Heat dissipation control method and system of motion and power control module and storage medium

Abstract

The invention relates to the technical field of machine control, and discloses a heat dissipation control method and system for a motion and power control module and a storage medium, and the method comprises the steps: obtaining a first temperature value according to the motion control module, and obtaining a second temperature value according to the power control module; within the control duration, first temperature data are obtained according to the multiple first temperature values, and second temperature data are obtained according to the multiple second temperature values; calculating a motion temperature value according to the first temperature data, and calculating a power temperature value according to the second temperature data; if the motion temperature value is higher than the power temperature value, the heat dissipation channel is controlled to enable the heat moving direction to perform reciprocating reversing according to a preset reciprocating period between the motion control module and the power control module, and otherwise, the heat dissipation channel is controlled to enable the heat to move in the direction from the motion control module to the power control module; stable operation of the motion control module and the power control module in an integrated state is guaranteed, and efficient heat dissipation is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of machine control, and in particular to a heat dissipation control method, system, and storage medium for a motion and power control module. Background Art

[0002] Motion control modules and power control modules are core components of motion machines, such as new energy vehicles, intelligent robots, and drones. The motion control module is primarily responsible for receiving commands and generating motion trajectory signals, precisely controlling the machine's motion posture, speed, and position. For example, controlling the steering angle of new energy vehicles and the rotation of intelligent robots' joints. The power control module is responsible for energy conversion and distribution, converting energy from batteries or other energy sources into the power required for machine operation. The two modules work together to ensure stable operation of the motion machine.

[0003] In traditional motion machine designs, the motion control module and power control module are typically installed separately, located in different areas of the machine. To cope with the heat generated during operation, each module is equipped with a separate cooling module, such as a separate cooling fan, heat sink, or cooling pipe. While this decentralized cooling structure can meet the basic heat dissipation requirements of a single module, it requires more installation space and increases the overall size and weight of the motion machine. With the growing trend toward integrated motion machines, existing technologies are integrating motion control and power control modules into a single, integrated module to improve space utilization and overall performance. However, the heat dissipation characteristics of these two functional components differ significantly: the motion control module, processing a large number of signals, generates heat more evenly but continuously; the power control module, on the other hand, is prone to transient high temperatures during energy conversion, resulting in concentrated and fluctuating heat. These two components have distinct heat dissipation requirements and patterns. Summary of the Invention

[0004] Traditional distributed heat dissipation or single heat dissipation solutions are no longer adaptable to new integrated modules, and a new heat dissipation control method is needed to achieve efficient heat dissipation. This application provides a heat dissipation control method, system and storage medium for a motion and power control module.

[0005] In a first aspect, the present application provides a heat dissipation control method for a motion and power control module, which adopts the following technical solutions: A heat dissipation control method for a motion and power control module comprises the following steps: Based on an integrated circuit board provided with both a motion control module and a power control module, a first temperature value is obtained according to a first temperature sensor corresponding to the motion control module, and a second temperature value is obtained according to a second temperature sensor corresponding to the power control module; Within a preset control time, first temperature data is obtained according to the plurality of first temperature values, and second temperature data is obtained according to the plurality of second temperature values; Calculating a motion temperature value using a preset first algorithm based on the first temperature data, and calculating a power temperature value using a preset second algorithm based on the second temperature data; If the motion temperature value is higher than the power temperature value, the heat dissipation channel is controlled so that the heat movement direction is reversed between the motion control module and the power control module according to a preset reciprocating cycle; otherwise, the heat dissipation channel is controlled so that the heat moves in the direction from the motion control module to the power control module; If the motion temperature value is higher than the power temperature value, the ratio of the motion temperature value to the power temperature value is calculated as the first temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the first temperature ratio; otherwise, the ratio of the power temperature value to the motion temperature value is calculated as the second temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the second temperature ratio.

[0006] By adopting the above technical solution, the first temperature sensor and the second temperature sensor are used to independently collect the temperatures of the two functional modules, and the motion temperature value and the power temperature value are calculated within the control time, which can accurately reflect the actual heating status of the two modules; when the motion temperature value is higher than the power temperature value, the reciprocating cycle of the heat dissipation channel is controlled to reciprocate, which can balance the heat distribution of the two modules and reduce heat dissipation energy consumption; otherwise, the heat dissipation channel is controlled to move from the motion control module to the power control module, which can quickly export the concentrated heat of the power control module and maximize the heat dissipation effect; by calculating the first temperature ratio or the second temperature ratio, the heat dissipation power of the heat dissipation channel is positively correlated and adjusted, which can achieve accurate matching of heat dissipation capacity and actual heat dissipation requirements, thereby ensuring the stable operation of the motion control module and the power control module in an integrated state, and avoiding waste of heat dissipation energy consumption, thereby achieving efficient heat dissipation.

[0007] Optionally, the first algorithm includes the following steps: Performing window sliding filtering on the plurality of first temperature data based on a preset window length to obtain a motion temperature value; The window length is adjusted according to the anti-correlation of the motion temperature value. The higher the motion temperature value, the shorter the window length, and the lower the motion temperature value, the longer the window length. The adjustment speed of the window length is controlled according to the positive correlation between the power temperature value. The higher the power temperature value, the faster the adjustment speed, and the lower the power temperature value, the slower the adjustment speed.

[0008] By adopting the above technical solution, the fluctuation interference of the first temperature data can be effectively reduced, so that the motion temperature value is more in line with the actual heating situation; the window length can be flexibly adapted according to the motion temperature value, taking into account both rapid response at high temperature and data stability at low temperature; the adjustment speed of the window length can be adjusted in combination with the power temperature value to better adapt to the overall heat dissipation requirements.

[0009] Optionally, the second algorithm includes the following steps: Within the control time, the plurality of second temperature data are sorted according to the generation time, wherein the shorter the generation time, the larger the sequence number corresponding to the second temperature data, a corresponding weighting coefficient is preset for the second temperature data, and a power temperature value is calculated using a weighted average value based on the plurality of second temperature data; wherein the weighting coefficient has a positive correlation with the sequence number, such that the larger the sequence number, the larger the weighting coefficient, and the smaller the sequence number, the smaller the weighting coefficient; Calculate the change rate of the latest multiple second temperature data; adjust the positive correlation corresponding coefficient between the weighted coefficient and the serial number according to the positive correlation of the change rate. The faster the change rate, the larger the positive correlation corresponding coefficient, and the slower the change rate, the smaller the positive correlation corresponding coefficient.

[0010] By adopting the above technical solution, the power temperature value can be more closely aligned with the real-time heating status of the power control module, and the positive correlation coefficient can be flexibly adjusted according to the temperature change rate, thereby enhancing the response to the latest data when the temperature fluctuates rapidly.

[0011] Optionally, within the control time, a first update time ratio of the first temperature ratio and a second update time ratio of the second temperature ratio are calculated; The ratio of the first update time ratio to the second update time ratio is calculated as the first ratio. The first temperature ratio is used to adjust the adjustment speed of the heat dissipation power according to the positive correlation of the first ratio. The larger the first ratio, the faster the adjustment speed, and the smaller the first ratio, the slower the adjustment speed.

[0012] By adopting the above technical solution, the adjustment speed of the heat dissipation power is dynamically changed, and the corresponding adjustment speed is accurately controlled when the motion temperature value is higher than the power temperature value in the first ratio, ensuring that the heat dissipation power quickly adapts to the core heat dissipation needs; when the temperature-dominant state is balanced, the adjustment is slowed down to avoid frequent fluctuations.

[0013] Optionally, within the control time, a first update time ratio of the first temperature ratio and a second update time ratio of the second temperature ratio are calculated; The ratio of the first update time proportion to the second update time proportion is calculated as a first ratio, and the reciprocating cycle is adjusted inversely according to the first ratio. The larger the first ratio is, the shorter the reciprocating cycle is, and the smaller the first ratio is, the longer the reciprocating cycle is.

[0014] By adopting the above technical solution, the reciprocating switching rhythm of the heat dissipation channel is adapted to the dominant situation of the first ratio. The switching is accelerated when the motion temperature value is higher than the power temperature value, and slowed down when it is balanced, which not only improves the heat dissipation efficiency but also reduces energy consumption and component loss.

[0015] Optionally, the reciprocating period is adjusted in an anti-correlation manner according to the first temperature ratio. The larger the first temperature ratio is, the shorter the reciprocating period is; the smaller the first temperature ratio is, the longer the reciprocating period is.

[0016] By adopting the above technical solution, the reciprocating rhythm of the heat dissipation channel can be adapted to the temperature difference, with fast reversal when the temperature difference is large and slow reversal when the difference is small.

[0017] Optionally, within the accumulated duration of the multiple control durations, a first update time proportion of the first temperature ratio and a second update time proportion of the second temperature ratio are calculated; The ratio of the second update time ratio to the first update time ratio is calculated as the second ratio. The adjustment speed of the heat dissipation power is adjusted according to the second temperature ratio in a positive correlation manner according to the second ratio. The larger the second ratio, the faster the adjustment speed, and the smaller the second ratio, the slower the adjustment speed.

[0018] By adopting the above technical solution, the heat dissipation power adjustment speed is dynamically adjusted according to the second ratio, which can quickly adapt to the needs when the power temperature is dominant and smoothly adjust when the ratio is low, taking into account the timeliness and stability of heat dissipation.

[0019] Optionally, the sum of the motion temperature value and the power temperature value is calculated as the temperature sum value, the total ratio of the temperature sum value to the preset reference sum value is calculated, and the control time is adjusted inversely according to the total ratio. The larger the total ratio, the shorter the control time, and the smaller the total ratio, the longer the control time.

[0020] By adopting the above technical solution, the control duration can be adapted to the changes in the total ratio. When the total ratio is high, the duration is shortened to quickly respond to heat dissipation needs. When the total ratio is low, the control duration is extended to stabilize temperature-related data and improve the flexibility and accuracy of heat dissipation control.

[0021] In a second aspect, the present application provides a heat dissipation control system for a motion and power control module, which adopts the following technical solutions: A heat dissipation control system for a motion and power control module includes a processor, wherein the processor executes the steps of any one of the above-mentioned heat dissipation control methods for the motion and power control module.

[0022] In a third aspect, the present application provides a storage medium that adopts the following technical solution: A storage medium stores a program, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for controlling heat dissipation of a motion and power control module.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: using the first temperature sensor and the second temperature sensor to independently collect the temperatures of the two functional modules, and calculating the motion temperature value and the power temperature value within the control time, which can accurately reflect the actual heating status of the two modules; when the motion temperature value is higher than the power temperature value, the reciprocating cycle of the heat dissipation channel is controlled to reciprocate, which can balance the heat distribution of the two modules and reduce heat dissipation energy consumption; otherwise, the heat dissipation channel is controlled to move in the direction from the motion control module to the power control module, which can quickly export the concentrated heat of the power control module and maximize the heat dissipation effect; by calculating the first temperature ratio or the second temperature ratio, the heat dissipation power of the heat dissipation channel is positively correlated and adjusted, which can achieve accurate matching of heat dissipation capacity and actual heat dissipation requirements, which not only ensures the stable operation of the motion control module and the power control module in an integrated state, but also avoids waste of heat dissipation energy consumption and achieves efficient heat dissipation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The invention discloses a step diagram of a heat dissipation control method for a motion and power control module.

[0025] Figure 2 It is a step diagram of the first algorithm.

[0026] Figure 3 It is a step diagram of the second algorithm. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings.

[0028] Throughout this specification, reference to the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0029] The present application embodiment discloses a heat dissipation control method for a motion and power control module, referring to Figure 1 , including the following steps: Based on an integrated circuit board equipped with both a motion control module and a power control module, a first temperature sensor is fixed to the core heating area of ​​the motion control module on the integrated circuit board by patch welding or pin connection to obtain a first temperature value; the core heating area is usually the surface of the motion control chip, such as the surface of the MCU or the surface of the motion control dedicated IC, to ensure that the sensor is tightly fitted to the chip shell to reduce temperature conduction loss. At the same time, a second temperature sensor is deployed at a high-heating element of the power control module to obtain a second temperature value; the high-heating element is preferably on the heat dissipation substrate of the power semiconductor device. This area is the main source of instantaneous high temperature during the energy conversion process of the power control module. The deployment position of the sensor needs to avoid non-core heating areas such as pin solder joints to ensure acquisition accuracy. After starting the acquisition program, the temperature sensor detects the temperature in real time at a frequency of 10Hz, that is, once every 0.1 seconds, and converts the original signal into the first and second temperature values ​​in digital form through the SPI / I2C protocol, which are independently transmitted to the main controller cache to avoid signal interference.

[0030] Within a preset control period, the primary temperature data is generated based on multiple first temperature values, and the secondary temperature data is generated based on multiple second temperature values. The main controller uses an initial 5-second control period and continuously receives and stores temperature data during this period. Separate storage areas are allocated for the primary and secondary temperature values ​​in a "timestamp + temperature value" format, generating 50 data sets for each within 5 seconds. Data validity is also verified in real time, with outliers outside the reasonable range of -40°C to 150°C removed and re-collected to ensure the data reflects actual temperature trends.

[0031] The first temperature data is used to calculate the motion temperature value using a preset first algorithm, and the second temperature data is used to calculate the power temperature value using a preset second algorithm. The power temperature value is calculated using a time-series weighted average method based on the instantaneous high temperature characteristics of the power module.

[0032] If the motion temperature is higher than the power temperature, the heat dissipation channel is controlled so that the heat moves back and forth between the motion control module and the power control module according to the preset reciprocating cycle. Otherwise, the heat dissipation channel is controlled so that the heat moves from the motion control module to the power control module. The heat dissipation channel adopts a controllable diversion fan + thermal conductive silicone pad structure. The main controller controls the fan direction according to the temperature value: If the motion temperature is greater than the power temperature, for example, 65°C > 55°C: the fan is controlled to reverse in a 2-second initial cycle, for example, forward rotation for 1 second and reverse rotation for 1 second, to balance the heat between the two modules and avoid local overcooling or overheating caused by heat dissipation in one direction.

[0033] If the motion temperature is less than or equal to the power temperature, for example, 50°C less than or equal to 75°C: the fan is controlled to keep rotating in the forward direction, and the heat moves fixedly along the motion module to the power module, and the instantaneous high temperature of the power module is quickly derived by using the low temperature gradient of the motion module.

[0034] If the motion temperature value is higher than the power temperature value, the ratio of the motion temperature value to the power temperature value is calculated as the first temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the first temperature ratio; otherwise, the ratio of the power temperature value to the motion temperature value is calculated as the second temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the second temperature ratio. The heat dissipation power is controlled by adjusting the fan speed, and a positive correlation relationship between the ratio and the speed is established: When the sports temperature is greater than the power temperature: Calculate the first temperature ratio, such as 65 / 55≈1.18, and adjust the speed according to the mapping table. When the first temperature ratio is between 1.0 and 1.2, it corresponds to 60% of the rated speed≈2000r / min; when the first temperature ratio is between 1.2 and 1.4, it corresponds to 80% of the rated speed≈2700r / min; when the first temperature ratio is greater than 1.4, it corresponds to 100% of the rated speed≈3400r / min.

[0035] When the motion temperature is less than or equal to the power temperature, the system calculates the second temperature ratio (e.g., 75 / 50 = 1.5) and adjusts the speed according to the mapping table. A second temperature ratio between 1.0 and 1.3 corresponds to 70% of the rated speed (≈2400 rpm); a second temperature ratio between 1.3 and 1.6 corresponds to 90% of the rated speed (≈3000 rpm); and a second temperature ratio greater than 1.6 corresponds to 100% and triggers an alarm.

[0036] After completing the above steps, the main controller re-enters the next control time cycle and repeats the above process to achieve continuous and dynamic heat dissipation control of the integrated motion and power control modules, ensuring that the two modules are always in a stable operating temperature range while minimizing heat dissipation energy consumption.

[0037] This solution uses dual temperature sensors to collect the temperatures of the motion and power control modules respectively, and calculates the characteristic temperature value that can reflect the actual heating status within the control time. If the motion temperature is higher, the heat dissipation channel is controlled to reverse back and forth to balance the heat and reduce energy consumption. Otherwise, the unidirectional heat conduction is used to quickly guide the concentrated high temperature of the power module. At the same time, the heat dissipation power is adjusted in combination with the positive correlation of the temperature ratio, which not only ensures the stable operation of the integrated module, but also avoids energy waste and achieves efficient heat dissipation.

[0038] Reference Figure 2 , the first algorithm includes the following steps: For multiple first temperature data collected within a preset control time, such as 50 data points generated under a 5-second control time and a 10Hz acquisition frequency, a window sliding filter is performed to calculate the initial motion temperature value. In this embodiment, the preset initial window length is 10 data points, corresponding to a 1-second acquisition time. The filtering process slides in chronological order and is performed logically by window calculation: the first temperature data is divided into continuous and partially overlapping windows in order of timestamp; for example, the 1st to 10th data is the 1st window, the 2nd to 11th data is the 2nd window... the 41st to 50th data is the 41st window, and the arithmetic mean of all the first temperature values ​​in each window is taken, and the average value is the filtering result of the corresponding window. The mean of the filtering results of all windows is taken as the motion temperature value obtained by the initial calculation. Through window sliding filtering, random fluctuations in the first temperature data, such as temperature jumps caused by sensor instantaneous errors and circuit interference, can be effectively smoothed, and the interference of single abnormal data on the motion temperature value can be avoided, ensuring that the initial result fits the actual heating trend of the motion control module.

[0039] After obtaining the initial motion temperature value, the window length is dynamically adjusted based on the rule that the motion temperature value is inversely correlated with the window length to balance the response speed and data stability under different heating scenarios. In this embodiment, the high temperature threshold of the preset motion control module is 60°C, which is close to the upper limit of the rated operating temperature of its core chip; the low temperature threshold of the preset motion control module is 40°C, which is in the optimal operating temperature range of the chip. If the calculated motion temperature value is higher than 60°C, it means that the heating pressure of the module has increased, and the window length needs to be shortened to speed up the response speed of temperature changes; each adjustment shortens 2 data points, such as from 10 points to 8 points, and the minimum window length is set to 4 data points, corresponding to 0.4 seconds, to avoid data fluctuations caused by the window being too short. If the motion temperature is below 40°C and the module is in a low-load, stable state, the window length needs to be extended to enhance filtering effectiveness. Each adjustment increases the window length by two data points, for example, from 10 to 12 points. The maximum window length is set to 16 data points, corresponding to 1.6 seconds, to prevent a delayed response to temperature changes caused by an excessively long window. If the motion temperature is between 40°C and 60°C, the current window length remains unchanged. This adjustment logic allows rapid capture of rising temperature trends at high temperatures, preventing module overheating. At low temperatures, a longer window length is used to smooth data, ensuring stable and reliable motion temperature values.

[0040] In order to adapt to the overall heat dissipation requirements of the integrated module and avoid the disconnection between the window adjustment of a single module and the heating state of another module, this step dynamically controls the adjustment interval of the window length based on the rule that the power temperature value is positively correlated with the window length adjustment speed. In this embodiment, the preset warning temperature threshold of the power control module is 80°C, which is the high temperature warning value of its power device; the preset low load temperature threshold of the power control module is 50°C, which is the low load operating temperature of the power device. If the synchronously acquired power temperature value is higher than 80°C, it means that the power module is under great heat pressure, and the adjustment speed of the motion module window length needs to be accelerated to quickly update the motion temperature value and adapt to the overall heat dissipation decision; the window length adjustment interval is shortened from the default adjustment of 1 time per 2 filter windows to 1 time per 1 filter window to ensure that the motion temperature value can match the high temperature emergency scenario of the power module in a timely manner. If the power module temperature is below 50°C, the module is in a low heat state and overall cooling requirements are moderate, so the adjustment speed can be slowed down. The adjustment interval is extended to once every three filter windows to avoid frequent adjustments that cause fluctuations in the motion module temperature. If the power module temperature is between 50°C and 80°C, the default adjustment interval is maintained. By combining the power module temperature with the adjustment speed, the motion module window adjustment not only adapts to its own heat state, but also to the overall cooling rhythm of the integrated module.

[0041] Reference Figure 3 , the second algorithm includes the following steps: For multiple second temperature data points collected within a preset control time, such as 50 data points generated under a 5-second control time and a 10Hz collection frequency, they are sorted in descending order by generation time; the second temperature data with the shortest generation time, i.e., the most recently collected, is assigned the largest sequence number; data with a longer generation time, i.e., the earlier it was collected, is assigned a smaller sequence number. In this embodiment, the sequence numbers of the 50 second temperature data points are 1 to 50, where the sequence number of the last collection, i.e., the data with the latest timestamp, is 50, and the sequence number of the first collection, i.e., the data with the earliest timestamp, is 1. This establishes a unique correspondence between time and sequence number, clarifying the temporal priority of the data.

[0042] An initial weighting coefficient is preset for each sequence number, and a positive correlation is established between the weighting coefficient and the sequence number via a linear function. The specific formula is: Weighting coefficient = sequence number / total data volume, where the total data volume is the total number of second temperature data within the control period, which is 50 in this embodiment. According to this formula, the weighting coefficient of the latest data of sequence number 50 is 50 / 50 = 1.0, the weighting coefficient of the intermediate data of sequence number 25 is 25 / 50 = 0.5, and the weighting coefficient of the earliest data of sequence number 1 is 1 / 50 = 0.02. This ensures that the latest data has the highest influence on the final temperature result, and the earlier data is only used as a basic reference.

[0043] After the weighting coefficients are assigned, the initial power module temperature value is calculated using a weighted average formula: each second temperature data point is multiplied by its corresponding weighting coefficient to obtain the weighted temperature value for each data point; all weighted temperature values ​​are summed to obtain the total weighted temperature value; the total weighted temperature value is divided by the sum of all weighting coefficients; in this embodiment, the sum of the coefficients is (1 + 50) × 50 / 2 ÷ 50 = 25.5, and the result is the initial power module temperature value. For example, if the latest data point of serial number 50 is 85°C (instantaneous high temperature), the data point of serial number 49 is 82°C, and the average of the remaining data points is 70°C, the weighted average calculation will result in an initial power module temperature value that is closer to the latest high temperatures of 85°C and 82°C, accurately reflecting the current peak heat state of the power module.

[0044] To further adapt to the rapid and large temperature fluctuations of the power control module, it is necessary to optimize the positive correlation between the weighting coefficient and the serial number in real time according to the speed of change of the latest temperature data. This ensures a rapid response when the temperature rises or falls suddenly, and maintains reliable results when the temperature is stable. The specific process is as follows: Define the latest data sample set and select the last N second temperature data within the control time. In this embodiment, N = 10, corresponding to the latest acquisition period of 1 second, taking into account both timeliness and sample size, as the basic data for calculating the temperature change rate. Using a linear fitting algorithm, a linear regression is performed on the timestamp-temperature values ​​of these 10 data points to obtain the slope of the temperature change over time (unit: ℃ / s). This slope is the latest temperature change rate: If the slope is positive and the absolute value is large (e.g., >2℃ / s), it indicates that the power module temperature is rising rapidly; if the slope is negative and the absolute value is large (e.g., <-1.5℃ / s), it indicates that the temperature is falling rapidly; if the absolute value of the slope is <0.5℃ / s, it indicates that the temperature is in a stable and fluctuating state.

[0045] Based on the positive correlation between the temperature change rate and the positive correlation coefficient, the calculation logic of the weighting coefficient is dynamically adjusted. In this embodiment, the initial value of the positive correlation coefficient is 1.0 (corresponding to the linear relationship in step 1). If the temperature change rate is greater than 2°C / s (rapid temperature rise), the positive correlation coefficient is increased to 1.2. The weighting coefficient formula is then updated to: Weighting coefficient = (sequence number / total data volume) × 1.2. For example, the weighting coefficient of the latest data with sequence number 50 is increased from 1.0 to 1.2, and the coefficient of the data with sequence number 49 is increased from 0.98 to 1.176. This further amplifies the weight of the latest high-temperature data and avoids delayed high-temperature response due to insufficient coefficients. If the temperature change rate is less than -1.5°C / s, indicating rapid temperature drop, the positive correlation coefficient is also increased to 1.1 to strengthen the response to the latest low-temperature data, ensuring that the power temperature value can promptly follow the temperature decline trend and avoid excessive heat dissipation power. If the absolute value of the temperature change rate is less than 0.5°C / s and the temperature is in a stable state, the positive correlation coefficient will be reduced to 0.8, and the weighting coefficient formula will be adjusted to: Weighting coefficient = (serial number / total data volume) × 0.8. The weight of the latest data will be reduced, and random fluctuations will be smoothed through more historical data to improve the stability of the power temperature value.

[0046] Based on the adjusted positive correlation coefficients, the weighting coefficients and weighted temperature values ​​of each second temperature data point are recalculated to ultimately obtain the optimized dynamic temperature value. For example, when the temperature change rate is 2.5°C / s, indicating rapid temperature rise, the weighting coefficient of the 85°C data point in sequence number 50 is changed to 1.2, and its contribution to the total weighted temperature value increases from 85×1.0=85 to 85×1.2=102, making the final dynamic temperature value closer to the current high temperature. When the temperature change rate is 0.3°C / s, the data is stable, and the weighting coefficient of this data is reduced to 0.8, and the contribution becomes 85×0.8=68, thus preventing the fluctuation of a single data point from having a significant impact on the results.

[0047] To meet the dynamic adaptability requirements of integrated module heat dissipation power regulation, precise control of heat dissipation power regulation speed is achieved by calculating the update time ratio of the temperature ratio. This avoids system fluctuations caused by overly fast regulation or heat dissipation lag caused by overly slow regulation. The specific steps are as follows: Calculate the first ratio: First Ratio = First Update Time Percentage / Second Update Time Percentage. Continuing with the example data from Step 1, the first ratio = 60% / 40% = 1.5. This ratio directly reflects the degree to which the motion temperature-dominated scenario dominates over the power temperature-dominated scenario within the control period. A larger first ratio indicates more periods of time when the motion temperature is higher than the power temperature, prioritizing the cooling power regulation efficiency corresponding to the first temperature ratio. A smaller first ratio indicates a more balanced distribution of the two scenarios, requiring slower regulation to avoid system fluctuations.

[0048] A positive correlation mapping relationship between the first ratio and the adjustment speed is established. In this embodiment, three adjustment speed levels and corresponding first ratio intervals are preset, as follows: When the first ratio range is greater than 1.8, the heat dissipation power adjustment speed level is fast adjustment; for specific adjustment parameters, taking the PWM signal to adjust the fan speed as an example: the speed adjustment step is 200r / min, and the adjustment interval is 0.2 seconds; When the first ratio range is 1.2~1.8, the heat dissipation power adjustment speed level is medium speed adjustment. For specific adjustment parameters, taking the PWM signal to adjust the fan speed as an example, the speed adjustment step is 100r / min and the adjustment interval is 0.5 seconds. When the first ratio range is less than 1.2, the heat dissipation power adjustment speed level is slow adjustment; the specific adjustment parameters, taking the PWM signal to adjust the fan speed as an example: the speed adjustment step is 50r / min, and the adjustment interval is 1.0 second.

[0049] Continuing with the example from step 1, with the first ratio of 1.5, corresponding to the medium speed adjustment level: If the current first temperature ratio increases from 1.1 (moving temperature 61°C / power temperature 55°C) to 1.3 (moving temperature 65°C / power temperature 50°C), the main controller will adjust the cooling power in steps of 100 rpm and 0.5-second intervals. For example, if the initial fan speed is 2200 rpm, it will be increased to 2300 rpm after the initial adjustment. After a 0.5-second interval to confirm that the temperature ratio has not dropped, it will be increased to 2400 rpm until the speed matches the first temperature ratio.

[0050] If the first ratio further increases to 2.0, such as the first update time accounts for 75% and the second update time accounts for 37.5%, it switches to fast adjustment: the adjustment step size is increased to 200r / min and the interval is shortened to 0.2 seconds. This ensures that when the motion temperature continues to dominate, the heat dissipation power can quickly keep up with the temperature rise rhythm. If the first ratio drops to 1.0, that is, the two scenarios each account for 50%, it switches to slow adjustment. Through small step sizes and long intervals, frequent adjustments may cause fan speed fluctuations, which in turn affect the heat dissipation stability and module working status.

[0051] This embodiment addresses the need for reciprocating switching in the heat dissipation channel by quantifying the percentage of temperature ratio updates within the control period and dynamically adjusting the reciprocating cycle to ensure that the switching rhythm matches the dominant temperature state of the two modules. This prevents heat accumulation caused by slow switching when the motion temperature dominates, and prevents excessive switching frequency that increases energy consumption and component loss when the state is balanced. The specific steps are as follows: Clarify the rules for determining the temperature ratio update period: within the preset control time, which is set to 6 seconds in this embodiment to adapt to the temperature fluctuation period of the power module and ensure the data sample volume, the main controller uses a fixed detection interval of 0.6 seconds, that is, one detection per 6 temperature collection cycles (10Hz collection frequency), and compares the current motion temperature value with the power temperature value in real time to determine the currently effective temperature ratio type: If the motion temperature value is greater than the power temperature value, the current effective ratio is the first temperature ratio = motion temperature value / power temperature value, and the 0.6-second detection interval is marked as the first ratio update period; If the movement temperature value is less than or equal to the power temperature value, the current effective ratio is the second temperature ratio = the power temperature value / the movement temperature value, and this period is marked as the second ratio update period.

[0052] Taking a 6-second control duration as an example, it consists of ten 0.6-second detection intervals, periods 1 through 10. Assuming that the motion temperature value consistently exceeds the power temperature value during periods 1-3 and 5-7, for example, motion temperature 63°C / power temperature 57°C and motion temperature 66°C / power temperature 60°C, these six periods (three in 1-3 and three in 5-7) are all classified as first ratio update periods, with a total first update duration of 6 × 0.6 seconds = 3.6 seconds. In the remaining periods 4 and 8-10, if the motion temperature value is less than or equal to the power temperature value, for example, motion temperature 58°C / power temperature 62°C and motion temperature 61°C / power temperature 61°C, these four periods are classified as second ratio update periods, with a total second update duration of 4 × 0.6 seconds = 2.4 seconds.

[0053] Calculate the update time ratio: First update time ratio = total first update time / control time × 100% = 3.6 seconds / 6 seconds × 100% = 60%; The proportion of the second update time = the total duration of the second update time / control time × 100% = 2.4 seconds / 6 seconds × 100% = 40%.

[0054] Calculate the first ratio: First ratio = First update time percentage / Second update time percentage. Based on the example data from step 1, the first ratio = 60% / 40% = 1.5. This ratio directly reflects the advantage of the motion temperature-dominated scenario over the power temperature-dominated scenario. A larger first ratio indicates more periods of time when the motion temperature is higher than the power temperature, requiring faster switching of the cooling channel to quickly balance heat between the two modules. A smaller first ratio indicates a more balanced ratio between the two scenarios, requiring slower switching to reduce energy consumption and component wear.

[0055] An anti-correlation mapping relationship between the first ratio and the reciprocating period is established. In this embodiment, the initial value of the reciprocating period is preset to 2 seconds (1 second in the forward direction and 1 second in the reverse direction). The first ratio intervals and corresponding period adjustment rules are divided into three sections, as follows: When the first ratio is greater than 2.0, the motion temperature significantly dominates: at this time, the proportion of time when the motion temperature is higher than the power temperature far exceeds the latter. If the original cycle is maintained, it will easily lead to heat accumulation in the motion module. Therefore, the reciprocating cycle is shortened to 1.2 seconds (0.6 seconds in the forward direction and 0.6 seconds in the reverse direction); by speeding up the switching frequency, heat is quickly transferred between the two modules to avoid local overheating of the motion module, while the relatively low temperature of the power module is used to share the heat dissipation pressure for the motion module. For example, when the first update time accounts for 80% and the second update time accounts for 40% (the first ratio = 2.0), the cycle is immediately triggered to shorten, ensuring that two-way heat conduction is completed every 1.2 seconds to quickly balance the heat.

[0056] The first ratio is 1.0-2.0, indicating a slightly dominant motion temperature or balanced scenario. In this case, the difference between the two temperature-dominant scenarios is small, eliminating the need for frequent switching. Maintaining the initial 2-second cycle balances the motion module's heat through two-way heat conduction while preventing frequent switching of the fan. This can lead to significant current fluctuations during fan switching, shortening the fan's lifespan and reducing unnecessary energy consumption. For example, in Step 1, the first ratio is 1.5, using a 2-second cycle to balance cooling efficiency and system stability.

[0057] When the first ratio is less than 1.0, the scenario is nearly completely balanced: the proportion of the motion-dominated temperature period is lower than the power-dominated temperature period, or the two are roughly equal, and the overall heat distribution is relatively flat. The reciprocating cycle is extended to 3 seconds (1.5 seconds forward, 1.5 seconds reverse); by slowing down the commutation rhythm, the number of fan switching times is reduced, reducing the energy consumption of the motor drive circuit, while avoiding the turbulence of heat flow caused by frequent commutation. For example, repeated bidirectional heat transfer in a short period of time can reduce heat dissipation efficiency. For example, when the first update time accounts for 45% and the second update time accounts for 50% (the first ratio = 0.9), the cycle is extended to 3 seconds to maintain thermal balance with a smooth commutation rhythm.

[0058] Based on the calculated first ratio, the main controller calls the corresponding reciprocating cycle parameters and controls the steering switching time of the heat dissipation channel guide fan through the PWM signal; if the first ratio changes dynamically, such as from 1.5 to 2.1, the cycle parameters are updated in real time to ensure that the switching rhythm always matches the dominant temperature state of the two modules.

[0059] This embodiment addresses the reciprocating switching requirements of the heat dissipation channel when the motion temperature value is higher than the power temperature value. By using the anti-correlation adjustment logic between the first temperature ratio and the reciprocating cycle, the switching rhythm is precisely matched to the temperature difference between the two modules, thereby avoiding insufficient heat dissipation efficiency or energy waste caused by a fixed cycle. The specific steps are as follows: The reciprocating cycle is adjusted inversely according to the first temperature ratio. The larger the first temperature ratio, the shorter the reciprocating cycle, and the smaller the first temperature ratio, the longer the reciprocating cycle. When the temperature difference is small, that is, the first temperature ratio is in the range of 1.05-1.2, a 3-second cycle is used to balance heat conduction and energy consumption. When the temperature difference is medium, that is, the first temperature ratio is in the range of 1.2-1.5, a 2-second cycle is maintained for stable cyclic heat dissipation. When the temperature difference is large, that is, 1.5-1.8, the cycle is shortened to 1.5 seconds to accelerate heat balance. When the temperature difference is extremely large, that is, the first temperature ratio is in the range of 1.8-2.0, the cycle is further shortened to 1 second, and high-frequency commutation is used for rapid cooling. This ensures that the heat dissipation rhythm precisely matches the temperature difference, ensuring efficient heat dissipation while avoiding unnecessary energy consumption and component loss.

[0060] Over the cumulative duration of multiple control periods, calculate the proportion of the first update time for the first temperature ratio and the proportion of the second update time for the second temperature ratio. Within the cumulative period of multiple control periods, such as five 5-second control periods totaling 25 seconds, count the periods when the first and second temperature ratios are in effect: when the motion temperature is higher than the power temperature, count as the first update time; when it is lower, count as the second update time. Calculate the proportion of each in the cumulative period, i.e., the first and second update time proportions, to reflect the overall frequency of scenarios where the power temperature dominates.

[0061] The ratio of the second update time ratio to the first update time ratio is calculated as the second ratio, and the second ratio is calculated as follows: the second update time ratio = the second update time ratio / the first update time ratio. The heat dissipation power adjustment speed corresponding to the second temperature ratio is adjusted according to the positive correlation rule: When the second ratio is greater than 2.0, fast adjustment is adopted, such as 200r / min step size and 0.2 second interval, which is suitable for high-frequency scenarios where power temperature is significantly dominant; When the ratio is 1.0-2.0, use medium speed adjustment, such as 100r / min step size and 0.5 second interval, to balance response and stability; When the ratio is less than 1.0, adjust at a slow speed, such as 50r / min step size and 1 second interval, to ensure smooth adjustment when the power temperature ratio is low.

[0062] Through this mechanism, it can quickly respond to heat dissipation needs when the power temperature is dominant, and maintain stable regulation when the proportion is low, thus achieving a dynamic balance between the two.

[0063] The heat dissipation power adjustment speed is dynamically adjusted according to the second ratio, which can quickly adapt to the demand when the power temperature is dominant, and smoothly adjust when the ratio is low, taking into account the timeliness and stability of heat dissipation.

[0064] The sum of the motion temperature and the power temperature is calculated as the temperature sum value, and the total ratio of the temperature sum value to the preset reference sum value is calculated. First, the currently calculated motion temperature value and the power temperature value are added to obtain the temperature sum value, for example, motion temperature 60°C + power temperature 70°C = 130°C. The preset reference sum value is the typical sum of the temperatures of the two modules when they are operating normally. In this embodiment, it is set to 100°C, corresponding to the ideal operating condition of a motion temperature of 50°C and a power temperature of 50°C.

[0065] Calculate the total ratio: Total ratio = Temperature sum / Reference sum. Based on the example above, 130°C / 100°C = 1.3. This ratio reflects the overall heat generation intensity of the two modules. A larger total ratio indicates a higher overall temperature and a more urgent need for heat dissipation. A smaller total ratio indicates a lower overall load and better temperature stability.

[0066] The control time is adjusted inversely according to the total ratio. The larger the total ratio, the shorter the control time, and the smaller the total ratio, the longer the control time. The initial value of the control time is set to 5 seconds, and it is adjusted according to the rule that the larger the total ratio, the shorter the control time: If the total ratio is greater than 1.5, such as 1.8, the corresponding temperature value is 180°C: the overall high temperature state, the control time is shortened to 3 seconds, the frequency of heat dissipation decision-making is accelerated, and the temperature change is quickly responded to; The total ratio is 1.0~1.5, such as 1.3: medium fever state, maintain a control time of 5 seconds, and balance data stability and response speed; The total ratio is less than 1.0, such as 0.8, corresponding to a temperature value of 80°C: In low-load state, the control time is extended to 7 seconds to accumulate more data samples to reduce the impact of random fluctuations.

[0067] Through this adjustment, the control duration can dynamically adapt to the overall heating intensity, making quick decisions at high temperatures and stable sampling at low temperatures.

[0068] The control duration is adapted to the changes in the total ratio. When the total ratio is high, the duration is shortened to quickly respond to cooling needs. When the total ratio is low, the control duration is extended to stabilize temperature-related data and improve the flexibility and accuracy of cooling control.

[0069] An embodiment of the present application further discloses a heat dissipation control system for a motion and power control module, comprising a processor, wherein the processor executes the steps of the heat dissipation control method for the motion and power control module as described in any one of the above.

[0070] An embodiment of the present application further discloses a storage medium, in which a program is stored. When the program is executed by a processor, the steps of the heat dissipation control method of the motion and power control module described above are implemented.

[0071] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A heat dissipation control method for a motion and power control module, characterized in that: The steps include: Based on an integrated circuit board provided with both a motion control module and a power control module, a first temperature value is obtained according to a first temperature sensor corresponding to the motion control module, and a second temperature value is obtained according to a second temperature sensor corresponding to the power control module; Within a preset control time, first temperature data is obtained according to the plurality of first temperature values, and second temperature data is obtained according to the plurality of second temperature values; Calculating a motion temperature value using a preset first algorithm based on the first temperature data, and calculating a power temperature value using a preset second algorithm based on the second temperature data; If the motion temperature value is higher than the power temperature value, the heat dissipation channel is controlled so that the heat movement direction is reversed between the motion control module and the power control module according to a preset reciprocating cycle; otherwise, the heat dissipation channel is controlled so that the heat moves in the direction from the motion control module to the power control module; If the motion temperature value is higher than the power temperature value, the ratio of the motion temperature value to the power temperature value is calculated as a first temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the first temperature ratio; Otherwise, the ratio of the power temperature value to the motion temperature value is calculated as a second temperature ratio, and the heat dissipation power of the heat dissipation channel is adjusted according to the positive correlation of the second temperature ratio.

2. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: The first algorithm includes the following steps: Performing window sliding filtering on the plurality of first temperature data based on a preset window length to obtain a motion temperature value; The window length is adjusted according to the anti-correlation of the motion temperature value. The higher the motion temperature value, the shorter the window length, and the lower the motion temperature value, the longer the window length. The adjustment speed of the window length is controlled according to the positive correlation between the power temperature value. The higher the power temperature value, the faster the adjustment speed, and the lower the power temperature value, the slower the adjustment speed.

3. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: The second algorithm includes the following steps: Within the control time, the plurality of second temperature data are sorted according to the generation time, wherein the shorter the generation time, the larger the sequence number corresponding to the second temperature data, a corresponding weighting coefficient is preset for the second temperature data, and a power temperature value is calculated using a weighted average value based on the plurality of second temperature data; wherein the weighting coefficient has a positive correlation with the sequence number, such that the larger the sequence number, the larger the weighting coefficient, and the smaller the sequence number, the smaller the weighting coefficient; Calculate the change rate of the latest multiple second temperature data; adjust the positive correlation corresponding coefficient between the weighted coefficient and the serial number according to the positive correlation of the change rate. The faster the change rate, the larger the positive correlation corresponding coefficient, and the slower the change rate, the smaller the positive correlation corresponding coefficient.

4. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: During the control time, calculating a first update time ratio of the first temperature ratio and a second update time ratio of the second temperature ratio; The ratio of the first update time ratio to the second update time ratio is calculated as the first ratio. The first temperature ratio is used to adjust the adjustment speed of the heat dissipation power according to the positive correlation of the first ratio. The larger the first ratio, the faster the adjustment speed, and the smaller the first ratio, the slower the adjustment speed.

5. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: During the control time, calculating a first update time ratio of the first temperature ratio and a second update time ratio of the second temperature ratio; The ratio of the first update time proportion to the second update time proportion is calculated as a first ratio, and the reciprocating cycle is adjusted inversely according to the first ratio. The larger the first ratio is, the shorter the reciprocating cycle is, and the smaller the first ratio is, the longer the reciprocating cycle is.

6. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: The reciprocating period is adjusted inversely according to the first temperature ratio. The larger the first temperature ratio is, the shorter the reciprocating period is; the smaller the first temperature ratio is, the longer the reciprocating period is.

7. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: Calculate a first update time ratio of the first temperature ratio and a second update time ratio of the second temperature ratio within the accumulated control time period; The ratio of the second update time ratio to the first update time ratio is calculated as the second ratio. The adjustment speed of the heat dissipation power is adjusted according to the second temperature ratio in a positive correlation manner according to the second ratio. The larger the second ratio, the faster the adjustment speed, and the smaller the second ratio, the slower the adjustment speed.

8. The heat dissipation control method of the motion and power control module according to claim 1, characterized in that: The sum of the motion temperature value and the dynamic temperature value is calculated as the temperature sum value, and the total ratio of the temperature sum value to the preset reference sum value is calculated. The control time is adjusted inversely according to the total ratio. The larger the total ratio, the shorter the control time, and the smaller the total ratio, the longer the control time.

9. A heat dissipation control system for a motion and power control module, characterized in that: The method comprises a processor, wherein the processor executes the steps of the heat dissipation control method of the motion and power control module according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium stores a program, and when the program is executed by the processor, the steps of the heat dissipation control method of the motion and power control module according to any one of claims 1 to 8 are implemented.

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