown, this application provides a rotational grinding device, which includes: a motor control system 100, a motor 200, a transmission component 300, and a grinding head 400. Among them, the motor control system 100 and the motor 200 are signal-connected. For example, the motor control system 100 sends a driving voltage to the motor 200, and the motor 200 operates based on the driving voltage. In addition, the motor 200 will feedback real-time signals to the motor control system 100, and the motor control system 100 adjusts the control strategy for the motor 200 according to the received real-time signals. One end of the transmission component 300 is connected to the driving end of the motor 200, and the other end is connected to the grinding head 400. During the rotation of the motor 200, the transmission component 300 drives the grinding head 400 to rotate.

[0052] After describing the overall structure of the rotational grinding device, the specific structure of the motor control system 100 in the rotational grinding device will be described in detail below. As Figure 2 shown, in some embodiments of this application, the motor control system 100 includes a motor drive module 110, a current sampling module 120, a drive interface 130, a Hall interface 140, a control module 150, and a power supply 160. Among them, the power supply 160 is used to supply electrical energy to the motor drive module 110, the current sampling module 120, and the control module 150.

[0053] Among them, the motor drive module 110 is respectively connected to the current sampling module 120 and the control module 150. The motor drive module 110 is used to collect the current actual rotation speed of the motor 200 through the Hall interface 140. The current sampling module 120 is respectively connected to the motor drive module 110, the drive interface 130, the Hall interface 140, and the control module 150. The current sampling module 120 is used to collect the current actual current value of the motor 200 through the Hall interface 140.

[0054] Among them, the control module 150 is connected to the motor 200 through the drive interface 130 and the Hall interface 140. The control module 150 is used to obtain a current adjustment amount based on the current actual current value and the current threshold when the current actual current value of the motor 200 collected by the current sampling module 120 is greater than the current threshold corresponding to the current operating stage. The motor drive module 110 controls the operation of the motor 200 through the drive interface 130 according to the current adjustment amount.

[0055] Among them, the control module 150 is further configured to, when the first current actual rotation speed of the motor 200 collected by the motor drive module 110 is greater than the first rotation speed threshold, obtain a first rotation speed adjustment amount according to the first current actual rotation speed and the corresponding first current desired rotation speed, and the motor drive module 130 adjusts the rotation speed of the motor 200 through the drive interface 130 according to the first rotation speed adjustment amount. Among them, the control module 150 is further configured to stop the operation of the motor 200 when the first current actual rotation speed is less than or equal to the second rotation speed threshold. The second rotation speed threshold is less than the first rotation speed threshold.

[0056] Among them, the connection relationship of the motor 200, the transmission component 300, and the grinding head 400 is as Figure 3 shown. The transmission component 300 includes a gear set 310 and a bellows 320. One end of the bellows 320 is connected to the drive end of the motor 200 through the gear set 310, and the other end is connected to the grinding head 400.

[0057] The rotary grinding device provided by the embodiment of the present application can achieve precise control of the motor through the motor control system, adjust the operating speed of the grinding head to meet different application requirements. In addition, through the transmission component, the power generated by the motor can be effectively transmitted to the grinding head, thereby realizing efficient rotary grinding and improving the diversity and applicability of the rotary grinding device. Moreover, during the operation of the motor, it can be adaptively adjusted according to the actual situation, so that the motor can maintain a stable operating state under different loads, thereby improving the stability, safety, and adaptability of the motor system.

[0058] In an exemplary embodiment, as Figure 4 shown, the difference from the Figure 2 shown rotary grinding device is that Figure 4 the rotary grinding device in

[0059] Among them, correspondingly, as Figure 5 shown, the difference from the Figure 3 shown control system 100 is that Figure 5 the motor control system 100 in

[0060] In this embodiment, the rotation speed of the motor 200 can be displayed in real time through the display screen 500, problems that may occur can be discovered and solved in a timely manner, the safe operation of the rotary grinding device can be ensured, and the operator can monitor the operating state of the motor in real time to ensure the safety of the rotary grinding device.

[0061] The motor control method of the rotary grinding device provided by the embodiment of the present application can be applied to an application environment as shown in Figure 6 which includes a control unit 102 and a collection unit 104. Among them, the collection unit 104 can be a current sensor for collecting the operation information of the device. The operation information of the device includes the current actual current value and the current actual rotation speed. The control unit 102 is used to control the operation of the device according to the current actual current value and the current actual rotation speed. The control unit 102 can be, but is not limited to, various terminals such as personal computers, laptop computers, wearable electronic devices, etc., and can also be, but is not limited to, chips, microcontroller units (MCUs), etc.

[0062] Specifically, taking the application of this method to the rotary grinding scenario of the rotary grinding device as an example, the collection unit 104 collects the current actual current value of the motor of the rotary grinding device and sends the collected current actual current value to the control unit 102. When the current actual current value is greater than the current threshold corresponding to the current operation stage, the control unit 102 controls the operation of the motor according to the current adjustment amount. Among them, the current adjustment amount is the adjustment amount obtained based on the current actual current value and the current threshold. It should be noted that after the motor goes through the starting and accelerating process, when the first current actual rotation speed collected by the collection unit 104 is greater than the first rotation speed threshold, the control unit 102 obtains the first rotation speed adjustment amount according to the first current actual rotation speed and the corresponding first current desired rotation speed, and adjusts the rotation speed of the motor according to the first rotation speed adjustment amount. When the first current actual rotation speed is less than or equal to the second rotation speed threshold, the operation of the motor is stopped. Among them, the control unit can be Figure 2 the control module 150 in the motor control system 100, and the collection unit 104 can be the current sampling module 120 and the motor drive module 110.

[0063] In an exemplary embodiment, as shown in Figure 7 a motor control method of a rotary grinding device is provided. Taking the application of this method to the control unit 102 in Figure 1 as an example, the following steps S202 to step S208b are included. Among them:

[0064] S202: Obtain the current actual current and the first current actual rotation speed of the motor.

[0065] Among them, the current actual current is the current collected by the current sampling module, and the first current actual rotation speed is obtained from the Hall signal collected by the Hall interface. After the rotary grinding device operates stably (that is, after the motor goes through the starting and accelerating process), as the motor operates, it is possible that the load on the grinding head increases, resulting in the motor needing to output more torque to overcome the load of the grinding head. At this time, the current in the motor will rise. Until the current actual current value of the motor is greater than the current threshold, in order to avoid excessive torque causing the motor to generate huge heat and damage the motor, it is necessary to limit the current of the motor at this time.

[0066] S204: When the current actual current value is greater than the corresponding current threshold, control the operation of the motor according to the current adjustment amount. Among them, the current adjustment amount is the adjustment amount obtained based on the current actual current value and the current threshold.

[0067] Among them, the current actual current value is the real-time input current of the motor collected by the acquisition unit, and the current threshold is related to the current operation stage of the motor. Among them, when the current actual current value is less than or equal to the current threshold, it indicates that the torque output by the motor at this time is within the normal range. Therefore, it is only necessary to continue to control the rotation speed of the motor. Driven by the motor, the grinding head rotates at a preset speed until the current actual current value is greater than the corresponding current threshold, and then the current of the motor starts to be controlled.

[0068] In some implementation manners, the current actual current value is collected in real time, and the current adjustment amount is obtained by the difference between the obtained current actual current value and the current threshold, so as to adjust the actual current of the motor to the current threshold through a closed-loop control method, and control the operation of the motor according to the current adjustment amount. In this process, the input current of the motor is adjusted by the current adjustment amount, so that the drive current of the motor always maintains a constant value, and the constant value is less than or equal to the current threshold corresponding to the current operation stage, so as to ensure the stable operation of the motor.

[0069] S206: During the process of controlling the operation of the motor according to the current adjustment amount, judge the relationship among the first current actual rotation speed, the first rotation speed threshold and the second rotation speed threshold; among them, the second rotation speed threshold is less than the first rotation speed threshold.

[0070] When it is judged that the first current actual rotation speed of the motor is greater than the first rotation speed threshold, it indicates that the motor load is small and the rotation speed is too high. It is necessary to control the rotation speed of the motor according to the first current actual rotation speed and the first current expected rotation speed, and enter step S208a. When it is judged that the first current actual rotation speed of the motor is less than the second rotation speed threshold, it indicates that the motor load is too large, and it is necessary to stop the operation of the motor and enter step S2068.

[0071] In some of these embodiments, determining the relationship among the first current actual speed, the first speed threshold, and the second speed threshold may be to first determine the relative magnitude between the first current actual speed and the first speed threshold, and then determine the relative magnitude between the first current actual speed and the second speed threshold.

[0072] S208a: Adjust the speed of the motor according to the first speed adjustment amount, where the first speed adjustment amount is an adjustment amount obtained based on the first current actual speed and the corresponding first current desired speed.

[0073] Among them, during the process of controlling the operation of the motor according to the current adjustment amount, since the drive current of the motor is constant, the output torque of the motor is also constant. At this time, the speed of the motor is only affected by the load torque. If the load torque exceeds the output torque of the motor, the motor will decelerate. If the load torque is equal to the output torque of the motor, the motor will maintain a constant speed. If the load torque does not exceed the output torque of the motor, the motor will accelerate. Taking the rotational grinding scenario as an example, during the rotation of the motor, the grinding head is driven by the transmission component to rotate to perform rotational grinding on the diseased position. In the case of excessive rotational grinding of the grinding head, the speed of the motor increases too much, and it is necessary to re-limit the speed of the motor.

[0074] In some of these implementation manners, when the first current actual speed of the motor gradually increases to be greater than the first speed threshold, the difference between the first current actual speed and the corresponding first current desired speed is used as the first speed adjustment amount, and the speed of the motor is adjusted according to the first speed adjustment amount. Among them, the first speed threshold is usually the first current desired speed corresponding to the first current actual speed.

[0075] S208b: Stop the operation of the motor when the first current actual speed is less than or equal to the second speed threshold.

[0076] Among them, when the first current actual speed gradually decreases to be less than or equal to the second speed threshold, that is, the speed of the motor is too low, indicating that the load of the motor continues to increase. To avoid damage to the target by the rotational grinding device, the output of the motor needs to be cut off at this time. Among them, the second speed threshold is a value calculated based on the first speed threshold, and the second speed threshold is less than the first speed threshold.

[0077] In some of these embodiments, the second speed threshold may be obtained by multiplying the first speed threshold by a coefficient less than 1. The specific method is not limited in this application, as long as the second speed threshold is less than the first speed threshold.

[0078] In the motor control method of the above-mentioned rotational grinding device, during the rotation of the motor, by obtaining an adjustment amount according to the actual current value and the current threshold of the motor to control the operation of the motor, precise control of the motor operation can be achieved, ensuring that the motor operates stably within the set current range, thereby avoiding unexpected damage to blood vessels or causing the failure of parts on the motor and the transmission path. When the current actual rotation speed is greater than the set first rotation speed threshold, by obtaining a rotation speed adjustment amount according to the current actual rotation speed and the desired rotation speed, the motor can be adaptively adjusted according to the actual situation during the operation of the motor, so that the motor can maintain a stable operating state under different loads. When the current actual rotation speed is less than or equal to the set second rotation speed threshold, the operation of the motor is stopped, which can effectively protect the motor, thereby improving the stability, safety and adaptability of the rotational grinding device.

[0079] In an exemplary embodiment, the method further includes: when the current actual current is equal to the corresponding current threshold, determining the magnitude relationship between the first current actual rotation speed and the first rotation speed threshold and the second rotation speed threshold.

[0080] Among them, when the current actual current is equal to the corresponding current threshold, it means that the current value reaches the critical value, but the motor can still operate normally. Then, determine the magnitude relationship between the first current actual rotation speed and the first rotation speed threshold and the second rotation speed threshold, so as to adjust the rotation speed of the motor according to the magnitude relationship between the first current actual rotation speed and the first rotation speed threshold and the second rotation speed threshold.

[0081] In some implementation manners, when the current actual current value is greater than the corresponding current threshold, control the operation of the motor according to the current adjustment amount until the current actual current value is greater than the corresponding current threshold. It can be understood that the present application does not specifically limit the previous steps when the current actual current is equal to the corresponding current threshold. The above-mentioned previous steps when the current actual current value is equal to the corresponding current threshold are only partial examples, and other technical solutions for achieving the current actual current equal to the corresponding current threshold are also within the protection scope of the present application.

[0082] In this embodiment, by judging the magnitude relationship between the current actual current and the actual rotation speed and the corresponding thresholds, the safety of the system can be improved, fault detection can be achieved, the performance can be optimized, the stable operation of the system can be ensured, and corresponding control and adjustment can be made according to actual requirements.

[0083] In some of these embodiments, the current actual current and the first current actual speed of the motor are obtained. When the current actual current value is greater than the corresponding current threshold, the operation of the motor is controlled according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold. When the current actual current value is equal to the corresponding current threshold, the magnitude relationship between the first current actual speed and the first speed threshold and the second speed threshold is determined: when the first current actual speed is greater than the first speed threshold, the speed of the motor is adjusted according to the first speed adjustment amount, where the first speed adjustment amount is an adjustment amount obtained based on the first current actual speed and the corresponding first current desired speed; when the first current actual speed is less than or equal to the second speed threshold, the operation of the motor is stopped, where the second speed threshold is less than the first speed threshold.

[0084] The above motor control method initially adjusts the motor control scheme through the current control mode, and when it is impossible to continue adjusting the motor control scheme through the current control mode, the current adjustment mode is switched to the speed switching mode to further adjust the motor control scheme.

[0085] In some of these embodiments, after the foregoing embodiments, when the speed of the motor is adjusted according to the first speed adjustment amount, and the speed of the motor is consistent with the corresponding desired speed, and the current of the motor is inconsistent with the corresponding current threshold, the speed control mode is switched to the current control mode, that is, the operation of the motor is controlled according to the current adjustment amount at this moment. Wherein, the current adjustment amount at this moment is adjusted to be an adjustment amount obtained according to the current actual current of the motor at this moment and the corresponding current threshold.

[0086] In an exemplary embodiment, the process of obtaining the first current actual speed includes: obtaining the change frequency of the Hall signal of the motor and the motor parameters, where the motor parameters include the number of pole pairs and the transmission ratio; and obtaining the first current actual speed according to the change frequency and the motor parameters.

[0087] Among them, the control unit is connected to the Hall sensor in the motor through the Hall interface to obtain the change frequency of the Hall signal of the motor. The Hall sensor can detect the north-south pole change of the magnetic poles in the motor and collect at regular time intervals until two consecutive adjacent Hall signals are collected to calculate the change frequency of the Hall signal. Further, according to the number of pole pairs and the transmission ratio of the motor, the relationship between the actual speed of the motor output shaft and the change frequency of the Hall signal is determined, and the change frequency is converted into speed to obtain the first current actual speed. Specifically, the speed of the motor is directly proportional to the change frequency of the Hall signal, that is, the motor speed is equal to the pulse frequency of the Hall signal multiplied by 60 and then divided by the number of pulses of the Hall sensor. Among them, the pulse frequency is the change frequency of the Hall signal, 60 is the factor for converting the speed from Hz to per minute, and the number of pulses of the Hall sensor is the number of pulses generated per revolution of the rotor.

[0088] In this embodiment, by obtaining the change frequency of the Hall signal of the motor and the motor parameters and calculating the actual speed accordingly, the real-time monitoring and precise control of the motor operating state can be realized, thereby ensuring the stable operation of the rotary grinding device.

[0089] In an exemplary embodiment, the determination scheme of the first speed adjustment amount includes: obtaining the speed difference between the first current actual speed and the corresponding first current desired speed; performing proportional-integral-derivative calculation on the speed difference to obtain the first speed adjustment amount.

[0090] Among them, when controlling the speed of the motor, the pulse width of the drive voltage is adjusted through the proportional-integral-derivative algorithm (PID algorithm). The PID algorithm not only has a simple structure but also a fast response speed. Specifically, the proportional-integral-derivative calculation is performed on the speed difference between the first current actual speed and the corresponding first current desired speed to obtain the first speed adjustment amount.

[0091] It can be understood that the steps of controlling the motor operation according to the current adjustment amount and adjusting the speed of the motor according to the second speed adjustment amount are similar to the steps of adjusting the speed of the motor according to the first speed adjustment amount. They all calculate the adjustment amount through the PID algorithm to realize the adjustment of the drive voltage, and then complete the control operation of the motor, which will not be elaborated here.

[0092] In this embodiment, by calculating the speed difference in real time and performing proportional-integral-derivative calculation, the speed adjustment amount can be quickly obtained, and the pulse width of the drive voltage can be adjusted according to the adjustment amount, which can make the motor quickly respond to the change of the desired speed. In addition, through proportional control, the speed difference can be directly adjusted, integral control can eliminate the steady-state error, and derivative control can suppress the rapid change of the speed change rate, which can reduce the fluctuation of the motor speed, thereby improving the stability and smoothness of the rotary grinding device.

[0093] In an exemplary embodiment, the solution for adjusting the speed of the motor according to the first speed adjustment amount includes: adjusting the pulse width of the drive voltage according to the first speed adjustment amount; and adjusting the speed of the motor according to the adjusted drive voltage.

[0094] Adjust the pulse width of the Pulse Width Modulation (PWM) drive voltage in real time according to the first adjustment amount, so as to adjust the torque of the motor according to the drive voltage, thereby changing the speed.

[0095] In this embodiment, by adjusting the pulse width of the drive voltage, precise adjustment of the motor speed can be achieved, making the motor more flexible and efficient under different working conditions.

[0096] In an exemplary embodiment, the method further includes determining a current threshold according to the operating stage of the motor. The determination method of the operating stage of the motor includes: determining the operating stage of the motor according to the operating duration of the motor; or determining the operating stage of the motor according to the change amount of the speed of the motor per unit time.

[0097] Wherein, when the operating stage is the acceleration stage, the current threshold is the first current threshold; when the operating stage is the constant speed stage, the current threshold is the second current threshold; the second current threshold is less than the first current threshold. Wherein, if the change amount of the speed of the motor per unit time is greater than a certain threshold, it can be considered that the motor is in the acceleration stage, and the current threshold is the first current threshold. If the change amount of the speed of the motor per unit time is small, it is considered that the motor is in the constant speed stage, and the current threshold is the second current threshold.

[0098] Wherein, after the rotary grinding device is started, the motor mainly includes two operating stages during operation, namely the acceleration stage and the constant speed stage. When the motor is in the acceleration stage, a greater torque is required to provide acceleration and overcome the friction of the system. Therefore, usually, the current threshold in the acceleration stage can be higher than the current threshold in the constant speed stage. Specifically, determine the operating stage of the motor according to the operating duration of the motor or the speed difference within a preset time period, and then determine the corresponding current threshold. In addition, it can also be determined whether it is the acceleration stage or the constant speed stage according to the speed difference of the motor within the target time period.

[0099] In this embodiment, by matching the corresponding current threshold according to the operating state of the motor, the problems of inconsistent torque loss of the transmission components in the acceleration stage and different preset speeds can be avoided, and the load torque of the motor can be monitored more accurately. In addition, by setting a higher current threshold in the acceleration stage, the required speed can be quickly reached, and the current threshold can be reduced in the constant speed stage to maintain stable operation, thereby improving the operating efficiency of the motor.

[0100] In an exemplary embodiment, the method further includes: when the first current actual speed is less than or equal to the first speed threshold and greater than the second speed threshold, continuing to control the operation of the motor according to the current adjustment amount.

[0101] Wherein, when the first current actual speed is less than or equal to the first speed threshold and greater than the second speed threshold, it indicates that the load of the motor only increases briefly and the speed is still within the normal range. Therefore, there is no need to limit the speed, and only the current needs to be maintained, that is, continue to control the operation of the motor according to the current adjustment amount until the first current actual speed exceeds the first speed threshold or the first current actual speed is less than or equal to the second speed threshold.

[0102] In this embodiment, for a specific operating range, controlling the operation of the motor through the current adjustment amount can achieve higher energy efficiency. Adjusting the current within a specific speed range can make the motor operate stably.

[0103] In an exemplary embodiment, the method further includes: obtaining a second speed adjustment amount according to the second current actual speed and the corresponding second current desired speed of the motor, and adjusting the speed of the motor according to the second speed adjustment amount.

[0104] Wherein, after the rotary grinding device is started, it enters the acceleration start stage, and speed control is performed by default. Specifically, a second speed adjustment amount is obtained according to the second current actual speed and the corresponding second current desired speed of the motor, and the speed of the motor is adjusted according to the second speed adjustment amount. Wherein, after the device is started, the motor gradually accelerates to the set target speed and then maintains a constant speed operation to drive the grinding head to rotate. Usually, for motors of the same model, when the motor power is known, the desired speed at each moment during the motor startup process can be calculated. Therefore, when the current actual speed of the motor is obtained, the corresponding current desired speed can be determined according to the current running duration of the motor. The current desired speed can be preset by the motor manufacturer and stored in the memory.

[0105] Furthermore, during the operation of the motor, due to the center of mass of the grinding head deviating from its axis of rotation, the centrifugal force drives the grinding head to revolve while rotating. The greater the rotational speed of the rotation, the larger the diameter of the revolution trajectory. That is, the greater the motor speed, the larger the diameter of the revolution trajectory driven by the grinding head. In the case of an overly large diameter, it may cause excessive wear of the grinding head on the target object. Therefore, it is necessary to limit the output torque of the motor. According to the second current actual speed and the corresponding second current desired speed, a second speed adjustment amount is calculated, and the actual speed of the motor is adjusted in real time according to the second speed adjustment amount. In some other implementation manners, the second speed adjustment amount is the difference between the second current actual speed and the second current desired speed. It can be understood that the second speed adjustment amount can also be other forms of adjustment amounts determined according to the second current actual speed and the second current desired speed through other processing logics, which will not be elaborated here.

[0106] In this embodiment, by obtaining the difference between the actual speed and the desired speed, a speed adjustment amount is calculated, and the precise control of the motor operation can be achieved through the calculated speed adjustment amount. The input parameters of the motor are adjusted according to the calculated speed adjustment amount to ensure that the motor operates within the desired speed range, thereby improving the operation stability of the motor.

[0107] It can be understood that this embodiment can be used alone as a pre-step before implementing the motor control method of the rotary grinding device, or can be integrated with other embodiments of the present application to jointly implement the motor control scheme of the rotary grinding device.

[0108] In an exemplary embodiment, as Figure 8 shown, a motor control method for a rotary grinding device is provided, and the method includes the following steps:

[0109] The rotary grinding device starts at a preset speed.

[0110] The rotary grinding device performs speed closed-loop control. The desired speed of the closed-loop control is the value of the desired speed curve at the current moment, and the actual speed of the closed-loop control is the speed calculated through the Hall sensor signal. The control unit calculates the difference between the desired speed and the actual speed, and then calculates the output current of the motor drive module through a closed-loop control algorithm (such as PID), and controls the actual speed of the motor to tend to the desired speed through the motor drive module, thereby achieving the closed-loop control of the speed.

[0111] When performing speed closed-loop control, in the rotary grinding device, the MCU in the control system reads the current information output to the motor through the current sampling module, compares it with the set current threshold, and determines the subsequent motor operation strategy according to the comparison result.

[0112] If the actual current does not exceed the set current threshold, it indicates that the torque output by the motor is within the normal range at this time. The control system continues with speed closed-loop control, and the grinding head rotates the calcified lesion at a preset speed.

[0113] If the actual current exceeds the set current threshold, it indicates that the load on the grinding head has increased. To maintain the set speed, the motor needs to output a greater torque to overcome the load on the grinding head. If the output torque of the motor is not limited, the excessive torque may cause unexpected damage to the blood vessel by the grinding head. In addition, the excessive torque generates a large amount of heat in the motor, which may cause the motor to fail. The excessive torque will also cause the failure of transmission components such as the gear assembly and the spring tube. At this time, the rotational grinding device switches from speed closed-loop control to current closed-loop control, and the motor outputs a constant torque, and a constant current is maintained through the motor drive module.

[0114] When performing current closed-loop control, the torque output by the motor is constant. At this time, the load torque of the motor determines the speed of the motor. If the load torque of the motor is greater than the torque output by the motor, the motor will decelerate. If the load torque of the motor is less than the torque output by the motor, the motor will accelerate. If the load torque of the motor is equal to the torque output by the motor, the motor speed remains unchanged.

[0115] At this time, it is necessary to determine the next control strategy by judging the speed of the motor: in the rotational grinding device, the control unit in the control system calculates the speed information of the motor through the Hall sensor signal and compares it with the speed threshold 1 (i.e., the first speed threshold). The speed threshold 1 is the current desired speed. If the current speed exceeds the speed threshold 1, the control system switches to speed closed-loop control to maintain the speed of the motor at the desired speed.

[0116] If the current speed does not exceed threshold 1, then continue to judge whether the motor speed is lower than the speed threshold 2. The speed threshold 2 (i.e., the second speed threshold) is related to the currently selected preset speed. The value of the speed threshold 2 is the currently preset speed multiplied by a coefficient, and the value of this coefficient is between 0 and 1.

[0117] If the speed is higher than the speed threshold 2, it indicates that the load on the motor only increases briefly and the speed is still within the acceptable range. The control system continues with current closed-loop control, and the motor outputs a constant torque. If the speed is lower than threshold 2, it indicates that the load torque of the motor continues to increase. At this time, the output of the motor is cut off to avoid unexpected damage to the blood vessel by the grinding head and to avoid the failure of the motor and the transmission device.

[0118] In this embodiment, the control system can switch between the speed closed-loop mode and the current closed-loop mode, so that after detecting that the current exceeds the threshold, the control system does not directly cut off the motor output, and at the same time ensures that the torque output by the motor no longer increases, making the rotational grinding device operate more stably and ensuring the safety of operation.

[0119] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0120] Based on the same inventive concept, an embodiment of the present application further provides a motor control device for a rotational grinding device for implementing the motor control method of the rotational grinding device involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the motor control device for the rotational grinding device provided below can refer to the limitations on the motor control method of the rotational grinding device in the above text, and will not be repeated here.

[0121] In an exemplary embodiment, as Figure 9 shown, a motor control device for a rotational grinding device is provided, including: a current acquisition module 10, a current control module 20, a rotational speed control module 30, and a motor stop module 40, where:

[0122] The current acquisition module 10 is configured to acquire the current actual current and the first current actual rotational speed of the motor;

[0123] The current control module 20 is configured to, when the currently acquired actual current value collected by the current sampling module is greater than the corresponding current threshold, control the operation of the motor according to the current adjustment amount through the motor drive module; where the current adjustment amount is an adjustment amount obtained based on the currently acquired actual current value and the current threshold.

[0124] The rotational speed control module 30 is configured to, when the first currently acquired actual rotational speed collected by the motor drive module is greater than the first rotational speed threshold, adjust the rotational speed of the motor according to the first rotational speed adjustment amount through the motor drive module, where the first rotational speed adjustment amount is an adjustment amount obtained based on the first currently acquired actual rotational speed and the corresponding first currently expected rotational speed.

[0125] The motor stop module 40 is configured to, when the first currently acquired actual rotational speed is less than or equal to the first rotational speed threshold, stop the operation of the motor through the motor drive module; where the second rotational speed threshold is less than the first rotational speed threshold.

[0126] In an exemplary embodiment, the rotational speed control module 30 is further configured to obtain the change frequency of the Hall signal of the motor and the motor parameters of the motor through the motor drive module, where the motor parameters include the number of pole pairs and the transmission ratio; and obtain the first current actual rotational speed according to the change frequency and the motor parameters.

[0127] In an exemplary embodiment, the rotational speed control module 30 is further configured to determine the magnitude relationship between the first current actual rotational speed, the first rotational speed threshold, and the second rotational speed threshold when the current actual current is equal to the corresponding current threshold.

[0128] In an exemplary embodiment, the rotational speed control module 30 is further configured to adjust the pulse width of the drive voltage according to the first rotational speed adjustment amount; and adjust the rotational speed of the motor through the motor drive module according to the adjusted drive voltage.

[0129] In an exemplary embodiment, the current control module 20 is further configured to determine the operation stage of the motor according to the operation duration of the motor; or determine the operation stage of the motor according to the change amount of the speed of the motor per unit time.

[0130] In an exemplary embodiment, the rotational speed control module 30 is further configured to continue to control the operation of the motor through the motor drive module according to the current adjustment amount when the first current actual rotational speed is less than or equal to the first rotational speed threshold and greater than the second rotational speed threshold.

[0131] In an exemplary embodiment, the rotational speed control module 30 is further configured to obtain a second rotational speed adjustment amount according to the second current actual rotational speed of the motor and the corresponding second current desired rotational speed, and adjust the rotational speed of the motor through the motor drive module according to the second rotational speed adjustment amount.

[0132] Each module in the motor control device of the above-mentioned rotational grinding device can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0133] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as Figure 10As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a method for controlling the motor of a rotational grinding device. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0134] Those skilled in the art can understand that Figure 10 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0135] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining the current actual current and the first current actual speed of the motor; when the current actual current value is greater than the corresponding current threshold, controlling the operation of the motor according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold; when the first current actual speed is greater than the first speed threshold, adjusting the speed of the motor according to the first speed adjustment amount, where the first speed adjustment amount is an adjustment amount obtained based on the first current actual speed and the corresponding first current desired speed; or, when the first current actual speed is less than or equal to the second speed threshold, stopping the operation of the motor, where the second speed threshold is less than the first speed threshold.

[0136] In one embodiment, the process of obtaining the first current actual rotational speed involved when the processor executes a computer program includes: obtaining the change frequency of the Hall signal of the motor and the motor parameters of the motor, where the motor parameters include the number of pole pairs and the transmission ratio; and obtaining the first current actual rotational speed according to the change frequency and the motor parameters.

[0137] In one embodiment, when the processor executes a computer program, the following steps are further implemented: when the current actual current is equal to the corresponding current threshold, determine the magnitude relationship between the first current actual rotational speed and the first rotational speed threshold and the second rotational speed threshold.

[0138] In one embodiment, the process of adjusting the rotational speed of the motor according to the first rotational speed adjustment amount when the processor executes a computer program includes: adjusting the pulse width of the drive voltage according to the first rotational speed adjustment amount; and adjusting the rotational speed of the motor according to the adjusted drive voltage.

[0139] In one embodiment, when the processor executes a computer program, the following steps are further implemented: determine the operating stage of the motor according to the operating duration of the motor; or determine the operating stage of the motor according to the change amount of the speed of the motor per unit time.

[0140] In one embodiment, when the processor executes a computer program, the following steps are further implemented: when the first current actual rotational speed is less than or equal to the first rotational speed threshold and greater than the second rotational speed threshold, continue to control the operation of the motor according to the current adjustment amount.

[0141] In one embodiment, when the processor executes a computer program, the following steps are further implemented: obtain the second rotational speed adjustment amount according to the second current actual rotational speed of the motor and the corresponding second current desired rotational speed, and adjust the rotational speed of the motor according to the second rotational speed adjustment amount.

[0142] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtain the current actual current and the first current actual rotational speed of the motor; when the current actual current value is greater than the corresponding current threshold, control the operation of the motor according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold; when the first current actual rotational speed is greater than the first rotational speed threshold, adjust the rotational speed of the motor according to the first rotational speed adjustment amount, where the first rotational speed adjustment amount is an adjustment amount obtained based on the first current actual rotational speed and the corresponding first current desired rotational speed; or, when the first current actual rotational speed is less than or equal to the second rotational speed threshold, stop the operation of the motor, where the second rotational speed threshold is less than the first rotational speed threshold.

[0143] In one embodiment, the process of obtaining the first current actual rotational speed involved when a computer program is executed by a processor includes: obtaining the change frequency of the Hall signal of the motor and the motor parameters of the motor, where the motor parameters include the number of pole pairs and the transmission ratio; and obtaining the first current actual rotational speed according to the change frequency and the motor parameters.

[0144] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the current actual current is equal to the corresponding current threshold, determining the magnitude relationship between the first current actual rotational speed and the first rotational speed threshold and the second rotational speed threshold.

[0145] In one embodiment, adjusting the rotational speed of the motor according to the first rotational speed adjustment amount involved when the computer program is executed by the processor includes: adjusting the pulse width of the drive voltage according to the first rotational speed adjustment amount; and adjusting the rotational speed of the motor according to the adjusted drive voltage.

[0146] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the operating stage of the motor according to the operating duration of the motor; or determining the operating stage of the motor according to the change amount of the speed of the motor per unit time.

[0147] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the first current actual rotational speed is less than or equal to the first rotational speed threshold and greater than the second rotational speed threshold, continuing to control the operation of the motor according to the current adjustment amount.

[0148] In one embodiment, when the processor executes the computer program, the following steps are further implemented: obtaining a second rotational speed adjustment amount according to the second current actual rotational speed and the corresponding second current desired rotational speed of the motor, and adjusting the rotational speed of the motor according to the second rotational speed adjustment amount.

[0149] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor implements the following steps: obtaining the current actual current and the first current actual rotational speed of the motor; when the current actual current value is greater than the corresponding current threshold, controlling the operation of the motor according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold; when the first current actual rotational speed is greater than the first rotational speed threshold, adjusting the rotational speed of the motor according to the first rotational speed adjustment amount, where the first rotational speed adjustment amount is an adjustment amount obtained based on the first current actual rotational speed and the corresponding first current desired rotational speed; or, when the first current actual rotational speed is less than or equal to the second rotational speed threshold, stopping the operation of the motor, where the second rotational speed threshold is less than the first rotational speed threshold.

[0150] In one embodiment, the process of obtaining the first current actual rotational speed involved when the computer program is executed by the processor includes: obtaining the change frequency of the Hall signal of the motor and the motor parameters of the motor, where the motor parameters include the number of pole pairs and the transmission ratio; and obtaining the first current actual rotational speed according to the change frequency and the motor parameters.

[0151] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the current actual current is equal to the corresponding current threshold, determining the magnitude relationship between the first current actual rotational speed and the first rotational speed threshold and the second rotational speed threshold.

[0152] In one embodiment, adjusting the rotational speed of the motor according to the first rotational speed adjustment amount involved when the computer program is executed by the processor includes: adjusting the pulse width of the drive voltage according to the first rotational speed adjustment amount; and adjusting the rotational speed of the motor according to the adjusted drive voltage.

[0153] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the operating stage of the motor according to the operating duration of the motor; or determining the operating stage of the motor according to the change amount of the speed of the motor per unit time.

[0154] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the first current actual rotational speed is less than or equal to the first rotational speed threshold and greater than the second rotational speed threshold, continuing to control the operation of the motor according to the current adjustment amount.

[0155] In one embodiment, when the processor executes the computer program, the following steps are further implemented: obtaining a second rotational speed adjustment amount according to the second current actual rotational speed and the corresponding second current desired rotational speed of the motor, and adjusting the rotational speed of the motor according to the second rotational speed adjustment amount.

[0156] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0157] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0158] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A motor control method for a rotational grinding device, characterized in that, The method includes: Obtaining the current actual current and the first current actual speed of the motor; When the current actual current value is greater than the corresponding current threshold, controlling the operation of the motor according to the current adjustment amount, where the current adjustment amount is an adjustment amount obtained based on the current actual current value and the current threshold; When the first current actual speed is greater than the first speed threshold, adjusting the speed of the motor according to the first speed adjustment amount, where the first speed adjustment amount is an adjustment amount obtained based on the first current actual speed and the corresponding first current desired speed; When the first current actual speed is less than or equal to the second speed threshold, stopping the operation of the motor, where the second speed threshold is less than the first speed threshold.

2. The method according to claim 1, wherein The method includes: When the current actual current is equal to the corresponding current threshold, determining the magnitude relationship between the first current actual speed, the first speed threshold, and the second speed threshold.

3. The method according to claim 1, wherein The process of obtaining the first current actual speed includes: Obtaining the change frequency of the Hall signal of the motor and the motor parameters of the motor, where the motor parameters include the number of pole pairs and the transmission ratio; Obtaining the first current actual speed according to the change frequency and the motor parameters.

4. The method according to claim 1, characterized in that, The adjusting the speed of the motor according to the first speed adjustment amount includes: Adjusting the pulse width of the drive voltage according to the first speed adjustment amount; Adjusting the speed of the motor according to the adjusted drive voltage.

5. The method according to claim 1, characterized in that The method further includes determining the current threshold according to the operating stage of the motor, and the determining method of the operating stage of the motor includes: Determining the operating stage of the motor according to the operating duration of the motor; or Determining the operating stage of the motor according to the change amount of the speed of the motor per unit time.

6. The method according to claim 1, characterized in that The method further includes: When the first current actual speed is less than or equal to the first speed threshold and the first current actual speed is greater than the second speed threshold, continuing to control the operation of the motor according to the current adjustment amount.

7. A motor control system for a rotational grinding device, characterized in that, Includes: A motor drive module, a current sampling module, a drive interface, a Hall interface, and a control module; The motor drive module is used to collect the current actual speed of the motor through the Hall interface; The current sampling module is used to collect the current actual current value of the motor; The control module is used to obtain the current adjustment amount through the current actual current value and the current threshold collected by the current sampling module, and control the operation of the motor through the drive interface according to the current adjustment amount through the motor drive module; The control module is further used to obtain the first speed adjustment amount according to the first current actual speed and the corresponding first current desired speed collected through the motor drive module, and the motor drive module adjusts the speed of the motor through the drive interface according to the first speed adjustment amount; the control module is further used to stop the operation of the motor through the motor drive module.

8. A rotational grinding device, characterized in that, Includes: The motor control system, motor, transmission component, and grinding head as described in claim 7; The motor control system is used to adjust the speed of the motor; One end of the transmission assembly is connected to the motor, and the other end is connected to the grinding head; the transmission assembly is configured to drive the grinding head to rotate during the rotation of the motor.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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