Motor upwind starting method and device, equipment, storage medium and product

Abstract

The invention discloses a motor headwind starting method, a motor headwind starting device, motor headwind starting equipment, a storage medium and a product, and relates to the technical field of permanent magnet synchronous motor control. The motor braking torque direction is controlled through the motor braking adjusting angle; the current rotating speed of the motor is obtained through an estimator; according to the current rotating speed of the motor and the braking torque direction of the motor, the current of the motor is adjusted so that the motor can stop running; and after the motor stops running, the motor is controlled to start running. Through angle, voltage and current three-loop control, dead-wind starting of the brushless motor is achieved, the problem that dead-wind starting is abnormal due to the fact that the load changes drastically when the dead-wind environment of the motor changes drastically is solved, and safety and reliability of dead-wind starting of the motor are guaranteed.

Description

Technical Field

[0001] The present application relates to the field of permanent magnet synchronous motor control technology, and in particular to a method, device, equipment, storage medium and product for starting a motor against wind. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is a synchronous motor that uses permanent magnets to generate magnetic fields. Permanent magnet synchronous motors do not require additional excitation current to generate magnetic fields, thereby reducing energy loss. Compared with traditional asynchronous motors, the efficiency of permanent magnet synchronous motors can be increased by more than 10%, and even more than 90% under certain working conditions. Since permanent magnet synchronous motors do not require additional excitation current, their volume and weight can be relatively small, thereby achieving high power density, which means that permanent magnet synchronous motors can provide higher power output under the same volume and weight. Permanent magnet synchronous motors have good control performance and can achieve precise speed and torque control, which makes permanent magnet synchronous motors have advantages in application scenarios that require precise control. Since the magnetic field of permanent magnet synchronous motors is generated by permanent magnets, no electromagnetic noise and vibration are generated during their operation, which makes permanent magnet synchronous motors have advantages in application scenarios that require low noise and low vibration. The permanent magnets of permanent magnet synchronous motors do not require additional excitation current, so there is no overheating problem during their operation. In addition, the permanent magnet synchronous motor has a relatively simple structure and does not have wearing parts such as brushes and sliding contacts, so its life and reliability are higher.

[0003] As permanent magnet synchronous motor technology continues to develop, many fields have begun to use permanent magnet synchronous motors to replace traditional brush motors, asynchronous motors, etc. Under complex working conditions, the motor will inevitably encounter situations where the motor needs to rotate forward quickly when it is against the wind or reverses. Unreasonable handling may cause direct damage to the motor system and fail to ensure safety and reliability. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment, storage medium and product for starting a motor against wind, aiming to solve the technical problem of abnormal starting against wind caused by drastic changes in load when the headwind environment of the motor changes drastically.

[0005] To achieve the above object, the present application proposes a method for starting a motor against wind, the method comprising:

[0006] When the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage, the motor brake torque direction is controlled by the motor brake adjustment angle;

[0007] Get the current speed of the motor through the estimator;

[0008] Adjust the motor current according to the current rotational speed of the motor and the direction of the motor braking torque to stop the motor from running;

[0009] After the motor stops running, control the motor to start running.

[0010] Optionally, before the step of controlling the direction of the motor braking torque by the motor braking adjustment angle when the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage, the method further includes:

[0011] Obtain the motor operation parameters;

[0012] Judge whether the motor is in the headwind running state according to the motor operation parameters.

[0013] Optionally, after the step of judging whether the motor is in the headwind running state according to the motor operation parameters, the method further includes:

[0014] When the motor is not in the headwind running state, set the motor braking adjustment angle to a preset value, and return to the step of controlling the motor to start running after the motor stops running.

[0015] Optionally, after the step of controlling the direction of the motor braking torque by the motor braking adjustment angle when the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage, the method further includes:

[0016] Detect the bus voltage of the motor control system and determine the change slope of the voltage;

[0017] When the change slope is greater than the preset threshold, reduce the braking demagnetization;

[0018] When the change slope is less than the preset threshold, increase the braking demagnetization.

[0019] Optionally, the step of controlling the direction of the motor braking torque by the motor braking adjustment angle when the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage specifically includes:

[0020] When the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage, adjust the motor braking adjustment angle;

[0021] When the motor braking adjustment angle is less than the preset angle, increase the motor braking adjustment angle to control the direction of the motor braking torque.

[0022] Optionally, the step of adjusting the motor current according to the current rotational speed of the motor and the direction of the motor braking torque to stop the motor from running specifically includes:

[0023] According to the direction of the motor braking torque, when the current speed of the motor increases, increase the motor current to stop the motor;

[0024] According to the direction of the motor braking torque, when the current speed of the motor decreases, decrease the motor current to stop the motor.

[0025] In addition, to achieve the above object, the present application also proposes a motor reverse wind starting device, the device includes:

[0026] A voltage module, configured to control the direction of the motor braking torque through the motor braking adjustment angle when the motor is in a reverse wind running state and the bus voltage of the motor control system is greater than a preset voltage;

[0027] A speed module, configured to obtain the current speed of the motor through an estimator;

[0028] A current module, configured to adjust the motor current to stop the motor according to the current speed of the motor and the direction of the motor braking torque;

[0029] A forward rotation module, configured to control the motor to start running after the motor stops running.

[0030] In addition, to achieve the above object, the present application also proposes a motor reverse wind starting device, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the motor reverse wind starting method.

[0031] In addition, to achieve the above object, the present application also proposes a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the motor reverse wind starting method are implemented.

[0032] In addition, to achieve the above object, the present application also proposes a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the motor reverse wind starting method are implemented.

[0033] One or more technical solutions proposed by the present application have at least the following effects:

[0034] The present application discloses a method, device, equipment, storage medium and product for starting a motor against the wind. The method for starting a motor against the wind includes: when the motor is in a state of running against the wind and the bus voltage of the motor control system is greater than a preset voltage, controlling the direction of the motor braking torque through the motor braking adjustment angle; obtaining the current speed of the motor through an estimator; adjusting the motor current according to the current speed of the motor and the direction of the motor braking torque so that the motor stops running; after the motor stops running, controlling the motor to start running. Through the three-loop control of angle, voltage and current, the brushless motor is started against the wind, solving the problem of abnormal starting against the wind caused by the drastic change of the load when the environment against the wind changes drastically, and ensuring the safety and reliability of the motor starting against the wind. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0036] Figure 1 Schematic flowchart of the first embodiment of the method for starting a motor against the wind proposed in the embodiment of the present application;

[0037] Figure 2 Schematic flowchart of the second embodiment of the method for starting a motor against the wind proposed in the embodiment of the present application;

[0038] Figure 3 Schematic flowchart of the third embodiment of the method for starting a motor against the wind proposed in the embodiment of the present application;

[0039] Figure 4 Schematic diagram of the module structure of the device for starting a motor against the wind in the embodiment of the present application;

[0040] Figure 5 Schematic diagram of the equipment structure of the hardware operating environment involved in the method for starting a motor against the wind in the embodiment of the present application;

[0041] Figure 6 Three-loop control diagram of voltage, angle and current of the present application;

[0042] Figure 7 General framework diagram of the motor starting against the wind of the present application;

[0043] Figure 8 First circuit diagram of drive and back electromotive force detection of the present application;

[0044] Figure 9 Second circuit diagram of drive and back electromotive force detection of the present application.

[0045] Explanation of the reference numerals in the drawings:

[0046] Label Name Label Name 10 Voltage module 20 Speed module 30 Current module 40 Forward rotation module 1001 Processing device 1003 Storage device 1002 ROM 1005 Bus 1004 RAM 1007 Input device 1006 I / O interface 1009 Communication device 1008 Output device

[0047] The realization of the purpose, functional features and advantages of this application will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not used to limit this application.

[0049] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0050] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0051] In addition, the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] The main solution of the embodiments of this application is: through the three-loop control of angle, voltage and current, the brushless motor is started against the wind, solving the problem of abnormal starting against the wind caused by the drastic change of the load when the environment against the wind changes drastically, and ensuring the safety and reliability of the motor operation.

[0053] In the embodiments, for the convenience of description, the motor control system is used as the execution subject for elaboration below.

[0054] The present application provides a solution. The present application discloses a method, device, equipment, storage medium and product for starting a motor against the wind. The method for starting a motor against the wind includes: when the motor is in a state of running against the wind and the bus voltage of the motor control system is greater than a preset voltage, controlling the direction of the motor braking torque through the motor braking adjustment angle; obtaining the current speed of the motor through an estimator; adjusting the motor current according to the current speed of the motor and the direction of the motor braking torque so that the motor stops running; after the motor stops running, controlling the motor to start running. Through the three-loop control of angle, voltage and current, the brushless motor can be started against the wind, solving the problem of abnormal starting against the wind caused by the drastic change of the load when the environment against the wind of the motor changes drastically, and ensuring the safety and reliability of starting the motor against the wind.

[0055] Based on this, an embodiment of the present application provides a method for starting a motor against the wind.

[0056] Reference Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the method for starting a motor against the wind proposed in the embodiment of the present application.

[0057] Considering the problem of abnormal starting against the wind caused by the drastic change of the load when the environment against the wind of the motor changes drastically, and in order to ensure the safety and reliability of starting the motor against the wind. Secondly, in the traditional short-circuit braking, the lower-bridge MOS tube is short-circuited and the position is not estimated. After the braking ends, the angle is not smooth during the motor starting process. There is a current impact problem in the traditional short-circuit braking, and at the same time, it will cause problems such as motor heating, even demagnetization current or overcharging of voltage. As Figure 1 shown, the method for starting a motor against the wind in this embodiment includes steps S10 to S40:

[0058] Step S10: When the motor is in a state of running against the wind and the bus voltage of the motor control system is greater than a preset voltage, controlling the direction of the motor braking torque through the motor braking adjustment angle.

[0059] It should be noted that, as Figure 6 and Figure 7 shown, Figure 6 is the three-loop control diagram of voltage, angle and current of the present application, Figure 7 is the overall framework diagram of starting the motor against the wind of the present application. The bus voltage is V dc , and the preset voltage is the voltage threshold value V ref detected for setting against the wind. The preset voltage can be set according to the actual situation and is not limited in this embodiment. When the motor is in a state of running against the wind, the maximum braking torque is turned on, and then through adjustment, the charging voltage is maintained (the kinetic energy recovery strength) in a safe state. When the motor brakes when running against the wind, the motor generates electricity. The greater the braking torque, the greater the power generation. At this time, by adjusting the braking torque, the kinetic energy recovery is reduced.

[0060] It is understandable that in a permanent magnet synchronous motor, the mathematical model of the motor is simplified and represented by winding resistance, winding inductance, and back electromotive force, as shown in formula (1):

[0061]

[0062] where i s is the motor current vector, e s is the back electromotive force vector, V s is the input voltage vector, L is the winding inductance, and R is the winding resistance.

[0063] The control of the current is usually carried out in the D / Q coordinate system, where I d and I q represent the D-axis and Q-axis currents respectively. The stator current I s of the motor can be represented by these two components, as shown in formula (2):

[0064]

[0065] Based on Is, it can be decomposed into two current vectors, braking demagnetization (D-axis current): I d = I s *sinθ re , braking torque (Q-axis current): I q = I s *cosθ re , (motor) braking adjustment angle θ re . The D-axis current is the current component aligned with the magnetic field of the motor and is usually used to adjust the excitation of the motor. The Q-axis current is the current component perpendicular to the D-axis and is mainly responsible for generating the torque of the motor. In the control of classical field-oriented control (FOC), by keeping (I d = 0) to ensure that the torque is contributed by (I q ), a control strategy for the motor to operate in an efficient state. When the D-axis current (I d = 0), it means that the excitation of the motor is provided by a permanent magnet and there is no additional DC current for excitation. In this mode, the Q-axis current (I q ) is mainly responsible for generating the motor torque and can achieve high efficiency and dynamic performance. As shown in Figure 8 and Figure 9 , Figure 8 is the first circuit diagram of the drive and back electromotive force detection of this application, Figure 9 is the second circuit diagram of the drive and back electromotive force detection of this application. The implementation method of this application is: before the motor starts, use the back electromotive force detection circuit to detect the motor speed and position, and use the resistance equivalent principle, e a 、e b 、ec It is consistent with the back electromotive force phase of the motor, and then the rotational speed and position of the motor are obtained. When it is found that the motor is in the headwind state, the obtained rotational speed and position are used to perform field-oriented control (FOC) to control the motor brake. When the motor rotates in reverse, with the set reference voltage V ref and reference current I S as the reference, the braking torque / braking counter magnetism of the motor is dynamically adjusted through the braking adjustment angle θ re

[0066] Step S20: Obtain the current rotational speed of the motor through an estimator.

[0067] It should be noted that the estimator can be a state observer for estimating the internal state of the motor, and can also be set according to the actual situation, which is not limited in this embodiment.

[0068] It can be understood that through the estimation algorithm (estimator), the accurate position of the motor is estimated and identified, and a linear torque is reversely given to the motor (stable torque is given according to the change of the motor load), so as to realize the stable braking of the motor and the smooth start against the wind at an angle. Solve the safety problem of hardware damage caused by overcharge of current and voltage during instantaneous short circuit.

[0069] Step S30: Adjust the motor current according to the current rotational speed of the motor and the direction of the motor braking torque to stop the motor from running.

[0070] It should be noted that the motor current is the stator current I s of the motor.

[0071] Step S40: After the motor stops running, control the motor to start running.

[0072] It should be noted that when the motor stops running, the target rotational speed reaches 0, the braking adjustment angle is adjusted to 0, and at the same time, the forward running torque is gradually increased, and the motor realizes a headwind start.

[0073] In specific implementation, when the motor is in the headwind running state and the bus voltage of the motor control system is greater than the preset voltage, the direction of the motor braking torque is controlled through the motor braking adjustment angle; the current rotational speed of the motor is obtained through an estimator; according to the current rotational speed of the motor and the direction of the motor braking torque, the motor current is adjusted to stop the motor from running; after the motor stops running, the motor is controlled to start running, and through the three-loop control of angle, voltage, and current, the headwind start of the brushless motor is realized, solving the problem of abnormal headwind start caused by the drastic change of the load when the headwind environment of the motor changes drastically, and ensuring the safety and reliability of the headwind start of the motor.

[0074] It should be noted that, such as Figure 6 ​As shown, the voltage loop in this application is not the traditional voltage loop control. In this application, voltage state detection is added to the voltage loop. Consider the following: when the motor control system is not powered, if the motor is in a strong headwind state, the motor is in a generator state, and the back electromotive force of the motor will supply power to the motor control system in the reverse direction. At this time, the entire motor control system will be in a powered state and start to work. However, as the speed decreases, the voltage drops rapidly with the speed. When the voltage cannot ensure the normal operation of the chip and the voltage cannot maintain the operation of the chip, the Mos tube closes. Assume the working state is as Figure 8 and Figure 9 shown. The arrow indicates the current flow path. If the Power+ voltage is insufficient, VT1 / VT2 / VT6 will not be able to open. If the current was relatively large at the previous moment, it will cause charge accumulation when closing. When the charge accumulates to a certain moment, the energy rushes towards Power+ through the freewheeling diode. If the device's charge reception capacity is insufficient, it will further cause chip damage. The voltage loop of this solution will detect changes in the bus voltage. If the voltage changes violently, it will change the drive's braking demagnetization according to the voltage change slope. If the rise is too fast, the braking demagnetization will be reduced to discharge Power+. If the drop is too fast, the braking demagnetization will be increased to charge Power+. At the same time, with the addition of the new voltage loop, when the motor control system is not normally powered and there is no start signal, by detecting the voltage slope, the hardware can be quickly protected to prevent damage to the solution devices caused by excessive back electromotive force voltage.

[0075] Further, considering that this application is applied to the motor running in the headwind state, in order to determine whether the motor is in the headwind running state, before step S10 of this embodiment, it further includes:

[0076] Obtain the motor operation parameters;

[0077] Judge whether the motor is in the headwind running state according to the motor operation parameters.

[0078] It should be noted that the motor operation parameters include the motor speed, rotor position, and bus voltage.

[0079] In specific implementation, if the forward rotation speed of the motor is positive, when the motor is in the headwind running state, the motor speed is negative.

[0080] Further, considering the situation where the motor is not in the headwind running state, after the step of judging whether the motor is in the headwind running state according to the motor operation parameters in this embodiment, it further includes:

[0081] When the motor is not in the headwind running state, set the motor braking adjustment angle to a preset value, and return to the step of controlling the motor to start running after the motor stops running.

[0082] It should be noted that the preset value is 0, and it can also be set according to the actual situation without limitation in this embodiment.

[0083] In a specific implementation, when the motor is not in the headwind operation state, the brake adjustment angle is set to 0, the starting current of the motor is given, and the motor operation is controlled.

[0084] Furthermore, considering the voltage loop of the present application, the bus voltage change will be detected. If the voltage changes violently, the brake demagnetization of the drive will be changed according to the change slope of the voltage. After step S10 of this embodiment, the following steps are also included:

[0085] Detect the bus voltage of the motor control system and determine the change slope of the voltage;

[0086] When the change slope is greater than the preset threshold, reduce the brake demagnetization;

[0087] When the change slope is less than the preset threshold, increase the brake demagnetization.

[0088] It should be noted that the preset threshold can be set according to the actual situation without limitation in this embodiment.

[0089] In a specific implementation, through the detection of the voltage slope, the hardware is quickly protected to prevent the voltage of the back electromotive force from being too high, resulting in damage to the devices of the scheme.

[0090] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , Figure 2 which is the flowchart of the second embodiment of the motor headwind start method proposed in the embodiment of the present application.

[0091] Considering that the motor brake torque direction is controlled by adjusting the motor brake adjustment angle. As Figure 2 shown, step S10 of this embodiment specifically includes:

[0092] Step S11: When the motor is in the headwind operation state and the bus voltage of the motor control system is greater than the preset voltage, adjust the motor brake adjustment angle.

[0093] Step S12: When the motor brake adjustment angle is less than the preset angle, increase the motor brake adjustment angle to control the motor brake torque direction.

[0094] It should be noted that the preset angle can be 90°, and it can also be set according to the actual situation without limitation in this embodiment.

[0095] In a specific implementation, when the motor is operating against the wind and the bus voltage of the motor control system is greater than a preset voltage, the motor brake adjustment angle is adjusted. When the motor brake adjustment angle is less than 90°, the motor brake adjustment angle is increased to control the direction of the motor brake torque. When the motor is operating against the wind and the bus voltage of the motor control system is less than the preset voltage, the motor brake adjustment angle is adjusted. When the motor brake adjustment angle is greater than 0°, the motor brake adjustment angle is decreased to control the direction of the motor brake torque.

[0096] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as the above second embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , Figure 3 which is a schematic flowchart of the third embodiment of the motor starting against the wind method proposed by the embodiment of the present application.

[0097] Considering the realization of stable braking of the motor and smooth angle for starting against the wind, as Figure 3 shown, step S30 described in this embodiment specifically includes:

[0098] Step S31: According to the direction of the motor brake torque, when the current speed of the motor increases, the motor current is increased to stop the motor from running.

[0099] Step S32: According to the direction of the motor brake torque, when the current speed of the motor decreases, the motor current is decreased to stop the motor from running.

[0100] It should be noted that the motor current is the motor stator current I s , and the load is judged by the speed change: when the speed increases, the load is in a sudden change state, and the motor stator current I s is increased (responding to sudden load change: a sudden increase in speed usually means an increase in load demand, and the motor needs to output a greater torque to cope with it, so the current is increased to meet the demand. Maintaining stable speed: Sudden load changes may cause speed fluctuations, and increasing the current helps to stabilize the speed and prevent stalling or out-of-control. Quickly responding to load changes: Increasing the current can improve the dynamic response ability of the motor to ensure timely adaptation to load changes.); when the speed decreases, the motor is in a stable headwind, and the motor stator current I s is decreased (decreasing load demand: in a stable headwind state, the load demand decreases, and the motor does not need to output a large torque, so the current is decreased to match the actual demand. Preventing overheating: Decreasing the current can reduce motor heating and avoid overheating problems caused by long-term high-current operation. Improving efficiency: Decreasing the current can reduce copper loss and improve motor efficiency, avoiding energy waste. Stable operation: Decreasing the current helps the motor to maintain stable operation at low speeds and prevent vibration or out-of-step).

[0101] In a specific implementation, according to the direction of the motor braking torque, when the current speed of the motor increases, the motor current is increased to stop the motor from running. According to the direction of the motor braking torque, when the current speed of the motor decreases, the motor current is decreased to stop the motor from running, solving the problem of abnormal reverse start caused by drastic changes in the load when the reverse wind environment of the motor changes drastically, and ensuring the safety and reliability of the motor reverse start.

[0102] In addition, to achieve the above object, as Figure 4 shown, the present application also proposes a motor reverse start device, and the device includes:

[0103] A voltage module 10, configured to control the direction of the motor braking torque through a motor braking adjustment angle when the motor is in a reverse wind running state and the bus voltage of the motor control system is greater than a preset voltage;

[0104] A speed module 20, configured to obtain the current speed of the motor through an estimator;

[0105] A current module 30, configured to adjust the motor current to stop the motor from running according to the current speed of the motor and the direction of the motor braking torque;

[0106] A forward rotation module 40, configured to control the motor to start running after the motor stops running.

[0107] The motor reverse start device provided by the present application adopts the motor reverse start method in the above embodiment, and can solve the technical problem of abnormal reverse start caused by drastic changes in the load when the reverse wind environment of the motor changes drastically. Compared with the prior art, the beneficial effects of the motor reverse start device provided by the present application are the same as the beneficial effects of the motor reverse start method provided by the above embodiment, and other technical features in the motor reverse start device are the same as the features disclosed in the method of the above embodiment, and will not be described in detail here.

[0108] In addition, to achieve the above object, the present application also proposes a motor reverse start device, and the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the motor reverse start method.

[0109] As Figure 5As shown, the motor against-the-wind starting device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the motor against-the-wind starting device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the motor against-the-wind starting device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a motor against-the-wind starting device having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be implemented or had alternatively.

[0110] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0111] The motor against-the-wind starting device provided in the present application adopts the motor against-the-wind starting method in the above-mentioned embodiment, and can solve the technical problem of abnormal against-the-wind starting caused by drastic changes in the load when the environment against the wind of the motor changes drastically. Compared with the prior art, the beneficial effects of the motor against-the-wind starting device provided in the present application are the same as the beneficial effects of the motor against-the-wind starting method provided in the above-mentioned embodiment, and other technical features in the motor against-the-wind starting device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0112] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0113] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all of them should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0114] In addition, to achieve the above object, this application also provides a storage medium. The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the motor reverse wind startup method are implemented.

[0115] The computer-readable storage medium provided in this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0116] The above computer-readable storage medium can be included in the motor reverse wind startup device; or it can exist separately without being assembled into the motor reverse wind startup device.

[0117] The above computer-readable storage medium carries one or more programs, which when executed by the motor against-the-wind starting device, cause the motor against-the-wind starting device to: when the motor is in an against-the-wind operating state and the bus voltage of the motor control system is greater than a preset voltage, control the direction of the motor braking torque through the motor braking adjustment angle; obtain the current speed of the motor through an estimator; adjust the motor current according to the current speed of the motor and the direction of the motor braking torque so that the motor stops operating; and after the motor stops operating, control the motor to start operating.

[0118] Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof. The above programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0120] The modules described in the embodiments of the present application may be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0121] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned motor reverse-wind starting method, which can solve the technical problem of abnormal reverse-wind starting caused by drastic changes in load when the reverse-wind environment of the motor changes drastically. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the motor reverse-wind starting method provided by the above embodiments, and will not be elaborated here.

[0122] In addition, to achieve the above object, this application also proposes a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned motor reverse-wind starting method are implemented.

[0123] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A method for starting a motor against the wind, characterized in that, The motor reverse wind startup method includes: When the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage, controlling the direction of the motor braking torque through the motor braking adjustment angle; Obtaining the current speed of the motor through an estimator; Adjusting the motor current according to the current speed of the motor and the direction of the motor braking torque to stop the motor; After the motor stops running, controlling the motor to start running.

2. The motor reverse wind start method according to claim 1, characterized in that Before the step of controlling the direction of the motor braking torque through the motor braking adjustment angle when the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage, it further includes: Obtaining the motor operation parameters; Judging whether the motor is in the reverse wind operation state according to the motor operation parameters.

3. The motor reverse wind startup method according to claim 2, characterized in that, After the step of judging whether the motor is in the reverse wind operation state according to the motor operation parameters, it further includes: When the motor is not in the reverse wind operation state, setting the motor braking adjustment angle to a preset value and returning to the step of controlling the motor to start running after the motor stops running.

4. The method for starting the motor against the wind according to claim 1, wherein, After the step of controlling the direction of the motor braking torque through the motor braking adjustment angle when the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage, it further includes: Detecting the bus voltage of the motor control system and determining the change slope of the voltage; Reducing the braking demagnetization when the change slope is greater than the preset threshold; Increasing the braking demagnetization when the change slope is less than the preset threshold.

5. The motor reverse wind starting method according to claim 1, characterized in that, The step of controlling the direction of the motor braking torque through the motor braking adjustment angle when the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage specifically includes: Adjusting the motor braking adjustment angle when the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage; When the motor braking adjustment angle is less than the preset angle, increasing the motor braking adjustment angle to control the direction of the motor braking torque.

6. The motor reverse wind start method according to claim 1, characterized in that The step of adjusting the motor current according to the current speed of the motor and the direction of the motor braking torque to stop the motor specifically includes: According to the direction of the motor braking torque, when the current speed of the motor increases, increasing the motor current to stop the motor; According to the direction of the motor braking torque, when the current speed of the motor decreases, reducing the motor current to stop the motor.

7. A motor reverse wind start-up device, characterized in that, The device includes: A voltage module for controlling the direction of the motor braking torque through the motor braking adjustment angle when the motor is in the reverse wind operation state and the bus voltage of the motor control system is greater than the preset voltage; A speed module for obtaining the current speed of the motor through an estimator; A current module for adjusting the motor current according to the current speed of the motor and the direction of the motor braking torque to stop the motor; A forward rotation module for controlling the motor to start running after the motor stops running.

8. An electric motor reverse wind start-up device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the motor reverse wind startup method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the motor reverse-wind starting method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that, The computer program product includes a computer program. When the computer program is executed by a processor, the steps of the motor reverse-wind starting method according to any one of claims 1 to 6 are implemented.

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