Constant torque control method and device, computer device, storage medium and program product

Abstract

The application relates to the technical field of motor control, and discloses a constant torque control method and device, computer equipment, a storage medium and a program product, the constant torque control method comprises the following steps: obtaining a target torque and a real-time rotating speed, and obtaining a rotating speed compensation coefficient corresponding to the target torque based on preset data, wherein the rotating speed compensation coefficient is a compensation coefficient of a torque-rotating speed correspondence; compensating the real-time rotating speed by using the rotating speed compensation coefficient, and obtaining an ideal torque based on the rotating speed compensation coefficient and the target torque; obtaining a target power based on the ideal torque and the compensated real-time rotating speed, and controlling by using the target power. The application solves the problem of low constant torque control accuracy.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to constant torque control methods, devices, computer equipment, storage media, and program products. Background Technology

[0002] With the development of technology, motors are widely used. DC brushless motors are used in air conditioning products, especially commercial central air conditioning, which consume a considerable amount of power.

[0003] To ensure a stable cooling or heating experience in terminal air conditioners, constant torque control is required. Constant torque control makes the compressor run more smoothly, avoids room temperature fluctuations caused by sudden changes in cooling capacity, and maintains a more stable level of comfort. Current technologies, which directly control the system using a target torque, cannot achieve accurate constant torque control in practice, leading to unstable cooling or heating experiences in terminal air conditioners. Summary of the Invention

[0004] In view of this, the present invention provides a constant torque control method, device, computer equipment, storage medium and program product to solve the problem of low accuracy in constant torque control.

[0005] In a first aspect, the present invention provides a constant torque control method, the method comprising:

[0006] The target torque and real-time rotational speed are obtained, and the rotational speed compensation coefficient corresponding to the target torque is obtained based on preset data, wherein the rotational speed compensation coefficient is a compensation coefficient for the correspondence between torque and rotational speed;

[0007] The real-time rotational speed is compensated using the rotational speed compensation coefficient, and the ideal torque is obtained based on the rotational speed compensation coefficient and the target torque.

[0008] The target power is obtained based on the ideal torque and the compensated real-time rotational speed, and the control is performed using the target power.

[0009] The constant torque control method provided by this invention obtains the target torque by preset data to get the corresponding speed compensation coefficient, and then compensates for the speed based on the speed compensation coefficient. It also adjusts the target torque based on the speed compensation coefficient to obtain the ideal torque, and then obtains the target power based on the ideal torque and the compensated real-time speed. Finally, it controls the system based on the target power. Therefore, compared with the traditional method of directly obtaining power based on real-time speed and target torque, it compensates for the speed change caused by torque, thereby greatly improving the accuracy of constant torque control and thus improving the stability of the cooling or heating experience on the terminal air conditioner.

[0010] In some feasible implementations, the step of compensating for the real-time rotational speed using the rotational speed compensation coefficient includes:

[0011] The speed compensation coefficient and the real-time speed are added together to compensate for the real-time speed.

[0012] The step of obtaining the ideal torque based on the speed compensation coefficient and the target torque includes:

[0013] The first preset speed is compensated by a speed compensation coefficient;

[0014] Under the target torque, confirm the first preset bus power corresponding to the first preset rotational speed;

[0015] The ideal torque is obtained by quotient of the first preset bus power and the compensated first preset speed.

[0016] In some feasible implementations, the step of determining the first preset bus power corresponding to the first preset rotational speed under the target torque includes:

[0017] Confirm multiple first preset torques;

[0018] Running the first preset speed, and under multiple first preset torque states, confirming the first preset test bus power, and confirming the first correlation between the first preset test bus power and the first preset torque under the first preset speed;

[0019] Based on the target torque and the first correlation, the first preset bus power is obtained.

[0020] In some feasible implementations, the step of obtaining the rotational speed compensation coefficient corresponding to the target torque based on preset data includes:

[0021] Confirm multiple second preset torques, confirm multiple second preset speeds;

[0022] Run each of the second preset speeds, and under multiple second preset torque states, confirm the second preset experimental bus power, and based on the torque equation, the second preset experimental bus power and the second preset speed, confirm the second correlation between the preset torque and the speed compensation coefficient;

[0023] Based on the target torque and the second correlation, the speed compensation coefficient corresponding to the target torque is determined.

[0024] In some feasible implementations, the constant torque control method further includes:

[0025] Confirm the torque limit of the motor, and use multiple preset percentages of the torque limit as multiple preset torques.

[0026] In some feasible implementations, the step of controlling via the target power includes:

[0027] Acquire real-time bus power and detect the data relationship between the target power and the real-time bus power;

[0028] Based on the aforementioned data relationship, the duty cycle is adjusted to maintain a constant output of the target torque.

[0029] In a second aspect, the present invention provides a power control device, the device comprising:

[0030] The acquisition module is used to acquire the target torque and real-time rotational speed, and to acquire the rotational speed compensation coefficient corresponding to the target torque based on preset data, wherein the rotational speed compensation coefficient is a compensation coefficient for the correspondence between torque and rotational speed;

[0031] The compensation module is used to compensate for the real-time rotational speed using the rotational speed compensation coefficient, and to obtain the ideal torque based on the rotational speed compensation coefficient and the target torque.

[0032] The control module is used to obtain the target power based on the ideal torque and the compensated real-time rotational speed, and to perform control based on the target power.

[0033] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the constant torque control method of the first aspect or any corresponding embodiment described above.

[0034] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the constant torque control method of the first aspect or any corresponding embodiment thereof.

[0035] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the constant torque control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1This is a flowchart illustrating a constant torque control method according to an embodiment of the present invention;

[0038] Figure 2 This is a flowchart illustrating another constant torque control method according to an embodiment of the present invention;

[0039] Figure 3 This is a structural block diagram of a power control device according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] With the development of technology, motors are widely used. DC brushless motors are used in air conditioning products, especially commercial central air conditioning, which consume a considerable amount of power.

[0043] To ensure a stable cooling or heating experience in terminal air conditioners, constant torque control is required. Constant torque control makes the compressor run more smoothly, avoids room temperature fluctuations caused by sudden changes in cooling capacity, and maintains a more stable level of comfort. Current technologies, which directly control the system using a target torque, cannot achieve accurate constant torque control in practice, leading to unstable cooling or heating experiences in terminal air conditioners.

[0044] According to an embodiment of the present invention, a constant torque control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0045] This embodiment provides a constant torque control method, which can be used in the aforementioned mobile terminals, such as mobile phones and tablet computers. Figure 1 This is a flowchart of a constant torque control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0046] Step S101: Obtain the target torque and real-time rotational speed, and obtain the rotational speed compensation coefficient corresponding to the target torque based on preset data, wherein the rotational speed compensation coefficient is the compensation coefficient for the correspondence between torque and rotational speed.

[0047] Specifically, ideally, torque is proportional to the square of rotational speed. However, in practical applications, the relationship between torque and rotational speed is not ideal. Therefore, speed compensation is needed for real-time rotational speed, and this speed compensation coefficient corresponds to the torque. Optionally, the target torque and speed compensation coefficient are calculated based on preset data. The preset data includes: preset torque, preset rotational speed, and preset power.

[0048] For example, the target torque is Tset, the real-time speed is Na, the speed compensation coefficient is K, and the speed compensation coefficient corresponding to the target torque is Kset.

[0049] Step S102: Compensate for the real-time rotational speed using the rotational speed compensation coefficient, and obtain the ideal torque based on the rotational speed compensation coefficient and the target torque.

[0050] Specifically, after obtaining the speed compensation coefficient corresponding to the target torque, compensation is performed based on the current real-time speed. Simultaneously, the target torque is adjusted based on the speed compensation coefficient to obtain the ideal torque.

[0051] It is understandable that the ideal torque is the torque that needs to be controlled after compensation based on the speed compensation coefficient.

[0052] For example, the ideal torque is Tideal.

[0053] Optionally, compensation can be achieved by superimposing the current real-time rotational speed onto the current real-time rotational speed.

[0054] Step S103: Target power is obtained based on the ideal torque and the compensated real-time rotational speed, and control is performed using the target power.

[0055] Specifically, the target power is obtained by using the ideal torque and the compensated real-time speed. The duty cycle of the inverter is then adjusted using the target power and the PID control algorithm, thereby ensuring a stable cooling or heating experience on the terminal air conditioner.

[0056] For example, the target power is Pset, where Pset = Tideal * (Na + Kset).

[0057] The constant torque control method provided by this invention obtains the target torque by preset data to get the corresponding speed compensation coefficient, and then compensates for the speed based on the speed compensation coefficient. It also adjusts the target torque based on the speed compensation coefficient to obtain the ideal torque, and then obtains the target power based on the ideal torque and the compensated real-time speed. Finally, it controls the system based on the target power. Therefore, compared with the traditional method of directly obtaining power based on real-time speed and target torque, it compensates for the speed change caused by torque, thereby greatly improving the accuracy of constant torque control and thus improving the stability of the cooling or heating experience on the terminal air conditioner.

[0058] In some optional embodiments, step S102, "compensating for the real-time speed using the speed compensation coefficient," includes:

[0059] Step (1): Add the speed compensation coefficient and the real-time speed to compensate for the real-time speed;

[0060] Specifically, the speed compensation coefficient and the real-time speed are added together to compensate for the target torque corresponding to the real-time speed.

[0061] For example, the compensated real-time rotational speed is Na+Kset.

[0062] Step S102, "obtaining the ideal torque based on the speed compensation coefficient and the target torque," includes:

[0063] Step (1): Compensate for the first preset speed using the speed compensation coefficient;

[0064] Specifically, the first preset speed is a preset speed, which can be any speed. Optionally, using the middle speed within the speed range will yield better results. For example, if the speed range is 300 to 1400, using the middle speed of 40% to 60% will yield better results.

[0065] For example, the first preset speed can be 1050 rpm. The compensated first preset speed is 1050 + Kset.

[0066] Step (2): Under the target torque, confirm the first preset bus power corresponding to the first preset speed;

[0067] Specifically, the first preset bus power is determined by operating at a first preset speed and applying a target torque. It can be understood that the first preset bus power can be obtained based on a first correlation relationship or by actual measurement.

[0068] For example, the first preset bus power is P(1050).

[0069] Step (3): Based on the quotient of the first preset bus power and the compensated first preset speed, the ideal torque is obtained.

[0070] For example, Tideal = P(1050) / (1050+Kset).

[0071] In some optional implementations, step (2) includes:

[0072] Step 1: Confirm multiple first preset torques;

[0073] Specifically, the multiple first preset torques are all different.

[0074] For example, the multiple first preset torques are 5%, 25%, 50%, 75%, and 100% of the maximum torque Tmax, respectively.

[0075] Step 2: Run the first preset speed, and under multiple first preset torque states, confirm the first preset test bus power, and confirm the first correlation between the first preset test bus power and the first preset torque under the first preset speed;

[0076] Specifically, the circuit operates at a first preset rotational speed, and under different first preset torque conditions, the first preset experimental voltage and the first preset experimental current are collected. The first preset experimental bus power is then obtained based on the product of the first preset experimental voltage and the first preset experimental current and a preset coefficient relationship. The obtained data is shown in Table 1 below.

[0077] Then, based on the obtained first preset experimental bus power and first preset torque, the first correlation relationship between the first preset experimental bus power and the first preset torque is obtained. That is, P(1050) = f(Tset), which is a quadratic function. It is worth noting that there are at least three first preset torques, thus forming a curve.

[0078] 5% Tmax 59 312 1150.50 25% Tmax 126 305 2401.88 50% Tmax 249 298 4637.63 75% Tmax 384 292 7008.00 100% Tmax 538 287 9650.38

[0079] Table 1

[0080] It is worth noting that P(rmp) = f(T) can be obtained for each rotational speed.

[0081] Step 3: Based on the target torque and the first correlation, obtain the first preset bus power.

[0082] Specifically, by substituting the target torque Tset into P(1050)=f(T), we obtain P(1050).

[0083] In some optional real-time methods, step S101, "obtaining the speed compensation coefficient corresponding to the target torque based on preset data," includes:

[0084] Step 1: Confirm multiple second preset torques and multiple second preset rotational speeds;

[0085] Specifically, the multiple second preset torques can be the same as or different from the multiple first preset torques. The multiple second preset torques are 5%, 25%, 50%, 75%, and 100% of the maximum torque Tmax, respectively.

[0086] For example, the multiple second preset speeds can be 300 rpm and 1050 rpm.

[0087] Step 2: Run each of the second preset speeds, and under multiple second preset torque states, confirm the second preset test bus power, and based on the torque equation, the second preset test bus power and the second preset speed, confirm the second correlation between the torque and the speed compensation coefficient;

[0088] Specifically, the system operates at a second preset speed, and under different second preset torque conditions, it first collects the second preset experimental voltage and the second preset experimental current. Based on the product of the second preset experimental voltage and the second preset experimental current and a preset coefficient relationship, the second preset experimental bus power is obtained. The second preset speed is 300 rpm, and the obtained data is shown in Table 2 below. Specifically, the first correlation relationship or table between the preset torque and the preset experimental bus power at multiple speeds is obtained. Data for the second preset speed of 1050 rpm is shown in Table 1.

[0089] 5% Tmax 21 319 418.69 25% Tmax 42 314 824.25 50% Tmax 82 308 1578.50 75% Tmax 130 304 2470.00 100% Tmax 190 300 3562.50

[0090] Table 2

[0091] Specifically, (300+K) / (1050+K) = P(300) / P(1050). This formula is a torque equation, meaning that under the same torque, the proportional relationship between two second preset speeds yields the speed compensation coefficient. If there are three or four equal second preset speeds, the speed compensation coefficient is obtained through the pairwise proportional relationships. For each second preset torque, substitute the corresponding P(300) and P(1050) into this formula to obtain the K value. See Table 3 for details.

[0092]

[0093]

[0094] Table 3

[0095] It is worth noting that at least three sets of K values ​​are needed for different second preset torques to form a relationship curve. Specifically, based on the relationship between the second preset torque and the K value, the second correlation between torque and speed compensation coefficient is obtained, i.e., K = f(T), which is a quadratic function.

[0096] It should be noted that the second preset experimental bus power, such as P(1050), can also be obtained based on the first correlation relationship.

[0097] Step 3: Based on the target torque and the second correlation, confirm the speed compensation coefficient corresponding to the target torque.

[0098] Specifically, by substituting the target torque Tset into K = f(T), we obtain the K corresponding to the target torque.

[0099] Among the optional real-time methods, the constant torque control method also includes:

[0100] Step 1: Confirm the torque limit of the motor, and use multiple preset percentages of the torque limit as multiple preset torques.

[0101] Specifically, the torque limit is the maximum torque Tmax of the motor, with multiple preset torque values ​​of 5%, 25%, 50%, 75%, and 100% of Tmax. Of course, it can also be any percentage.

[0102] In some optional real-time methods, the step of obtaining the ideal torque based on the speed compensation coefficient and the target torque includes:

[0103] The first preset speed is compensated by a speed compensation coefficient;

[0104] Under the target torque, confirm the first preset bus power corresponding to the first preset rotational speed;

[0105] The ideal torque is obtained by quotient of the first preset bus power and the compensated first preset speed.

[0106] In some optional real-time methods, step S103, "controlling via the target power," includes:

[0107] Step (1): Obtain the real-time bus power and detect the data relationship between the target power and the real-time bus power.

[0108] Specifically, refer to Figure 2The real-time bus power can be obtained based on the bus voltage and bus current. Specifically, the real-time AC bus voltage and current are collected, and the AC real-time bus voltage is converted to DC real-time bus voltage, and the AC real-time bus current is converted to DC real-time bus current. Then, the real-time bus power is obtained by multiplying the DC real-time bus voltage and current. The real-time bus power is then quantized, based on the chip's analog-to-digital conversion accuracy. Finally, the data magnitude relationship between the target power and the real-time bus power is detected.

[0109] Optionally, the data relationship between the target power and the real-time bus power includes the difference between the target power and the real-time bus power.

[0110] Step (2): Based on the data relationship, adjust the duty cycle to output the target torque at a constant rate.

[0111] Specifically, based on the difference between the target power and the real-time bus power, the duty cycle of the inverter's PWM (Pulse Width Modulation) is adjusted to maintain a constant target torque output. Therefore, when the voltage changes, the difference between the target power and the real-time bus power can compensate for instability caused by voltage variations. This solves the problem in existing technologies where power delivery to the air conditioning terminal equipment results in significant voltage loss and voltage fluctuations during peak grid usage. This application ensures a stable cooling or heating experience for the terminal air conditioner, requiring the indoor air conditioning motor to detect the actual voltage situation and compensate for motor torque output based on voltage attenuation.

[0112] For example, refer to Figure 2 If the target power is greater than the real-time bus power, the inverter PWM duty cycle is increased; if the target power is less than the real-time bus power, the inverter PWM duty cycle is decreased. If the real-time voltage decreases (Pdc = vdc * idc), and the real-time bus power also decreases, the Pdc balance in the constant torque loop will be broken. To ensure the power remains the same, the PWM is automatically increased until the balance window is reached (i.e., the current bus power equals the target power), at which point adjustment stops. If the real-time voltage increases and the real-time bus power also increases, the PWM is automatically decreased to ensure the power remains the same until the balance window is reached (i.e., the current bus power equals the target power), at which point adjustment stops. If the target torque decreases and the target power also decreases, the PWM is automatically decreased to ensure the power remains the same. If the target torque increases and the target power also increases, the PWM is automatically increased to ensure the power remains the same.

[0113] Where Pdc is the DC power value of the DC bus, vdc is the DC voltage value of the motor DC bus, and idc is the DC current value of the motor DC bus.

[0114] This embodiment provides a power control device, such as... Figure 3 As shown, it includes:

[0115] The acquisition module 501 is used to acquire the target torque and real-time rotational speed, and to acquire the rotational speed compensation coefficient corresponding to the target torque based on preset data, wherein the rotational speed compensation coefficient is a compensation coefficient for the correspondence between torque and rotational speed.

[0116] The compensation module 502 is used to compensate for the real-time rotational speed using the rotational speed compensation coefficient, and to obtain the ideal torque based on the rotational speed compensation coefficient and the target torque.

[0117] The control module 503 is used to obtain the target power based on the ideal torque and the compensated real-time rotational speed, and to perform control based on the target power.

[0118] In some alternative implementations, the compensation module 502 includes:

[0119] The first compensation unit is used to compensate for the first preset speed by means of a speed compensation coefficient;

[0120] The first confirmation unit is used to confirm the first preset bus power corresponding to the first preset speed under the target torque;

[0121] The calculation unit obtains the ideal torque based on the quotient of the first preset bus power and the compensated first preset speed.

[0122] In some optional implementations, the first confirmation unit includes:

[0123] The first confirmation subunit is used to confirm multiple first preset torques;

[0124] The first associated subunit is used to run the first preset speed and, under multiple first preset torque states, confirm the first preset test bus power and confirm the first association relationship between the first preset test bus power and the first preset torque under the first preset speed.

[0125] The first calculation subunit obtains the first preset bus power based on the target torque and the first correlation relationship.

[0126] In some optional implementations, the acquisition module 501 includes:

[0127] The second confirmation unit is used to confirm multiple second preset torques and multiple second preset rotation speeds;

[0128] The third confirmation unit is used to run each of the second preset speeds and, under multiple second preset torque states, confirm the second preset test bus power, and based on the torque equation, the second preset test bus power, and the second preset speed, confirm the second correlation between the preset torque and the speed compensation coefficient.

[0129] The fourth confirmation unit is used to confirm the rotational speed compensation coefficient corresponding to the target torque based on the target torque and the second correlation.

[0130] In some optional implementations, the acquisition module 501 includes:

[0131] The fifth confirmation unit is used to confirm the torque limit of the motor and to use multiple preset percentages of the torque limit as multiple preset torques.

[0132] In some alternative implementations, the control module 503 includes:

[0133] The first acquisition unit is used to acquire the real-time bus power and detect the data relationship between the target power and the real-time bus power;

[0134] The output unit is used to adjust the duty cycle based on the data relationship to output the target torque at a constant rate.

[0135] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0136] In this embodiment, the power control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0137] This invention also provides a computer device having the above-described features. Figure 3 The power control device shown.

[0138] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 4As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 4 Take a processor 10 as an example.

[0139] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0140] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0141] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0142] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0143] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0144] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0145] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0146] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0147] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A constant torque control method, characterized in that, The method includes: The target torque and real-time rotational speed are obtained, and the rotational speed compensation coefficient corresponding to the target torque is obtained based on preset data, wherein the rotational speed compensation coefficient is a compensation coefficient for the correspondence between torque and rotational speed; The speed compensation coefficient and the real-time speed are added together to compensate for the real-time speed. The first preset speed is compensated by a speed compensation coefficient, wherein the first preset speed is a fixed speed value pre-selected within the working speed range; Under the target torque, confirm the first preset bus power corresponding to the first preset rotational speed; The ideal torque is obtained by quotient of the first preset bus power and the compensated first preset speed. The target power is obtained based on the ideal torque and the compensated real-time rotational speed, and the control is performed using the target power.

2. The method according to claim 1, characterized in that, The step of determining the first preset bus power corresponding to the first preset rotational speed under the target torque includes: Confirm multiple first preset torques; Running the first preset speed, and under multiple first preset torque states, confirming the first preset test bus power, and confirming the first correlation between the first preset test bus power and the first preset torque under the first preset speed; Based on the target torque and the first correlation, the first preset bus power is obtained.

3. The method according to claim 1, characterized in that, The step of obtaining the speed compensation coefficient corresponding to the target torque based on preset data includes: Confirm multiple second preset torques, confirm multiple second preset speeds; Run each of the second preset speeds, and under multiple second preset torque states, confirm the second preset experimental bus power, and based on the torque equation, the second preset experimental bus power and the second preset speed, confirm the second correlation between the preset torque and the speed compensation coefficient; Based on the target torque and the second correlation, the speed compensation coefficient corresponding to the target torque is determined.

4. The method according to claim 2 or 3, characterized in that, The constant torque control method further includes: Confirm the torque limit of the motor, and use multiple preset percentages of the torque limit as multiple preset torques.

5. The method according to claim 1, characterized in that, The step of controlling the target power includes: Acquire real-time bus power and detect the data relationship between the target power and the real-time bus power; Based on the aforementioned data relationship, the duty cycle is adjusted to maintain a constant output of the target torque.

6. A power control device, characterized in that, The device includes: The acquisition module is used to acquire the target torque and real-time rotational speed, and to acquire the rotational speed compensation coefficient corresponding to the target torque based on preset data, wherein the rotational speed compensation coefficient is a compensation coefficient for the correspondence between torque and rotational speed; The compensation module is used to add the speed compensation coefficient and the real-time speed to compensate for the real-time speed, and to compensate for the first preset speed through the speed compensation coefficient. The first preset speed is a fixed speed value pre-selected within the working speed range. Under the target torque, the first preset bus power corresponding to the first preset speed is determined. Based on the quotient of the first preset bus power and the compensated first preset speed, the ideal torque is obtained. The control module is used to obtain the target power based on the ideal torque and the compensated real-time rotational speed, and to perform control based on the target power.

7. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the constant torque control method according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the constant torque control method according to any one of claims 1 to 5.

9. A computer program product, characterized in that, Includes computer instructions for causing a computer to execute the constant torque control method according to any one of claims 1 to 5.

Images