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

Abstract

The application relates to the technical field of machine control, and discloses a heat dissipation control method and system of a motion and power control module and a storage medium. The method comprises the following steps: obtaining a first temperature value according to a motion control module and obtaining a second temperature value according to a power control module; obtaining first temperature data according to a plurality of first temperature values and obtaining second temperature data according to a plurality of second temperature values within a control time length; 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, controlling a heat dissipation channel so that the heat moving direction is reciprocally reversed between the motion control module and the power control module according to a preset reciprocating cycle, otherwise, controlling the heat dissipation channel so that the heat moves from the motion control module to the power control module; the stable operation of the motion control module and the power control module in the integrated state is ensured, and efficient heat dissipation is realized.

Description

TECHNICAL FIELD

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

[0002] In motion machines such as new energy vehicles, intelligent robots, and unmanned aerial vehicles, motion control modules and power control modules are core components. The motion control module is mainly responsible for receiving instructions and generating motion trajectory signals to accurately control the motion posture, speed, and position of the machine, such as controlling the steering angle of a new energy vehicle or the joint rotation of an intelligent robot. The power control module is responsible for energy conversion and distribution, converting the energy provided by the battery or other energy sources into the power required for the machine to run. Both modules work together to ensure the stable operation of the motion machine.

[0003] In the design of traditional motion machines, the motion control module and the power control module are usually installed separately and arranged in different areas of the machine. To cope with the heat generated during their respective operation, each module is equipped with a separate heat dissipation module, such as an independent heat dissipation fan, heat sink, or cooling pipeline. Although this decentralized heat dissipation structure can meet the basic heat dissipation needs of a single module, it requires more installation space, increasing the overall volume and weight of the motion machine.

[0004] With the development trend of motion machine integration, to improve space utilization and overall performance, existing technologies have begun to integrate motion control modules and power control modules into a single integrated module. However, after integration, the two functional parts have significantly different heat characteristics: the motion control module generates uniform but continuous heat due to processing a large number of signals, while the power control module generates concentrated and volatile heat during energy conversion. The heat dissipation needs and patterns of the two modules are completely different. SUMMARY

[0005] To address the issue that traditional decentralized heat dissipation or single heat dissipation schemes cannot adapt to new integrated modules, a new heat dissipation control method is needed to achieve efficient heat dissipation. The present application provides a heat dissipation control method and system for a motion and power control module and a storage medium.

[0006] 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 solution:

[0007] A heat dissipation control method for a motion and power control module, comprising the following steps:

[0008] Based on an integrated circuit board provided with a motion control module and a power control module, a first temperature value is obtained from a first temperature sensor corresponding to the motion control module, and a second temperature value is obtained from a second temperature sensor corresponding to the power control module.

[0009] In a preset control duration, 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;

[0010] A motion temperature value is calculated according to the first temperature data using a preset first algorithm, and a power temperature value is calculated according to the second temperature data using a preset second algorithm;

[0011] If the motion temperature value is higher than the power temperature value, the heat moving direction of the heat dissipation channel is controlled to be reversed in a preset reciprocating cycle between the motion control module and the power control module, otherwise the heat is controlled to move along the direction from the motion control module to the power control module;

[0012] If the motion temperature value is higher than the power temperature value, a first temperature ratio is calculated as the ratio of the motion temperature value to the power temperature value, and the heat dissipation power of the heat dissipation channel is adjusted according to the first temperature ratio in a positive correlation, otherwise a second temperature ratio is calculated as the ratio of the power temperature value to the motion temperature value, and the heat dissipation power of the heat dissipation channel is adjusted according to the second temperature ratio in a positive correlation.

[0013] By using the above technical solution, the temperatures of the two functional modules are independently collected by the first temperature sensor and the second temperature sensor, and in the control duration, the motion temperature value and the power temperature value are calculated, which can accurately reflect the real heating state of the two modules; when the motion temperature value is higher than the power temperature value, the heat dissipation channel is controlled to be reversed in a reciprocating cycle, which can balance the heat distribution of the two modules and reduce the heat dissipation energy consumption; otherwise, the heat dissipation channel is controlled to move along the direction from the motion control module to the power control module, which can quickly guide the concentrated heat of the power control module out 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 adjusted in a positive correlation, which can realize accurate matching of the heat dissipation capacity and the actual heat dissipation demand, ensure stable operation of the motion control module and the power control module in the integrated state, avoid waste of heat dissipation energy consumption, and realize efficient heat dissipation.

[0014] Optionally, the first algorithm includes the following steps:

[0015] The plurality of first temperature data is windowed and filtered based on a preset window length to obtain the motion temperature value;

[0016] The window length is adjusted in an inverse correlation with the motion temperature value, that is, the higher the motion temperature value, the shorter the window length, and the lower the motion temperature value, the longer the window length;

[0017] The adjustment speed of the window length is controlled in a positive correlation with the power temperature value, that is, the higher the power temperature value, the faster the adjustment speed, and the lower the power temperature value, the slower the adjustment speed.

[0018] By adopting the technical scheme, the fluctuation interference of the first temperature data can be effectively reduced, and the motion temperature value is more suitable for the actual heating condition; the window length is flexibly adapted according to the motion temperature value, the rapid response under high temperature and the data stability under low temperature are considered; and the adjustment speed of the window length is combined with the motion temperature value, and the overall heat dissipation demand is more adapted.

[0019] Optionally, the second algorithm comprises the following steps:

[0020] In the control duration, the plurality of second temperature data are sorted according to the generation time, the shorter the generation time is, the larger the serial number corresponding to the second temperature data is, a corresponding weighting coefficient is preset for the second temperature data, and a motion temperature value is calculated by using a weighted average value of the plurality of second temperature data; wherein the weighting coefficient and the serial number have a positive correlation corresponding coefficient, so that the larger the serial number is, the larger the weighting coefficient is, and the smaller the serial number is, the smaller the weighting coefficient is.

[0021] The change speed of the latest plurality of second temperature data is calculated; and the positive correlation corresponding coefficient between the weighting coefficient and the serial number is adjusted according to the change speed, that is, the faster the change speed is, the larger the positive correlation corresponding coefficient is, and the slower the change speed is, the smaller the positive correlation corresponding coefficient is.

[0022] By adopting the technical scheme, the motion temperature value is more suitable for the real-time heating state of the power control module, and the positive correlation corresponding coefficient is flexibly adjusted according to the change speed of the temperature, so that the response to the latest data is enhanced when the temperature fluctuates rapidly.

[0023] Optionally, in the control duration, a first update time proportion of the first temperature ratio and a second update time proportion of the second temperature ratio are calculated;

[0024] The ratio of the first update time proportion and the second update time proportion is a first ratio, the adjustment speed of the heat dissipation power adjusted by using the first temperature ratio is adjusted according to the first ratio, that is, the larger the first ratio is, the faster the adjustment speed is, and the smaller the first ratio is, the slower the adjustment speed is.

[0025] By adopting the technical scheme, the adjustment speed of the heat dissipation power is dynamically changed, the corresponding adjustment speed is accurately controlled when the motion temperature value is higher than the first ratio of the power temperature value, and the heat dissipation power is quickly adapted to the core heat dissipation demand; and the adjustment is slowed down when the temperature dominant state is balanced, so that frequent fluctuations are avoided.

[0026] Optionally, in the control duration, a first update time proportion of the first temperature ratio and a second update time proportion of the second temperature ratio are calculated;

[0027] The ratio of the first update time proportion and the second update time proportion is a first ratio, the back-and-forth period is adjusted according to the first ratio, that is, the larger the first ratio is, the shorter the back-and-forth period is, and the smaller the first ratio is, the longer the back-and-forth period is.

[0028] By adopting the technical solution, the reciprocating rhythm of the heat dissipation channel is adapted to the dominant situation of the first ratio value, the motion temperature value is higher than the power temperature value, and the reciprocating is accelerated when the motion temperature value is higher than the power temperature value, and the reciprocating is slowed down when the motion temperature value is balanced, so that the heat dissipation efficiency is improved, and the energy consumption and component loss are reduced.

[0029] Optionally, the reciprocating period is adjusted according to the first temperature ratio value in a reverse correlation manner, that is, the greater the first temperature ratio value, the shorter the reciprocating period, and the smaller the first temperature ratio value, the longer the reciprocating period.

[0030] By adopting the technical solution, the reciprocating rhythm of the heat dissipation channel is adapted to the temperature difference, and the reciprocating is accelerated when the temperature difference is large, and the reciprocating is slowed down when the temperature difference is small.

[0031] Optionally, in the time length accumulated by the plurality of control time lengths, the first update time proportion of the first temperature ratio value and the second update time proportion of the second temperature ratio value are calculated.

[0032] The ratio of the second update time proportion and the first update time proportion is the second ratio value, the adjustment speed of the heat dissipation power adjusted according to the second temperature ratio value is adjusted according to the second ratio value in a positive correlation manner, the greater the second ratio value, the faster the adjustment speed, and the smaller the second ratio value, the slower the adjustment speed.

[0033] By adopting the technical solution, the heat dissipation power adjustment speed is dynamically adjusted according to the second ratio value, the demand can be quickly adapted when the power temperature is dominant, the adjustment is stable when the proportion is low, and the timeliness and stability of heat dissipation are considered.

[0034] Optionally, the sum of the motion temperature value and the power temperature value is calculated as a temperature sum value, the total ratio of the temperature sum value and the preset reference sum value is calculated, and the control time length is adjusted in a reverse correlation manner according to the total ratio, that is, the greater the total ratio, the shorter the control time length, and the smaller the total ratio, the longer the control time length.

[0035] By adopting the technical solution, the control time length is adapted according to the total ratio, the time length is shortened to quickly respond to the heat dissipation demand when the total ratio is high, and the control time length is lengthened to stabilize the temperature related data when the total ratio is low, so that the heat dissipation control flexibility and accuracy are improved.

[0036] In a second aspect, the application provides a heat dissipation control system of a motion and power control module, which adopts the following technical solution:

[0037] A heat dissipation control system of a motion and power control module, comprising a processor, and the processor executes the steps of the heat dissipation control method of the motion and power control module according to any one of the above.

[0038] In a third aspect, the application provides a storage medium, which adopts the following technical solution:

[0039] A storage medium, a program is stored in the storage medium, the program is executed by a processor to realize the steps of the heat dissipation control method of the motion and power control module.

[0040] 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, calculating the motion temperature value and the power temperature value within the control time, which can accurately reflect the real heating state of the two modules; when the motion temperature value is higher than the power temperature value, the control of the heat dissipation channel reciprocating cycle is reversed, which can balance the heat distribution of the two modules and reduce the heat dissipation energy consumption; otherwise, control the heat dissipation channel to move from the motion control module to the power control module direction, which can quickly export the concentrated heat of the power control module, 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, which can realize the accurate matching of the heat dissipation capacity and the actual heat dissipation demand, which not only guarantees the stable operation of the motion control module and the power control module in the integrated state, but also avoids the waste of heat dissipation energy consumption, and realizes efficient heat dissipation. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a step diagram of a heat dissipation control method of a motion and power control module.

[0042] Figure 2 is a step diagram of the first algorithm.

[0043] Figure 3 is a step diagram of the second algorithm. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0045] In the description of the present application, the description of the terms "some embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the described embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0046] The present application discloses a heat dissipation control method of a motion and power control module, referring to Figure 1 , including the following steps:

[0047] Based on the integrated circuit board provided with the motion control module and the power control module, the first temperature sensor is fixed on the core heating area of the motion control module by means of patch welding or pin connection to obtain the first temperature value; the core heating area is usually the surface of the motion control chip, such as the surface of MCU or motion control special IC, to ensure that the sensor is closely attached to the chip shell to reduce temperature conduction loss. At the same time, the second temperature sensor is correspondingly arranged at the high heating element of the power control module to obtain the second temperature value; the high heating element is preferably on the heat dissipation substrate of the power semiconductor device, and this area is the main source of instantaneous high temperature in the energy conversion process of the power control module, so the deployment position of the sensor needs to avoid the non-core heating area such as pin welding point to ensure the collection accuracy. After starting the collection program, the temperature sensor detects the temperature in real time at a frequency of 10 Hz, i.e. once every 0.1 second, and converts the original signal into digital first and second temperature values through SPI / I2C protocol, and transmits them to the main controller buffer independently to avoid signal interference.

[0048] Within the preset control duration, the first temperature data is obtained according to the plurality of first temperature values, and the second temperature data is obtained according to the plurality of second temperature values. The main controller takes the initial 5 seconds as the control duration, continuously receives and stores the temperature data within this period: a storage area is opened for the first and second temperature values in the format of "time stamp + temperature value", and 50 data sets are formed within 5 seconds, i.e. the first and second temperature data. At the same time, the data validity is checked in real time, the abnormal values exceeding the reasonable range of-40℃-150℃ are eliminated and re-collected to ensure that the data reflects the real temperature trend.

[0049] The motion temperature value is calculated using a preset first algorithm according to the first temperature data, and the power temperature value is calculated using a preset second algorithm according to the second temperature data. Among them, for the instantaneous high temperature characteristics of the power module, the time sequence weighted average method is used to calculate the power temperature value.

[0050] If the motion temperature value is higher than the power temperature value, the heat moving direction between the motion control module and the power control module is controlled to reciprocate according to the preset reciprocating period, otherwise the heat is controlled to move from the motion control module to the power control module. The heat dissipation channel adopts the structure of controllable guide fan + heat conductive silica gel pad, and the main controller controls the fan direction according to the temperature value:

[0051] If the motion temperature is greater than the power temperature, such as 65℃>55℃: control the fan to reciprocate according to the initial period of 2 seconds, such as forward rotation for 1 second and reverse rotation for 1 second, to balance the heat of the two modules and avoid local overcooling or overheating caused by single direction heat dissipation.

[0052] If the motion temperature is less than or equal to the power temperature, such as 50℃≤75℃, the fan is controlled to keep rotating forward, and the heat is fixed to move along the motion module to the power module, and the low temperature gradient of the motion module is used to quickly export the transient high temperature of the power module.

[0053] 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. By adjusting the fan speed to control the heat dissipation power, a positive correlation between the ratio and the speed is established:

[0054] When the motion 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 1.0~1.2, the rated speed is 60%≈2000r / min; when the first temperature ratio is between 1.2~1.4, the rated speed is 80%≈2700r / min, and when the first temperature ratio is greater than 1.4, the rated speed is 100%≈3400r / min.

[0055] When the motion temperature is less than or equal to the power temperature: calculate the second temperature ratio, such as 75 / 50=1.5, and adjust the speed according to the mapping table. When the second temperature ratio is between 1.0~1.3, the rated speed is 70%≈2400r / min; when the second temperature ratio is between 1.3~1.6, the rated speed is 90%≈3000r / min; and when the second temperature ratio is greater than 1.6, the rated speed is 100% and an alarm is given.

[0056] After the above steps are completed, the main controller reenters the next control duration period and repeats the above process to realize continuous and dynamic heat dissipation control of the integrated motion and power control module, and to ensure that the two modules are always in a stable working temperature range, while minimizing the energy consumption of heat dissipation.

[0057] The present scheme collects the motion and power control module temperatures through two temperature sensors, and calculates the characteristic temperature value reflecting the real heating state within the control duration; if the motion temperature is higher, the control heat dissipation channel is reciprocally reversed to balance the heat and reduce the energy consumption, and vice versa, the concentrated high temperature of the power module is quickly exported, and the heat dissipation power is adjusted in positive correlation with the temperature ratio, which not only ensures the stable operation of the integrated module, but also avoids energy waste, and realizes efficient heat dissipation.

[0058] Referring to Figure 2 , the first algorithm includes the following steps:

[0059] The plurality of first temperature data collected within the preset control duration, such as 50 data points generated under a 5-second control duration and a 10Hz collection frequency, is subjected to window sliding filtering to calculate an initial motion temperature value. In this embodiment, the preset initial window length is 10 data points, corresponding to a 1-second collection duration, and the filtering process is executed according to the logic of sliding in time sequence and calculating window by window: the first temperature data is divided into continuous and partially overlapping windows in chronological order; for example, the first 10 data points are the first window, the second 11 data points are the second window, and so on, and the 41st-50th data points are the 41st window. The arithmetic mean of all first temperature values in each window is taken as the filtering result of the corresponding window. The mean of all window filtering results is taken as the initial motion temperature value calculated. Through window sliding filtering, random fluctuations in the first temperature data, such as temperature jumps caused by sensor transient errors and circuit interference, can be effectively smoothed, avoiding interference of single abnormal data on the motion temperature value and ensuring that the initial result fits the actual heating trend of the motion control module.

[0060] After obtaining the initial motion temperature value, the window length is dynamically adjusted based on the rule that the motion temperature value is inversely related to the window length, to balance the response speed and data stability in different heating scenarios. In this embodiment, the high temperature threshold of the motion control module is 60°C, close to the upper limit of the rated operating temperature of its core chip; the low temperature threshold of the motion control module is 40°C, within the best operating temperature range of the chip. If the calculated motion temperature value is higher than 60°C, it indicates that the module is under increased heating pressure, and the window length needs to be shortened to speed up the response speed of temperature change; each adjustment shortens the window length by 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 rising due to too short window length. If the motion temperature value is lower than 40°C, the module is in a low-load stable state, and the window length needs to be extended to enhance the filtering effect; each adjustment extends the window length by 2 data points, such as from 10 points to 12 points, and the maximum window length is set to 16 data points, corresponding to 1.6 seconds, to prevent temperature change response lag due to too long window length; if the motion temperature value is between 40°C and 60°C, the current window length remains unchanged. Through this adjustment logic, the temperature rising trend can be quickly captured at high temperature to avoid overheating of the module; at low temperature, the data can be smoothed through a longer window to ensure that the motion temperature value is stable and reliable.

[0061] To adapt to the overall heat dissipation demand of the integrated module and avoid the disconnection between the window adjustment of a single module and the heat 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 adjustment speed of the window length. In this embodiment, the preset alert temperature threshold of the power control module is 80°C, which is the high temperature alert value of the power device; the preset low load temperature threshold of the power control module is 50°C, which is the low load working temperature of the power device. If the synchronously obtained power temperature value is higher than 80°C, it indicates that the power module is under great heat stress, and the adjustment speed of the window length of the motion module needs to be accelerated to quickly update the motion temperature value and adapt to the overall heat dissipation decision; the adjustment interval of the window length is shortened from the default adjustment of 1 time per 2 filter windows to adjustment of 1 time per 1 filter window, ensuring that the motion temperature value can timely match the high temperature emergency scenario of the power module. If the power temperature value is lower than 50°C, the power module is in a low heat state, and the overall heat dissipation demand is gentle, so the adjustment speed can be slowed down; the adjustment interval is extended to adjustment of 1 time per 3 filter windows to avoid frequent adjustment causing fluctuations in the motion temperature value; if the power temperature value is between 50°C and 80°C, the default adjustment interval is maintained. By combining the power temperature value to control the adjustment speed, the window adjustment of the motion module not only fits the heat state of itself, but also adapts to the overall heat dissipation rhythm of the integrated module.

[0062] With reference to Figure 3 , the second algorithm includes the following steps:

[0063] A plurality of second temperature data collected within a preset control duration, such as 50 data points generated under a 5-second control duration and a 10Hz collection frequency, are sorted in descending order according to the generation time; the second temperature data with the shortest generation time, i.e., the latest collected data, is assigned the largest sequence number; the longer the generation time, i.e., the earlier the collected data, the smaller the sequence number. In this embodiment, the sequence numbers of the 50 second temperature data are 1 to 50 in turn, wherein the sequence number of the data collected for the last time, i.e., the data with the latest timestamp, is 50, and the sequence number of the data collected for the first time, i.e., the data with the earliest timestamp, is 1, thereby establishing a unique correspondence between the time and the sequence number and clearly defining the time sequence priority of the data.

[0064] An initial weighting coefficient is preset for each sequence number, and a positive correlation correspondence is established between the weighting coefficient and the sequence number through a linear function, and the specific formula is set as: weighting coefficient = sequence number / total data amount, wherein the total data amount is the total number of second temperature data within the control duration, which is 50 in this embodiment. According to this formula, the weighting coefficient of the latest data with the sequence number 50 is 50 / 50 = 1.0, the weighting coefficient of the intermediate data with the sequence number 25 is 25 / 50 = 0.5, and the weighting coefficient of the earliest data with the sequence number 1 is 1 / 50 = 0.02, ensuring that the latest data has the highest influence weight on the final temperature result, and the early data is only used as a basic reference.

[0065] After the weighting coefficient distribution is completed, the initial power temperature value is calculated by the weighted average formula: each second temperature data is multiplied by its corresponding weighting coefficient to obtain the weighted temperature value of each data; the sum of all weighted temperature values is obtained to obtain the total weighted temperature value; the total weighted temperature value is divided by the sum of all weighting coefficients; the sum of the coefficients in this embodiment is (1+50) x 50 / 2 ÷ 50 = 25.5, and the calculation result is the initial power temperature value. For example, if the latest data of serial number 50 is 85°C (instantaneous high temperature), the data of serial number 49 is 82°C, and the average of the remaining data is 70°C, the initial power temperature value will be closer to the latest high temperature of 85°C and 82°C after weighted calculation, and accurately reflect the current heat peak state of the power module.

[0066] In order to further adapt to the characteristics of fast temperature fluctuation and large amplitude of the power control module, the positive correlation corresponding relationship between the weighting coefficient and the serial number needs to be optimized in real time according to the change speed of the latest temperature data, so as to ensure that the temperature can be quickly responded when the temperature rises or falls suddenly, and the result is reliable when the temperature is stable. The specific process is as follows:

[0067] The latest data sample set is defined, and the last N second temperature data in the control time length is selected; in this embodiment, N = 10, corresponding to the latest collection period of 1 second, taking into account the timeliness and sample size, as the basic data for calculating the temperature change speed. Through linear fitting algorithm, the time stamp-temperature value of the 10 data is linearly regressed to obtain the slope of the temperature change with time (unit: ℃ / s), which is the latest temperature change speed: if the slope is positive and the absolute value is large (such as > 2 ℃ / s), it means that the temperature of the power module is rising rapidly; if the slope is negative and the absolute value is large (such as <-1.5 ℃ / s), it means that the temperature is falling rapidly; if the absolute value of the slope is <0.5 ℃ / s, it means that the temperature is in a stable fluctuation state.

[0068] Based on the positive correlation rule of the positive correlation corresponding coefficient of the temperature change speed, the calculation logic of the weighting coefficient is dynamically adjusted: in this embodiment, the initial value of the positive correlation corresponding coefficient is 1.0 (corresponding to the linear relationship in step one), if the temperature change speed > 2℃ / s (fast heating), the positive correlation corresponding coefficient is increased to 1.2, and the weighting coefficient formula is updated to: weighting coefficient = (serial number / total data amount) x 1.2; the latest data weighting coefficient of serial number 50 is increased from 1.0 to 1.2, and the data coefficient of serial number 49 is increased from 0.98 to 1.176, further amplifying the weight of the latest high temperature data, avoiding the lag of high temperature response due to insufficient coefficient. If the temperature change speed < -1.5℃ / s, the rapid cooling, the positive correlation corresponding coefficient is also increased to 1.1, the response to the latest low temperature data is strengthened, and the dynamic temperature value can follow the temperature drop trend in time, avoiding the excess of heat dissipation power. If the absolute value of the temperature change speed < 0.5℃ / s, the stable state, the positive correlation corresponding coefficient is reduced to 0.8, and the weighting coefficient formula is adjusted to: weighting coefficient = (serial number / total data amount) x 0.8, the weight proportion of the latest data is reduced, the stability of the dynamic temperature value is improved by smoothing the random fluctuations through more historical data.

[0069] According to the adjusted positive correlation corresponding coefficient, the weighting coefficient and the weighted temperature value of each second temperature data are recalculated, and finally the optimized dynamic temperature value is obtained. For example, when the temperature change speed is 2.5℃ / s, it indicates fast heating, and the weighting coefficient of the 85℃ data of serial number 50 becomes 1.2, its contribution to the total weighted temperature value is increased from 85x1.0=85 to 85x1.2=102, so that the final dynamic temperature value is closer to the current high temperature; when the temperature change speed is 0.3℃ / s, the data is stable, the data weighting coefficient is reduced to 0.8, and the contribution is changed to 85x0.8=68, avoiding the excessive influence of single data fluctuation on the result.

[0070] In order to meet the dynamic adaptation requirement of the heat dissipation power regulation of the integrated module, the updating time proportion of the temperature ratio is calculated to realize the precise control of the heat dissipation power regulation speed, avoid the system fluctuation caused by too fast regulation or the heat dissipation lag caused by too slow regulation, and the specific steps are as follows:

[0071] Calculate the first ratio: the first ratio = the first updating time proportion / the second updating time proportion, the first ratio = 60% / 40% = 1.5 according to the example data in step one. The ratio directly reflects the dominant degree of the motion temperature dominant scene relative to the dynamic temperature dominant scene in the control time length; the larger the first ratio, the more the period in which the motion temperature is higher than the dynamic temperature, and the regulation efficiency of the heat dissipation power corresponding to the first temperature ratio needs to be prioritized; the smaller the first ratio, the more balanced the proportion of the two scenes, and the regulation speed needs to be slowed down to avoid system fluctuation.

[0072] A positive correlation mapping relationship between the first ratio and the adjustment speed is established, and in this embodiment, three adjustment speed levels and corresponding first ratio intervals are preset, and the specific adjustment parameters are as follows:

[0073] When the first ratio interval is greater than 1.8, the heat dissipation power adjustment speed level is fast adjustment; for example, the specific adjustment parameters are that the PWM signal is used to adjust the fan speed, the speed adjustment step is 200r / min, and the adjustment interval is 0.2 seconds.

[0074] When the first ratio interval is 1.2-1.8, the heat dissipation power adjustment speed level is medium speed adjustment; for example, the specific adjustment parameters are that the PWM signal is used to adjust the fan speed, the speed adjustment step is 100r / min, and the adjustment interval is 0.5 seconds.

[0075] When the first ratio interval is less than 1.2, the heat dissipation power adjustment speed level is slow adjustment; for example, the specific adjustment parameters are that the PWM signal is used to adjust the fan speed, the speed adjustment step is 50r / min, and the adjustment interval is 1.0 seconds.

[0076] According to the first ratio = 1.5 corresponding to the medium speed adjustment level in the first ratio interval, if the current first temperature ratio increases from 1.1 (the motion temperature is 61°C and the power temperature is 55°C) to 1.3 (the motion temperature is 65°C and the power temperature is 50°C), the main controller adjusts the heat dissipation power according to the 100r / min step and the 0.5 second interval. For example, the initial fan speed is 2200r / min, and after the first adjustment, it is increased to 2300r / min, and after the interval of 0.5 seconds, it is confirmed that the temperature ratio does not fall back, and it is increased to 2400r / min, and the speed is matched with the first temperature ratio.

[0077] If the first ratio further increases to 2.0, for example, the first update time ratio is 75% and the second update time ratio is 37.5%, the fast adjustment is switched: the adjustment step is increased to 200r / min, and the interval is shortened to 0.2 seconds, to ensure that when the motion temperature continues to dominate, the heat dissipation power can quickly follow the temperature rising rhythm; if the first ratio decreases to 1.0, i.e. the two scenes each account for 50%, the slow adjustment is switched, and through the small step and long interval, the fan speed fluctuation caused by frequent adjustment is avoided, and then the heat dissipation stability and the module working state are affected.

[0078] In this embodiment, the update ratio of the temperature ratio in the quantitative control time is quantified, and the reciprocating cycle is dynamically adjusted to ensure that the reciprocating rhythm matches the two module temperature dominant state; both the heat accumulation caused by the slow reciprocation when the motion temperature dominates and the increased energy consumption and component wear caused by the frequent reciprocation when the state is balanced are avoided, and the specific steps are as follows:

[0079] The determination rule of the temperature ratio update period is determined: within a preset control time length, the control time length in the embodiment is set to 6 seconds, the power module temperature fluctuation period is adapted, and the data sample amount is ensured, the main controller detects at a fixed detection interval, the fixed detection interval is set to 0.6 seconds, that is, 1 detection is performed every 6 temperature collection periods (10 Hz collection frequency), the current motion temperature value and the power temperature value are compared in real time, and the current effective temperature ratio type is determined:

[0080] 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 period is marked as the first ratio update period.

[0081] If the motion temperature value is less than or equal to the power temperature value, the current effective ratio is the second temperature ratio = power temperature value / motion temperature value, and the period is marked as the second ratio update period.

[0082] Taking the 6-second control time length as an example, 10 0.6-second detection interval periods are included, period 1 to period 10. Assuming that the motion temperature value is continuously higher than the power temperature value in periods 1-3 and 5-7, such as motion temperature 63°C / power temperature 57°C and motion temperature 66°C / power temperature 60°C, the six periods (3 in 1-3 and 3 in 5-7) are classified as the first ratio update period, and the first update time total length = 6*0.6 seconds = 3.6 seconds; the motion temperature value is less than or equal to the power temperature value in the remaining periods 4, 8-10, such as motion temperature 58°C / power temperature 62°C and motion temperature 61°C / power temperature 61°C, and the four periods are classified as the second ratio update period, and the second update time total length = 4*0.6 seconds = 2.4 seconds.

[0083] The update time proportion is calculated:

[0084] The first update time proportion = first update time total length / control time length*100% = 3.6 seconds / 6 seconds*100% = 60%;

[0085] The second update time proportion = second update time total length / control time length*100% = 2.4 seconds / 6 seconds*100% = 40%.

[0086] The first ratio is calculated: the first ratio = first update time proportion / second update time proportion, and according to the example data in step one, the first ratio = 60% / 40% = 1.5. The ratio directly reflects the advantage of the motion temperature dominant scene relative to the power temperature dominant scene; the larger the first ratio, the more periods in which the motion temperature is higher than the power temperature, and the faster the heat dissipation channel reversing rhythm needs to be accelerated to quickly balance the heat of the two modules; the smaller the first ratio, the more balanced the two kinds of scenes, and the slower the reversing rhythm needs to be slowed down to reduce energy consumption and component wear.

[0087] The inverse correlation mapping relationship between the first ratio and the reciprocating period is established, and the initial value of the reciprocating period in this embodiment is 2 seconds (1 second in the forward direction and 1 second in the reverse direction), and 3 first ratio intervals and corresponding period adjustment rules are divided, as follows:

[0088] The first ratio > 2.0, and the motion temperature is significantly dominant: At this time, the proportion of the period in which the motion temperature is higher than the power temperature is far more than that of the latter, and if the original period is maintained, the heat of the motion module is easy to accumulate. Therefore, the reciprocating period is shortened to 1.2 seconds (0.6 seconds in the forward direction and 0.6 seconds in the reverse direction; by increasing the commutation frequency, the heat is quickly circulated and transferred between the two modules, avoiding local overheating of the motion module, and at the same time, the relatively low temperature of the power module is used to share the heat dissipation pressure of the motion module. For example, when the first update time proportion is 80% and the second update time proportion is 40% (the first ratio = 2.0), the period is immediately shortened to ensure that bidirectional heat conduction is completed every 1.2 seconds, and the heat is quickly balanced.

[0089] The first ratio 1.0~2.0, the motion temperature is slightly dominant or the scene is balanced: At this time, the proportion difference between the two temperature dominant scenes is small, and there is no need to frequently commutate. The reciprocating period is maintained at the initial 2 seconds, which can balance the heat of the motion module through bidirectional heat conduction, and also avoids frequent start-stop of the flow guide fan due to frequent commutation, such as large current fluctuation when the fan direction is switched, frequent switching can shorten the service life, and also reduces unnecessary energy consumption. For example, in the first ratio = 1.5 in the first step, the period is 2 seconds, which takes into account the heat dissipation efficiency and system stability.

[0090] The first ratio < 1.0, the scene is close to complete balance: At this time, the proportion of the motion temperature dominant period is lower than that of the power temperature dominant period, or both are basically flat, and the overall heat distribution is relatively flat. The reciprocating period is extended to 3 seconds (1.5 seconds in the forward direction and 1.5 seconds in the reverse direction); by slowing down the commutation rhythm, the number of fan direction switching is reduced, the energy consumption of the motor drive circuit is reduced, and at the same time, the heat flow disorder caused by frequent commutation is avoided, such as repeated bidirectional transfer of heat in a short time, which actually reduces the heat dissipation efficiency. For example, when the first update time proportion is 45% and the second update time proportion is 50% (the first ratio = 0.9), the period is extended to 3 seconds to maintain heat balance with a smooth commutation rhythm.

[0091] The main controller calls the corresponding reciprocating period parameter according to the calculated first ratio, and controls the switching time of the flow guide fan of the heat dissipation channel through the PWM signal; if the first ratio changes dynamically, such as from 1.5 to 2.1, the period parameter is updated in real time to ensure that the commutation rhythm always matches the temperature dominant state of the two modules.

[0092] The embodiment is aimed at the need for reciprocating switching of the heat dissipation channel when the motion temperature value is higher than the power temperature value. Through the inverse correlation adjustment logic of the first temperature ratio and the reciprocating cycle, the switching rhythm is accurately matched with the temperature difference degree of the two modules, avoiding the insufficient heat dissipation efficiency or energy waste caused by fixed cycle. The specific steps are as follows:

[0093] The reciprocating cycle is inversely correlated with the first temperature ratio. The larger the first temperature ratio, the shorter the reciprocating cycle. The smaller the first temperature ratio, the longer the reciprocating cycle. When the temperature difference is small, i.e. the first temperature ratio is within the range of 1.05-1.2, a 3-second cycle is adopted to balance heat conduction and energy consumption; when the temperature difference is medium, i.e. the first temperature ratio is within the range of 1.2-1.5, a 2-second cycle is maintained to stabilize the circulating heat dissipation; when the temperature difference is large, i.e. 1.5-1.8, the cycle is shortened to 1.5 seconds to speed up heat balance; when the temperature difference is extremely large, i.e. the first temperature ratio is within the range of 1.8-2.0, the cycle is further shortened to 1 second to quickly cool down with high-frequency switching. This makes the heat dissipation rhythm accurately match the temperature difference, ensuring efficient heat dissipation and avoiding unnecessary energy consumption and component wear.

[0094] In the time length accumulated by multiple control time lengths, the first update time ratio of the first temperature ratio and the second update time ratio of the second temperature ratio are calculated; in the cycle accumulated by multiple control time lengths, such as 5 five-second control time lengths, a total of 25 seconds, the effective period of the first and second temperature ratios is counted: when the motion temperature is higher than the power temperature, the first update total time is accumulated, and vice versa. The second update total time is accumulated. Calculate the proportion of the two in the accumulated cycle, i.e. the first and second update time ratios, to reflect the overall frequency of the power temperature dominant scenario.

[0095] The ratio of the second update time ratio to the first update time ratio is calculated as the second ratio, and the second ratio = the second update time ratio / the first update time ratio. The second temperature ratio corresponding to the heat dissipation power adjustment speed is adjusted according to the positive correlation rule:

[0096] When the second ratio is greater than 2.0, fast adjustment is adopted, such as 200r / min step, 0.2 second interval, which is suitable for high-frequency scenarios where the power temperature is dominant;

[0097] When the ratio is 1.0-2.0, medium-speed adjustment is used, such as 100r / min step, 0.5 second interval, to balance response and stability;

[0098] When the ratio is less than 1.0, slow adjustment is used, such as 50r / min step, 1 second interval, to ensure stable adjustment when the power temperature ratio is low.

[0099] Through this mechanism, the heat dissipation demand is quickly responded when the power temperature is dominant, and the adjustment is stable when the ratio is low, realizing the dynamic balance of the two.

[0100] According to the second ratio dynamic adjustment of heat dissipation power adjustment speed, the demand can be quickly adapted when the power temperature is dominant, and the adjustment is stable when the proportion is low, and the heat dissipation and timeliness and stability are considered.

[0101] The sum of the motion temperature value and the power temperature value is calculated as a temperature sum value, and a total ratio of the temperature sum value and a preset reference sum value is calculated. First, the motion temperature value and the power temperature value obtained by the current calculation are added to obtain the temperature sum value, such as motion temperature 60℃+power temperature 70℃=130℃. The preset reference sum value is the typical temperature sum when the two modules are normally working, and in this embodiment, it is set to 100℃, corresponding to the ideal working condition of motion temperature 50℃+power temperature 50℃.

[0102] The total ratio is calculated: total ratio=temperature sum value / reference sum value, according to the above example, 130℃ / 100℃=1.3, which reflects the overall heat intensity of the two modules; the larger the total ratio, the higher the overall temperature, and the more urgent the heat dissipation demand; the smaller the total ratio, the better the temperature stability in the low load state.

[0103] The control duration is adjusted according to the total ratio, the larger the total ratio, the shorter the control duration, and the smaller the total ratio, the longer the control duration. The initial value of the control duration is set to 5 seconds, and the control duration is adjusted according to the rule that the larger the total ratio, the shorter the control duration:

[0104] The total ratio is greater than 1.5, such as 1.8, corresponding to the temperature sum value 180℃: the overall high temperature state, the control duration is shortened to 3 seconds to speed up the heat dissipation decision frequency and quickly respond to temperature changes;

[0105] The total ratio is 1.0-1.5, such as 1.3: the medium heat state, the control duration is maintained at 5 seconds to balance the data stability and response speed;

[0106] The total ratio is less than 1.0, such as 0.8, corresponding to the temperature sum value 80℃: the low load state, the control duration is extended to 7 seconds to accumulate more data samples to reduce the influence of random fluctuations.

[0107] Through this adjustment, the control duration can dynamically adapt to the overall heat intensity, quickly decide at high temperature, and stably sample at low temperature.

[0108] The control duration is adapted according to the change of the total ratio, the total ratio is high, the duration is shortened to quickly respond to the heat dissipation demand, and the total ratio is low, the control duration is extended to stabilize the temperature-related data, and the flexibility and accuracy of the heat dissipation control are improved.

[0109] The embodiment of the application also discloses a heat dissipation control system of a motion and power control module, comprising a processor, and the processor executes the steps of the heat dissipation control method of the motion and power control module according to any one of the above.

[0110] The embodiment of the present application further discloses a storage medium, which stores a program. The program is executed by a processor to implement the steps of the heat dissipation control method of the motion and power control module.

[0111] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A heat dissipation control method of a motion and power control module, characterized by, The method comprises the following steps: Based on the integrated circuit board provided with the motion control module and the power control module, a first temperature value is obtained according to the first temperature sensor corresponding to the motion control module, and a second temperature value is obtained according to the second temperature sensor corresponding to the power control module; Within a preset control duration, a first temperature data is obtained according to a plurality of first temperature values, and a second temperature data is obtained according to a plurality of second temperature values; A motion temperature value is calculated according to the first temperature data using a preset first algorithm, and a power temperature value is calculated according to the second temperature data using a preset second algorithm; If the motion temperature value is higher than the power temperature value, the heat moving direction is controlled to be reciprocally reversed between the motion control module and the power control module according to a preset reciprocating cycle, otherwise the heat is controlled to move from the motion control module to the power control module; If the motion temperature value is higher than the power temperature value, a first temperature ratio is calculated as the ratio of the motion temperature value to the power temperature value, and the heat dissipation power of the heat dissipation channel is adjusted according to the first temperature ratio in a positive correlation; Otherwise, a second temperature ratio is calculated as the ratio of the power temperature value to the motion temperature value, and the heat dissipation power of the heat dissipation channel is adjusted according to the second temperature ratio in a positive correlation.

2. The heat dissipation control method of the motion and power control module according to claim 1, wherein, The first algorithm comprises the following steps: A plurality of first temperature data is windowed and filtered according to a preset window length to obtain a motion temperature value; The window length is adjusted in an inverse correlation with the motion temperature value, that is, 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 in a positive correlation with the power temperature value, that is, 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, wherein, The second algorithm comprises the following steps: Within the control duration, a plurality of second temperature data is sorted according to the generation time, 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 the power temperature value is calculated using a weighted average value according to the plurality of second temperature data; wherein the weighting coefficient and the sequence number have a positive correlation corresponding coefficient, that is, the larger the sequence number, the larger the weighting coefficient, and the smaller the sequence number, the smaller the weighting coefficient; The change speed of the latest plurality of second temperature data is calculated; the positive correlation corresponding coefficient between the weighting coefficient and the sequence number is adjusted in a positive correlation with the change speed, that is, the faster the change speed, the larger the positive correlation corresponding coefficient, and the slower the change speed, the smaller the positive correlation corresponding coefficient.

4. The heat dissipation control method of a motion and power control module according to claim 1, wherein, Within the control duration, a first update time proportion of the first temperature ratio and a second update time proportion of the second temperature ratio are calculated; A first ratio is calculated as the ratio of the first update time proportion to the second update time proportion, and the adjustment speed of the heat dissipation power adjusted using the first temperature ratio is adjusted in a positive correlation with the first ratio, that is, 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, wherein, Within the control duration, 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 first update time proportion and the second update time proportion is calculated as a first ratio, and the reciprocating period is adjusted inversely according to the first ratio, that is, the larger the first ratio, the shorter the reciprocating period, and the smaller the first ratio, the longer the reciprocating period.

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

7. The heat dissipation control method of the motion and power control module according to claim 1, wherein, In the time length accumulated by the plurality of control time lengths, the first update time proportion of the first temperature ratio and the second update time proportion of the second temperature ratio are calculated; The ratio of the second update time proportion and the first update time proportion is calculated as a second ratio, and the adjustment speed of the heat dissipation power adjusted according to the second temperature ratio is adjusted positively according to the second ratio, that is, 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, wherein, The sum of the motion temperature value and the power temperature value is calculated as a temperature sum value, the total ratio of the temperature sum value and a preset reference sum value is calculated, and the control time length is adjusted inversely according to the total ratio, that is, the larger the total ratio, the shorter the control time length, and the smaller the total ratio, the longer the control time length.

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

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

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