Motor control method, device and equipment and computer readable storage medium

Abstract

The invention discloses a motor control method, device and equipment and a computer readable storage medium, and relates to the field of motor control, and the motor control method comprises the steps: obtaining a rotating speed sampling value of a motor; adjusting filtering parameters based on the motion process of the rotating speed sampling value, wherein the motion process comprises a constant speed process and a constant speed change process; processing the rotating speed sampling value through the time-varying filter after the current filtering parameter is adjusted to obtain a rotating speed feedback value; and the electromagnetic torque output by the motor is adjusted based on the rotating speed feedback value, so that the electromagnetic torque and the load torque of the motor meet the dynamic torque balance condition. According to the method, the problem of control delay caused by inherent contradiction between noise suppression and transient response of the low-pass filter can be solved, the electromagnetic torque and the load torque are kept in dynamic balance all the time, and the control precision and the response speed of a crane system under noise interference are improved.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a motor control method, device, equipment and computer-readable storage medium. Background Art

[0002] As industrial production scales up, cranes must quickly and accurately handle materials to improve efficiency. Stable speed control in their drive systems is crucial for safe operation. Currently, frequency converter (VFD) speed regulation technology, with its wide speed range and high dynamic response, has become the mainstream solution for crane speed regulation. Its control system relies on accurate speed feedback signals for precise speed regulation. However, during crane load lifting, the speed signal often contains various high-frequency noises due to mechanical vibration, motor electromagnetic interference, load unevenness, and external environmental factors, affecting feedback accuracy.

[0003] To suppress this type of noise, low-pass filters are commonly used in engineering to process speed signals. However, low-pass filters present a fundamental conflict between their requirements for short transient response and high-disturbance attenuation. While a low cutoff frequency effectively attenuates high-frequency noise and reduces speed fluctuations, it significantly prolongs the adjustment time and introduces phase lag, causing the filtered speed signal to lag behind actual changes. This lag directly impacts the dynamic response of the VFD speed regulation system, compromising control accuracy and response speed for crane control systems with demanding real-time performance.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. Summary of the Invention

[0005] The purpose of the present invention is to provide a motor control method, device, equipment and computer-readable storage medium that can resolve the control delay problem caused by the inherent contradiction between noise suppression and transient response of the low-pass filter, so that the electromagnetic torque and load torque always maintain a dynamic balance, and improve the control accuracy and response speed of the crane system under noise interference.

[0006] To solve the above technical problems, the present invention provides a motor control method, comprising:

[0007] Get the motor speed sampling value;

[0008] Adjusting current filtering parameters of a time-varying filter based on a current motion process of the motor represented by the speed sampling value, wherein the motion process includes at least one of a uniform speed process and a constant speed process;

[0009] The speed sampling value is processed by a time-varying filter after adjusting the current filtering parameters to obtain a speed feedback value;

[0010] The electromagnetic torque output by the motor is adjusted based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

[0011] Optionally, the current filtering parameters include a damping ratio and a cutoff angular frequency;

[0012] The adjusting of the current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes:

[0013] When the current motion process of the motor represented by the speed sampling value is a constant speed change process, the damping ratio is controlled to change according to a first trend, and the cutoff angular frequency is controlled to change according to a second trend; the first trend is in the same direction as the speed change trend in the constant speed change process, and the second trend is in the opposite direction to the speed change trend in the constant speed change process.

[0014] Optionally, the method further includes:

[0015] Determining current time-varying parameters; the current time-varying parameters include a preset initial damping ratio, a preset final damping ratio, a preset damping ratio adjustment rate, a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate;

[0016] When the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the damping ratio to change according to a first trend and controlling the cutoff angular frequency to change according to a second trend includes:

[0017] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to a first trend according to the preset initial damping ratio, the preset final damping ratio and the preset damping ratio adjustment rate, and the cutoff angular frequency is controlled to change according to a second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency and the preset cutoff angular frequency adjustment rate.

[0018] Optionally, when the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the damping ratio to change according to a first trend according to the preset initial damping ratio, the preset final damping ratio, and the preset damping ratio adjustment rate includes:

[0019] When the current motion process of the motor represented by the speed sampling value is a constant speed process, determining a damping ratio adjustment value for each sampling period based on a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio adjustment rate;

[0020] For each of the sampling periods, the damping ratio of the sampling period is obtained according to the damping ratio adjustment value and the preset final damping ratio.

[0021] Optionally, when the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the cutoff angular frequency to change according to a second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency adjustment rate includes:

[0022] When the current motion process of the motor represented by the speed sampling value is a constant speed process, a cutoff angular frequency adjustment value of each sampling period is determined based on a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate;

[0023] For each of the sampling periods, the cutoff angular frequency of the sampling period is obtained according to the cutoff angular frequency adjustment value and the preset final cutoff angular frequency.

[0024] Optionally, determining the current time-varying parameter includes:

[0025] determining candidate time-varying parameters;

[0026] configuring a time-varying filter based on the candidate time-varying parameters, filtering the input signal to obtain a filtered signal;

[0027] If the current application scenario is a first accuracy requirement scenario, determining a fitness function value based on a first performance indicator of the filtered signal in a steady-state operation phase;

[0028] If the current application scenario is the second precision requirement scenario, determining a fitness function value based on the first performance indicator of the filtered signal in the steady-state operation phase, the second performance indicator in the dynamic conversion phase, and the third performance indicator in the target dynamic operation phase;

[0029] The candidate time-varying parameters are updated based on the fitness function value, and an operation of configuring a time-varying filter based on the candidate time-varying parameters is entered until a termination condition is met, and the optimized current time-varying parameters are output.

[0030] Optionally, adjusting current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes:

[0031] When the current motion process of the motor represented by the speed sampling value is a uniform speed process, the damping ratio is controlled to be maintained at a final damping ratio, and the cutoff angular frequency is controlled to be maintained at a final cutoff angular frequency.

[0032] To solve the above technical problems, the present invention further provides a motor control device, comprising:

[0033] The acquisition module is used to obtain the speed sampling value of the motor;

[0034] An adjustment module, configured to adjust current filtering parameters of the time-varying filter based on a current motion process of the motor represented by the speed sampling value, wherein the motion process includes at least one of a uniform speed process and a constant speed process;

[0035] A filtering module, configured to process the speed sampling value through a time-varying filter after adjusting current filtering parameters to obtain a speed feedback value;

[0036] A control module is used to adjust the electromagnetic torque output by the motor based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

[0037] To solve the above technical problems, the present invention further provides an electronic device, comprising:

[0038] memory for storing computer programs;

[0039] A processor is configured to implement the steps of any one of the motor control methods described above when executing the computer program.

[0040] To solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor control method described in any one of the above items are implemented.

[0041] The present invention provides a motor control method. After obtaining the speed sampling value of the motor, the filtering parameters of the time-varying filter are adjusted according to the characteristics of the uniform speed process or the constant speed change process in which the speed sampling value is located, so that the speed feedback value filtered by the time-varying filter can track the actual speed change in real time during the constant speed change process, and can fully suppress the speed feedback fluctuation caused by high-frequency noise during the uniform speed process. The electromagnetic torque output by the motor is adjusted according to the filtered speed feedback value, so that the electromagnetic torque and the load torque of the motor meet the dynamic torque balance condition, offset the load disturbance, solve the control delay problem caused by the inherent contradiction between noise suppression and transient response of the low-pass filter, so that the electromagnetic torque and the load torque always maintain dynamic balance, and improve the control accuracy and response speed of the crane system under noise interference.

[0042] The present invention also provides a speed control system, an electronic device and a computer-readable storage medium, which have the same beneficial effects as the above-mentioned motor control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] Figure 1 A flowchart of a motor control method provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a simplified model of a crane hoisting mechanism lifting a load provided by an embodiment of the present invention;

[0046] Figure 3 A block diagram of a time-varying low-pass filtering speed control strategy provided by an embodiment of the present invention;

[0047] Figure 4 A schematic diagram of a cutoff angular frequency iteration curve provided by an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of system response under different damping ratios and cutoff angular frequencies provided by an embodiment of the present invention;

[0049] Figure 6 A schematic diagram of a damping ratio iteration curve provided by an embodiment of the present invention;

[0050] Figure 7 A schematic diagram of a curve showing the change of the angular velocity of a motor shaft over time provided by an embodiment of the present invention;

[0051] Figure 8 A schematic structural diagram of a motor control device provided by the present invention;

[0052] Figure 9 The figure is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0053] The core of the present invention is to provide a motor control method, device, equipment and computer-readable storage medium, which can solve the control delay problem caused by the inherent contradiction between noise suppression and transient response of the low-pass filter, so that the electromagnetic torque and load torque always maintain a dynamic balance, and improve the control accuracy and response speed of the crane system under noise interference.

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0055] First, please refer to Figure 1 , an embodiment of the present invention provides a motor control method, comprising:

[0056] S101: Obtain the motor speed sampling value.

[0057] It can be understood that the motor drive system includes but is not limited to a motor, a transmission system and a load. The motor drive system in this embodiment can be applied to different scenarios, such as Figure 2 As shown, Figure 2 It is a motor drive system used in crane lifting scenarios (that is, the crane's lifting mechanism), which is mainly composed of an electric motor (motor), a reducer, a drum, a wire rope and a load. The motor drives the drum to rotate through the reducer, and the drum is wound with a wire rope to drive the load up or down.

[0058] The speed sampling value in this embodiment may specifically be the actual angular velocity measurement of the motor shaft, which can be obtained by real-time acquisition of the raw speed signal by a speed sensor, including but not limited to magnetoelectric sensors and photoelectric encoders. It is understood that during the process of lifting or lowering a load, a crane is affected by factors such as mechanical vibration, electromagnetic interference from the motor, load unevenness, and the external environment. Therefore, the speed sampling value in this embodiment is the raw speed signal containing mechanical vibration / electromagnetic interference noise.

[0059] Specifically, this embodiment can obtain the speed sampling value of the motor according to the sampling period. On the one hand, it can identify the movement process of the speed by the change of the speed sampling value in continuous periods. On the other hand, it provides the original input for the time-varying filter so that the time-varying filter can filter the speed sampling value to generate a more accurate speed feedback value for subsequent motor torque balance control.

[0060] S102: adjusting current filtering parameters of a time-varying filter based on a current motion process of the motor represented by the speed sampling value, where the motion process includes at least one of a uniform speed process and a constant speed process.

[0061] In this embodiment, it is first determined whether the current motion process of the motor, as represented by the speed sampling value, is a uniform speed process or a constant speed change process. The constant speed change process includes a constant acceleration process or a constant deceleration process. It will be appreciated that during a uniform speed process, interference sources include, but are not limited to, motor electromagnetic noise and mechanical vibration. Therefore, the parameter adjustment objectives of the time-varying filter during a uniform speed process are to filter out high-frequency noise and suppress resonant peaks. During a constant speed change process, control requirements include, but are not limited to, sudden load changes (such as a heavy object falling) and differences in acceleration / deceleration characteristics. Therefore, the parameter adjustment objectives of the time-varying filter during a constant acceleration process are to reduce signal lag.

[0062] Since the parameter adjustment targets of the time-varying filter are different in different motion processes, this embodiment can determine the operation process of the motor based on the motor speed sampling value, and set different filter parameter adjustment methods for different motion processes of the motor, that is, adjust the filter parameters according to the motion process of the motor represented by the speed sampling value, so as to enhance noise suppression in the uniform speed process and optimize transient response in the constant acceleration process.

[0063] The current filtering parameters of the time-varying filter are design variables of the time-varying filter, including but not limited to the cutoff angular frequency and the damping ratio.

[0064] S103: Processing the speed sampling value by using the time-varying filter after adjusting the current filtering parameters to obtain a speed feedback value.

[0065] In this embodiment, after the speed sampling value is input into the time-varying filter, the time-varying filter filters the speed sampling value according to the filtering parameters adjusted in S102 to obtain a speed feedback value. The speed feedback value is the speed signal with the interference noise removed. It can track the actual speed change in real time during the constant speed change process, and can fully suppress the speed feedback fluctuation caused by high-frequency noise during the uniform speed process.

[0066] S104: Adjusting the electromagnetic torque output by the motor based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

[0067] In this embodiment, a dynamic torque balance condition is first established based on the motor's structure. This condition ensures that the electromagnetic torque and load torque in the motor maintain a dynamic balance. Specifically, after obtaining a speed feedback value, the load torque in the motor is calculated based on the speed feedback value. The electromagnetic torque output by the motor is then determined based on the load torque and the dynamic torque balance condition. Based on this electromagnetic torque output, the torque current of the inverter is adjusted to ensure that the motor can adapt to varying load changes and maintain stable system operation.

[0068] Still Figure 2Taking the hoisting mechanism of the crane shown in the figure as an example, in order to simplify the dynamic modeling process of the crane hoisting mechanism, the rotational inertia of the rotating parts such as the motor rotor, reducer and drum is converted to the motor shaft. The motor shaft is taken as the research object, and its motion equation can be expressed as:

[0069] (1);

[0070] It can be understood that in this embodiment, formula (1) is determined as the dynamic torque balance condition corresponding to the motor, J is the equivalent moment of inertia on the motor shaft, is the angular velocity of the motor shaft, is the electromagnetic torque output by the motor, is the load torque, and B is the viscous damping coefficient. When the motor reaches a stable state, the electromagnetic torque output by the motor , load torque and damping torque The balance point is the target of speed stability control. By adjusting the motor input, the motor can keep running near the balance point under various working conditions. Since the load moves in the vertical direction during the lifting process, its motion equation is:

[0071] (2);

[0072] In formula (2), m is the mass of the load, h is the lifting height of the load, F is the tension of the wire rope on the load, g is the acceleration, and R is the radius of the drum.

[0073] Combine Figure 1 , formula (1) and formula (2), this embodiment establishes the following Figure 3 The time-varying low-pass filter speed control strategy block diagram is shown in FIG. , where the time-varying low-pass filter model is: , is the cut-off angular frequency, is the damping ratio.

[0074] In an exemplary embodiment, the speed feedback value is obtained by processing the speed sampling value through the time-varying filter after adjusting the current filtering parameters, including:

[0075] Determine the filter parameters according to the adjusted filter parameters;

[0076] After configuring the time-varying filter according to the filter parameters, the speed sampling value is processed by the time-varying filter to obtain the speed feedback value.

[0077] In this embodiment, Figure 3 The discrete expression of the time-varying filter shown is:

[0078] (3);

[0079] Among them, X(n) is the time-varying filter input of the nth sampling period, and Y(n) is the time-varying filter output of the nth sampling period. 、 、 and is the filter parameter of the time-varying filter, based on the filter parameters (cutoff angular frequency , damping ratio ) According to formula (4), the parameters of each filter can be determined.

[0080] (4);

[0081] Where T is the sampling period.

[0082] It can be seen that in this embodiment, after obtaining the speed sampling value of the motor, the filtering parameters of the time-varying filter are adjusted according to the characteristics of the uniform speed process or the constant speed change process in which the speed sampling value is located, so that the speed feedback value filtered by the time-varying filter can track the actual speed change in real time during the constant speed change process, and can fully suppress the speed feedback fluctuation caused by high-frequency noise during the uniform speed process, and adjust the electromagnetic torque output by the motor according to the filtered speed feedback value, so that the electromagnetic torque and the load torque of the motor meet the dynamic torque balance condition, offset the load disturbance, and solve the control delay problem caused by the inherent contradiction between noise suppression and transient response of the low-pass filter, so that the electromagnetic torque and the load torque always maintain dynamic balance, thereby improving the control accuracy and response speed of the crane system under noise interference.

[0083] Based on the above embodiment:

[0084] In an exemplary embodiment, the current filtering parameters include a damping ratio and a cutoff angular frequency;

[0085] Adjusting the current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes:

[0086] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend, and the cutoff angular frequency is controlled to change according to the second trend; the first trend is in the same direction as the speed change trend during the constant speed process, and the second trend is in the opposite direction to the speed change trend during the constant speed process;

[0087] When the current motion process of the motor represented by the speed sampling value is a uniform speed process, the damping ratio is controlled to be maintained at the final damping ratio, and the cutoff angular frequency is controlled to be maintained at the final cutoff angular frequency.

[0088] It can be understood that the filtering characteristics of the time-varying filter depend on the selection of the cutoff angular frequency. The smaller the selected cutoff angular frequency, the better the filtering effect of the filter, but at the same time the phase delay caused is greater, and fast response cannot be achieved. Therefore, it is necessary to synchronously adjust the damping ratio to optimize the dynamic performance of the system.

[0089] In this embodiment, the constant speed change process includes a constant acceleration process and a constant deceleration process, and the constant acceleration process and the constant deceleration process are described separately. During the constant acceleration process, the speed change trend is increasing, the first trend in the same direction as the increasing trend is an increasing trend, and the second trend in the opposite direction of the increasing trend is a decreasing trend. Therefore, when the motion process in which the speed sampling value is located is a constant acceleration process, the damping ratio is increased. As the damping ratio increases, the system's adjustment time will be shortened, the oscillation convergence speed will be accelerated, and when the constant acceleration is converted to a uniform speed process, the overshoot generated by the system will be reduced. At the same time, the cutoff angular frequency is reduced so that the time-varying filter can maintain a low cutoff angular frequency during the uniform speed process to effectively filter out noise interference.

[0090] The speed change trend during constant deceleration is decreasing, the first trend in the same direction as the decreasing trend is a decreasing trend, and the second trend in the opposite direction of the decreasing trend is an increasing trend. Therefore, when the motion process of the speed sampling value is a constant deceleration process, the damping ratio is reduced to effectively eliminate system oscillation and suppress overshoot of system response, reduce the steady-state error of the filter response, and increase the cutoff angular frequency at the same time, so that the time-varying filter can respond quickly.

[0091] In an exemplary embodiment, the method further comprises:

[0092] Determining current time-varying parameters; the current time-varying parameters include a preset initial damping ratio, a preset final damping ratio, a preset damping ratio adjustment rate, a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate;

[0093] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend, and the cutoff angular frequency is controlled to change according to the second trend, including:

[0094] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend by adjusting the preset initial damping ratio, the preset final damping ratio and the preset damping ratio, and the cutoff angular frequency is controlled to change according to the second trend by adjusting the preset initial cutoff angular frequency, the preset final cutoff angular frequency and the preset cutoff angular frequency.

[0095] It is understood that the selection of current filter parameters (cutoff angular frequency and damping ratio) directly affects the performance of the time-varying filter. Therefore, this embodiment first determines a set of current time-varying parameters. The current time-varying parameters include at least a preset initial damping ratio, a preset final damping ratio, a preset damping ratio adjustment rate, a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate. It is understood that the current time-varying parameters are used to define the gradual change rules of the filter parameters (cutoff angular frequency and damping ratio) of the time-varying filter from the initial state to the final state during different motion processes of the motor. The current filter parameters refer to the actual operating parameters of the time-varying filter at a sampling point during a particular motion process of the motor.

[0096] In this embodiment, the preset initial damping ratio is the damping ratio of the first sampling period during the current motion of the motor, the preset final damping ratio is the damping ratio of the last sampling period during the current motion of the motor, the preset initial cutoff angular frequency is the cutoff angular frequency of the first sampling period during the current motion of the motor, and the preset final cutoff angular frequency is the cutoff angular frequency of the last sampling period during the current motion of the motor. The preset initial damping ratio is the starting value of the damping ratio at the beginning of the motor motion, the preset final damping ratio is the target value of the damping ratio at the beginning of the motor motion, the preset damping ratio adjustment rate is the amount of change in the damping ratio per unit time, the preset initial cutoff angular frequency is the starting value of the cutoff angular frequency at the beginning of the motor motion, the preset final cutoff angular frequency is the target value of the cutoff angular frequency at the beginning of the motor motion, and the preset cutoff angular frequency adjustment rate is the amount of change in the cutoff angular frequency per unit time.

[0097] In an exemplary embodiment, when the current motion process of the motor represented by the speed sampling value is a constant speed process, adjusting the rate to control the cutoff angular frequency to change according to the second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency includes:

[0098] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the cutoff angular frequency adjustment value of each sampling period is determined based on the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency adjustment rate;

[0099] For each sampling period, the cutoff angular frequency of the sampling period is obtained according to the cutoff angular frequency adjustment value and the preset final cutoff angular frequency.

[0100] Considering that the filtering characteristics of a time-varying filter depend on the selection of the cutoff angular frequency, the smaller the selected cutoff angular frequency, the better the filtering effect of the filter, but the resulting phase delay is greater, making it impossible to achieve a fast response. In order to effectively filter out noise interference while ensuring a low phase delay during the constant speed change process, the cutoff angular frequency is increased in the initial stage of the filter. During the constant acceleration process, the cutoff angular frequency is continuously reduced as the number of sampling points increases (that is, the sampling period increases). The goal is to be able to maintain a low cutoff angular frequency during the uniform speed process to effectively filter out noise interference. During the constant deceleration process, the cutoff angular frequency of the time-varying filter will continue to increase with the number of sampling points (the sampling period continues to increase), allowing the time-varying filter to respond quickly.

[0101] Among them, the cutoff angular frequency The change of the speed sampling value in the constant acceleration process can be expressed as:

[0102] (5);

[0103] In formula (5), Adjust the rate for the preset cutoff angular frequency, The value of is a number less than 1, which determines the attenuation rate of the cutoff angular frequency. is the preset initial cutoff angular frequency; is the final cutoff angular frequency, and , N is the total number of sampling cycles when the speed is in a constant acceleration process, is the cutoff angular frequency adjustment value. Figure 4 As shown, in In the interval, the cutoff frequency of the time-varying filter changes from the preset initial cutoff frequency to Towards the final value The time-varying cutoff angular frequency in the constant deceleration process changes in the opposite direction to that in the constant acceleration process, and it will gradually increase from a smaller time-varying cutoff angular frequency as the number of sampling points increases.

[0104] Among them, the cutoff angular frequency The change of the speed sampling value in the constant deceleration process can be expressed as:

[0105] (6).

[0106] In an exemplary embodiment, when the current motion process of the motor represented by the speed sampling value is a constant speed process, adjusting the damping ratio according to a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio to control the damping ratio to change according to a first trend includes:

[0107] When the current motion process of the motor represented by the speed sampling value is a constant speed process, a damping ratio adjustment value for each sampling period is determined based on a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio adjustment rate;

[0108] For each sampling period, the damping ratio of the sampling period is obtained according to the damping ratio adjustment value and the preset final damping ratio.

[0109] Understandably, stable speed control requires not only effective noise filtering but also low phase delay during constant acceleration and deceleration. However, adjusting the cutoff frequency alone cannot achieve both. Adjusting the damping ratio can optimize the system's dynamic performance. Considering the load's constant acceleration or deceleration, the ideal speed input is equivalent to a ramp signal. A second-order system experiences a steady-state error under a unit ramp function. This is due to the difference in speed between the system's steady-state output and input, resulting in a stable position error between the output waveform and the original waveform. This, in turn, causes a phase delay between the filtered and original waveforms. The magnitude of the steady-state error is proportional to the damping ratio and the cutoff frequency. When the cutoff frequency remains unchanged, a smaller damping ratio reduces the system's steady-state error. However, a smaller damping ratio is not necessarily better. The settling time of a second-order system under a unit ramp function directly reflects the system's oscillation convergence rate. This settling time is proportional to the damping ratio and inversely proportional to the cutoff frequency. When the cutoff frequency remains unchanged, a larger damping ratio shortens the settling time and accelerates the system's convergence. Moreover, in the process of converting the speed from constant acceleration to uniform speed, overshoot will be generated, and the size of the overshoot is proportional to the damping ratio. The larger the damping ratio is, the smaller the overshoot generated by the system. Figure 5 shown.

[0110] Therefore, in this embodiment, when the speed sampling value is in the initial stage of the constant acceleration process, the damping ratio will be adjusted to a smaller value, and will continue to increase with the increase in the number of sampling points (increase in the sampling period). The main purpose is that a smaller damping ratio can reduce the steady-state error of the filter response, thereby reducing the phase delay of the filtered waveform. As the damping ratio increases, the system adjustment time will be shortened, the oscillation convergence speed will be accelerated, and when the constant acceleration is converted to the uniform speed process, the overshoot generated by the system will be reduced.

[0111] In the constant acceleration stage, the change of damping ratio can be expressed as:

[0112] (7);

[0113] Where r is the preset damping ratio adjustment rate, r is a number less than 1, which controls the growth rate of the damping ratio. To preset the initial variable damping ratio, is the preset final damping ratio, and .like Figure 6 As shown, in In the interval, the damping ratio changes from the initial value Towards Monotonically increasing.

[0114] Similarly, when the speed is in a constant speed process, the damping ratio will maintain a constant value. When the speed is in a constant deceleration process, as the number of sampling points increases, the time-varying damping ratio will continuously decay from a larger value, thereby effectively eliminating system oscillations and suppressing overshoot of system response, while reducing the steady-state error of the filter response.

[0115] In the constant deceleration stage, the change of damping ratio can be expressed as:

[0116] (8);

[0117] It is understandable that when the crane is lifting a load, in order to ensure the stable operation of the system, it is necessary to ensure the filtered speed feedback value To maintain stability, according to the stability proof of Lyapunov's second theorem, the time-varying filter needs to meet the following conditions:

[0118] (9);

[0119] In formula (9), is the rate of change of the cutoff angular frequency in the nth sampling period. , which means that as time goes by, the state of the system will tend to be stable and will not diverge or experience infinite oscillation. This proves that the design of the time-varying low-pass filter is asymptotically stable.

[0120] In an exemplary embodiment, determining a current time-varying parameter includes:

[0121] determining candidate time-varying parameters;

[0122] configuring a time-varying filter based on the candidate time-varying parameters, filtering the input signal to obtain a filtered signal;

[0123] If the current application scenario is a first accuracy requirement scenario, determining a fitness function value based on a first performance indicator of the filtered signal in a steady-state operation phase;

[0124] If the current application scenario is the second precision requirement scenario, determining a fitness function value based on the first performance indicator of the filtered signal in the steady-state operation phase, the second performance indicator in the dynamic conversion phase, and the third performance indicator in the target dynamic operation phase;

[0125] The candidate time-varying parameters are updated based on the fitness function value, and an operation of configuring a time-varying filter based on the candidate time-varying parameters is entered until a termination condition is met, and the optimized current time-varying parameters are output.

[0126] Taking into account that the selection of cutoff angular frequency and damping ratio will directly affect the performance of the time-varying filter, based on this, this embodiment first adopts an optimization algorithm to obtain the current time-varying parameters. The current time-varying parameters that need to be optimized include the preset cutoff angular frequency adjustment rate, the preset initial cutoff angular frequency, the preset final cutoff angular frequency, the preset damping ratio adjustment rate, the preset initial damping ratio, and the preset final damping ratio. By setting the value range of the optimization parameters, the iteration mechanism, the solution update strategy, and the termination condition, the optimization of the current time-varying parameters of the time-varying filter is achieved.

[0127] Specifically, the candidate time-varying parameters include at least a candidate cutoff angular frequency attenuation rate, a candidate initial cutoff angular frequency, a candidate final cutoff angular frequency, a candidate time-varying damping ratio growth rate, a candidate initial time-varying damping ratio, and a candidate final time-varying damping ratio. A preset optimization algorithm is used to iteratively search for the optimal time-varying parameter within a preset value range of the candidate time-varying parameters. This parameter is used as the current time-varying parameter for the current application scenario. The quality of the selected current time-varying parameter requires a criterion for evaluation. In this embodiment, the evaluation criterion is implemented by setting a fitness function.

[0128] In each iteration, a time-varying filter is configured based on the candidate time-varying parameters, the input signal is filtered to obtain a filtered signal, and the fitness function value corresponding to the current candidate time-varying parameters is calculated according to the requirements of the current application scenario for speed accuracy.

[0129] For scenarios where the speed accuracy requirement is not high, that is, the first accuracy requirement scenario in this example, first determine the steady-state operation stage in the original speed signal. The steady-state operation stage includes the operating time period in which the signal in the original speed signal is stable and the fluctuation is small, including but not limited to the time period when the current motion process of the motor represented by the speed sampling value is a uniform process. Obtain the first performance indicator of the filtered signal in the steady-state operation stage. The first performance indicator is an indicator for measuring steady-state accuracy and smoothness. The first performance indicator includes but is not limited to the mean square error between the filtered signal and the reference signal in the steady-state operation stage. Then, use the first performance indicator to calculate the fitness function value. Finally, use the preset optimization algorithm to update the candidate time-varying parameters according to the fitness function value, enter the next iteration, and output the optimal current time-varying parameters until the termination condition of the iteration is met. Of course, the first performance indicator can also include absolute error integral, peak fluctuation, etc.

[0130] For scenarios requiring higher speed accuracy, namely the second accuracy requirement in this example, both phase delay and filtering effects must be considered. Therefore, the fitness function should, in addition to calculating the mean square error of speed fluctuations during the uniform speed phase, also consider the following factors: the difference between the filtered waveform and the reference waveform during the transition from constant acceleration to constant speed and from constant speed to constant deceleration, as well as the steady-state error during the constant acceleration and deceleration phases. Specifically, the steady-state operating phase, dynamic transition phase, and specific state operating phase are determined within the original speed signal. The steady-state operating phase includes periods of stable, low-fluctuation signal fluctuations within the original speed signal, including but not limited to periods when the motor's current motion, as represented by the speed sampling values, is a uniform speed process. The specific dynamic transition phase includes any transition period with significant operating state changes (such as starting, stopping, acceleration / deceleration switching, sudden load changes, etc.), specifically including the constant acceleration to uniform speed phase and the uniform speed to constant deceleration phase. The target dynamic operating phase refers to a phase with a clear, continuous trend (such as linear or nonlinear rise / fall) that requires precise tracking, including but not limited to the constant acceleration phase or the constant deceleration phase. The first performance indicator of the filtered signal during the steady-state operation phase is obtained. The first performance indicator is used to measure steady-state accuracy and smoothness, and includes, but is not limited to, the mean square error between the filtered signal and the reference signal during the steady-state operation phase. A second performance indicator of the filtered signal during the dynamic transition phase is obtained. The second performance indicator is used to measure dynamic response characteristics (rapidity and stability), and includes, but is not limited to, the overshoot between the filtered signal and the reference signal during the dynamic transition phase. A third performance indicator of the filtered signal during the target dynamic operation phase is obtained. The third performance indicator is used to measure tracking accuracy during a specific dynamic change process, and includes, but is not limited to, the steady-state error between the filtered signal and the reference signal during the specific dynamic transition phase. A fitness function value is then calculated using the first, second, and third performance indicators. Finally, a preset optimization algorithm is used to update candidate time-varying parameters based on the fitness function value, and the next iteration is entered until the termination condition is met, outputting the optimal current time-varying parameters. Of course, the first performance indicator may also include absolute error integral, peak fluctuation, etc., the second performance indicator may also include rise time, settling time, maximum deviation, etc., and the third performance indicator may also include tracking error, etc.

[0131] As an optional embodiment, determining the current time-varying parameter includes:

[0132] Obtain the original speed signal to be filtered;

[0133] Setting a reference time-varying parameter set, the reference time-varying parameter set at least includes: a reference cutoff angular frequency attenuation rate, a reference initial cutoff angular frequency, a reference final cutoff angular frequency, a reference time-varying damping ratio growth rate, a reference initial time-varying damping ratio, and a reference final time-varying damping ratio;

[0134] Iteratively searching for the optimal time-varying parameter within the preset value range of the reference time-varying parameter set using a preset optimization algorithm;

[0135] In each iteration, a time-varying filter is configured based on the currently set reference time-varying parameter set to filter the original speed signal to obtain a filtered signal;

[0136] According to the requirements of the application scenario for speed accuracy, calculate the fitness function value corresponding to the currently set reference time-varying parameter set:

[0137] For scenarios where speed accuracy is not a high requirement:

[0138] Identify the time period during which the motor is running at a constant speed, as represented by the original speed signal;

[0139] Calculate the mean square error between the filtered signal and the reference signal during the uniform speed period;

[0140] Determine the fitness function value based on the mean square error;

[0141] For scenarios with high speed accuracy requirements:

[0142] Identify the time period during which the motor is running at a constant speed, as represented by the original speed signal;

[0143] Calculate the mean square error between the filtered signal and the reference signal during the uniform speed period;

[0144] Identify the transition period of the motor's operating state transition represented by the original speed signal;

[0145] Calculate the overshoot of the filtered signal relative to the reference signal during the transition period;

[0146] Identify the time period during which the motor, as represented by the original speed signal, is in constant acceleration or constant deceleration operation;

[0147] Calculate the steady-state error between the filtered signal and the reference signal during the constant acceleration or deceleration period;

[0148] Determine the fitness function value based on the mean square error, overshoot and steady-state error;

[0149] The currently set candidate time-varying parameter set is updated according to the fitness function value through the optimization algorithm until the termination condition is met, and the preset cutoff angular frequency adjustment rate, preset initial cutoff angular frequency, preset final cutoff angular frequency, preset damping ratio adjustment rate, preset initial damping ratio, and preset final damping ratio in the optimal time-varying parameter set are output as the current time-varying parameters.

[0150] In the process of smoothly controlling the hoisting speed of a crane, the solution of the present invention is adopted to achieve efficient speed control by adjusting the time-varying parameters of the time-varying filter. In the initial stage of constant acceleration or the end stage of constant deceleration, a smaller damping ratio is selected to reduce the steady-state error generated by the time-varying filter in response to a ramp input. As the number of sampling points increases, increasing the damping ratio can effectively shorten the adjustment time of the filter and accelerate the convergence speed of the time-varying filter. In the process of converting from constant acceleration to uniform speed or from uniform speed to constant deceleration, the damping ratio is increased as the number of sampling points increases, ensuring that the filter effectively eliminates system oscillations while suppressing overshoot generated by system response.

[0151] Please refer to Figure 7 The curve of the motor shaft angular velocity changing with time is shown, where the green dotted line is the ideal waveform of the speed, the gray solid line is the speed waveform with noise added, the red solid line is the speed waveform after processing by a second-order low-pass filter, and the blue solid line is the control method proposed in this patent. In the constant acceleration and deceleration and uniform speed stages, the speed fluctuation after time-varying low-pass filtering is significantly smaller than the effect of second-order low-pass filtering, and to a certain extent compensates for the phase lag and system overshoot caused by the low-pass filtering.

[0152] In summary, the present invention can effectively suppress the fluctuation and phase delay of the speed in constant acceleration and deceleration and uniform speed processes through closed-loop regulation and control, and has good adaptability. The introduction of time-varying damping ratio parameters can effectively reduce the steady-state error, accelerate the system convergence speed, and effectively suppress the oscillation and overshoot generated by the system. Moreover, there is no need to add additional auxiliary devices or sensors, which reduces the cost of use.

[0153] Second, please refer to Figure 8 , an embodiment of the present invention further provides a motor control device, comprising:

[0154] An acquisition module 11 is used to obtain a sampled value of the motor's speed;

[0155] An adjustment module 12 is configured to adjust current filtering parameters of the time-varying filter based on a current motion process of the motor represented by the speed sampling value, where the motion process includes at least one of a uniform speed process and a constant speed process;

[0156] The filtering module 13 is used to process the speed sampling value by using a time-varying filter after adjusting the current filtering parameters to obtain a speed feedback value;

[0157] The control module 14 is configured to adjust the electromagnetic torque output by the motor based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

[0158] In an exemplary embodiment, the current filtering parameters include a damping ratio and a cutoff angular frequency;

[0159] Adjusting the current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes:

[0160] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend, and the cutoff angular frequency is controlled to change according to the second trend; the first trend is in the same direction as the speed change trend in the constant speed process, and the second trend is in the opposite direction to the speed change trend in the constant speed process.

[0161] In an exemplary embodiment, the motor control device further includes:

[0162] A determination module for determining current time-varying parameters; the current time-varying parameters include a preset initial damping ratio, a preset final damping ratio, a preset damping ratio adjustment rate, a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate;

[0163] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend, and the cutoff angular frequency is controlled to change according to the second trend, including:

[0164] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to the first trend by adjusting the preset initial damping ratio, the preset final damping ratio and the preset damping ratio, and the cutoff angular frequency is controlled to change according to the second trend by adjusting the preset initial cutoff angular frequency, the preset final cutoff angular frequency and the preset cutoff angular frequency.

[0165] In an exemplary embodiment, when the current motion process of the motor represented by the speed sampling value is a constant speed process, adjusting the damping ratio according to a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio to control the damping ratio to change according to a first trend includes:

[0166] When the current motion process of the motor represented by the speed sampling value is a constant speed process, a damping ratio adjustment value for each sampling period is determined based on a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio adjustment rate;

[0167] For each sampling period, the damping ratio of the sampling period is obtained according to the damping ratio adjustment value and the preset final damping ratio.

[0168] In an exemplary embodiment, when the current motion process of the motor represented by the speed sampling value is a constant speed process, adjusting the rate to control the cutoff angular frequency to change according to the second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency includes:

[0169] When the current motion process of the motor represented by the speed sampling value is a constant speed process, the cutoff angular frequency adjustment value of each sampling period is determined based on the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency adjustment rate;

[0170] For each sampling period, the cutoff angular frequency of the sampling period is obtained according to the cutoff angular frequency adjustment value and the preset final cutoff angular frequency.

[0171] In an exemplary embodiment, determining a current time-varying parameter includes:

[0172] determining candidate time-varying parameters;

[0173] configuring a time-varying filter based on the candidate time-varying parameters, filtering the input signal to obtain a filtered signal;

[0174] If the current application scenario is a first accuracy requirement scenario, determining a fitness function value based on a first performance indicator of the filtered signal in a steady-state operation phase;

[0175] If the current application scenario is the second precision requirement scenario, determining a fitness function value based on the first performance indicator of the filtered signal in the steady-state operation phase, the second performance indicator in the dynamic conversion phase, and the third performance indicator in the target dynamic operation phase;

[0176] The candidate time-varying parameters are updated based on the fitness function value, and an operation of configuring a time-varying filter based on the candidate time-varying parameters is entered until a termination condition is met, and the optimized current time-varying parameters are output.

[0177] In an exemplary embodiment, adjusting the current filter parameters based on the motion process of the speed sampling value includes:

[0178] When the current motion process of the motor represented by the speed sampling value is a uniform speed process, the damping ratio is controlled to be maintained at the final damping ratio, and the cutoff angular frequency is controlled to be maintained at the final cutoff angular frequency.

[0179] In an exemplary embodiment, the speed feedback value is obtained by processing the speed sampling value through the time-varying filter after adjusting the current filtering parameters, including:

[0180] Determine the filter parameters according to the adjusted filter parameters;

[0181] After configuring the time-varying filter according to the filter parameters, the speed sampling value is processed by the time-varying filter to obtain the speed feedback value.

[0182] Thirdly, please refer to Figure 9 , an embodiment of the present invention further provides an electronic device, including:

[0183] Memory 21, for storing computer programs;

[0184] The processor 22 is configured to implement the steps of the motor control method described in any one of the above embodiments when executing a computer program.

[0185] The electronic device also includes:

[0186] Input interface 23 is connected to processor 22 via communication bus 26 and is used to obtain externally imported computer programs, parameters, and instructions, and store them in memory 21 under the control of processor 22. This input interface can be connected to an input device to receive parameters or instructions manually input by the user. The input device can be a touch screen layer covering the display screen, or it can be a key, trackball, or touchpad provided on the terminal housing.

[0187] The display unit 24 is connected to the processor 22 via the communication bus 26 and is used to display data sent by the processor 22. The display unit can be a liquid crystal display or an electronic ink display.

[0188] The network port 25 is connected to the processor 22 via the communication bus 26 and is used to communicate with various external terminal devices. The communication technology used for the communication connection can be a wired communication technology or a wireless communication technology, such as mobile high-definition link technology, universal serial bus, high-definition multimedia interface, wireless fidelity technology, Bluetooth communication technology, low-power Bluetooth communication technology, communication technology based on IEEE802.11s, etc.

[0189] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the motor control method described in any one of the above embodiments are implemented.

[0190] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

[0191] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the motor control method described in any one of the above embodiments.

[0192] For descriptions of the features in the embodiments corresponding to the motor control device, electronic device, computer-readable storage medium, and computer program product provided by the present invention, please refer to the relevant descriptions of the embodiments corresponding to the data export method, and no further details will be given here.

[0193] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0194] The above is a detailed introduction to a motor control method, device, equipment and computer-readable storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A motor control method, characterized in that: include: Get the motor speed sampling value; Adjusting current filtering parameters of a time-varying filter based on a current motion process of the motor represented by the speed sampling value, wherein the motion process includes at least one of a uniform speed process and a constant speed process; The speed sampling value is processed by a time-varying filter after adjusting the current filtering parameters to obtain a speed feedback value; The electromagnetic torque output by the motor is adjusted based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

2. The motor control method according to claim 1, wherein: The current filtering parameters include damping ratio and cutoff angular frequency; The adjusting of the current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes: When the current motion process of the motor represented by the speed sampling value is a constant speed change process, the damping ratio is controlled to change according to a first trend, and the cutoff angular frequency is controlled to change according to a second trend; the first trend is in the same direction as the speed change trend in the constant speed change process, and the second trend is in the opposite direction to the speed change trend in the constant speed change process.

3. The motor control method according to claim 2, wherein: The method further comprises: Determining current time-varying parameters; the current time-varying parameters include a preset initial damping ratio, a preset final damping ratio, a preset damping ratio adjustment rate, a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate; When the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the damping ratio to change according to a first trend and controlling the cutoff angular frequency to change according to a second trend includes: When the current motion process of the motor represented by the speed sampling value is a constant speed process, the damping ratio is controlled to change according to a first trend according to the preset initial damping ratio, the preset final damping ratio and the preset damping ratio adjustment rate, and the cutoff angular frequency is controlled to change according to a second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency and the preset cutoff angular frequency adjustment rate.

4. The motor control method according to claim 3, wherein: When the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the damping ratio to change according to the first trend according to the preset initial damping ratio, the preset final damping ratio, and the preset damping ratio adjustment rate includes: When the current motion process of the motor represented by the speed sampling value is a constant speed process, determining a damping ratio adjustment value for each sampling period based on a preset initial damping ratio, a preset final damping ratio, and a preset damping ratio adjustment rate; For each of the sampling periods, the damping ratio of the sampling period is obtained according to the damping ratio adjustment value and the preset final damping ratio.

5. The motor control method according to claim 3, wherein: When the current motion process of the motor represented by the speed sampling value is a constant speed process, controlling the cutoff angular frequency to change according to a second trend according to the preset initial cutoff angular frequency, the preset final cutoff angular frequency, and the preset cutoff angular frequency adjustment rate includes: When the current motion process of the motor represented by the speed sampling value is a constant speed process, a cutoff angular frequency adjustment value of each sampling period is determined based on a preset initial cutoff angular frequency, a preset final cutoff angular frequency, and a preset cutoff angular frequency adjustment rate; For each of the sampling periods, the cutoff angular frequency of the sampling period is obtained according to the cutoff angular frequency adjustment value and the preset final cutoff angular frequency.

6. The motor control method according to claim 3, wherein: The determining of the current time-varying parameter includes: determining candidate time-varying parameters; configuring a time-varying filter based on the candidate time-varying parameters, filtering the input signal to obtain a filtered signal; If the current application scenario is a first accuracy requirement scenario, determining a fitness function value based on a first performance indicator of the filtered signal in a steady-state operation phase; If the current application scenario is the second precision requirement scenario, determining a fitness function value based on the first performance indicator of the filtered signal in the steady-state operation phase, the second performance indicator in the dynamic conversion phase, and the third performance indicator in the target dynamic operation phase; The candidate time-varying parameters are updated based on the fitness function value, and an operation of configuring a time-varying filter based on the candidate time-varying parameters is entered until a termination condition is met, and the optimized current time-varying parameters are output.

7. The motor control method according to any one of claims 2 to 6, characterized in that: The adjusting of the current filtering parameters of the time-varying filter based on the current motion process of the motor represented by the speed sampling value includes: When the current motion process of the motor represented by the speed sampling value is a uniform speed process, the damping ratio is controlled to be maintained at a final damping ratio, and the cutoff angular frequency is controlled to be maintained at a final cutoff angular frequency.

8. A motor control device, characterized in that: include: The acquisition module is used to obtain the speed sampling value of the motor; An adjustment module, configured to adjust current filtering parameters of the time-varying filter based on a current motion process of the motor represented by the speed sampling value, wherein the motion process includes at least one of a uniform speed process and a constant speed process; A filtering module, configured to process the speed sampling value through a time-varying filter after adjusting current filtering parameters to obtain a speed feedback value; A control module is used to adjust the electromagnetic torque output by the motor based on the speed feedback value so that the electromagnetic torque and the load torque of the motor meet a dynamic torque balance condition.

9. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the steps of the motor control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor control method according to any one of claims 1 to 7 are implemented.

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