A control method for a motor controller and a motor controller.

Abstract

This invention relates to the field of motor control, and in particular to a control method and a motor controller. The method, when a motor restarts from a paused state, utilizes the residual voltage in the bus capacitor to drive the motor. This utilizes the residual voltage and allows the motor to pre-rotate, enabling it to run at a slower speed and avoiding sudden changes in motor speed. Furthermore, it fully utilizes the electrical energy generated by the residual voltage, achieving energy recycling. Moreover, when the residual voltage in the bus capacitor is consumed below a safe threshold, the power supply is switched to the mains power, thus avoiding the superimposed impact of the residual voltage and the power supply voltage, thereby ensuring the motor's service life.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a control method for a motor controller and a motor controller. Background Technology

[0002] Currently, in order to achieve better overall air supply effect, it is often necessary to control multiple fans to provide intermittent air supply in coordination.

[0003] During intermittent air supply, the fan motor needs to repeatedly start and stop. However, after the motor stops, the electrolytic capacitor on the motor controller bus is often not fully discharged. If the motor is restarted at this time, the residual voltage in the capacitor will superimpose with the power supply starting voltage, resulting in an increased current surge when the MOSFET is turned on, which is not conducive to the long-term continuous operation of the motor. To address this problem, existing technology uses a resistor connected across the capacitor to gradually consume the residual charge in the capacitor after the motor stops. However, this method requires a certain amount of time, and it is difficult to fully consume the residual voltage in the capacitor when the start-stop interval is short, thus making it difficult to avoid the superimposed voltage surge. Furthermore, due to the presence of the resistor, the motor will continuously consume power during operation, reducing the efficiency of the power supply. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method and a motor controller for addressing the above-mentioned problems.

[0005] The present invention is implemented as follows: a control method for a motor controller is provided, applied to a motor controller, the method comprising:

[0006] S1: Upon receiving a pause command, disconnect the power supply and record the rotor phase;

[0007] S2: After receiving the start command, a set of specific MOSFETs are turned on according to the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0008] S3: Drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0009] S4: Monitor the change in residual voltage of the bus capacitor and adjust the duty cycle according to the change in residual voltage to keep the pre-rotation speed constant;

[0010] S5: When the residual voltage is lower than the preset safety threshold, the power supply is connected again to supply power to the motor and increase the motor speed to the target speed.

[0011] S6: Repeat steps S1 to S5 until the motor stops running completely.

[0012] In one embodiment, the present invention provides a motor controller, wherein a module in the motor controller is used to execute the control method for the motor controller, specifically including:

[0013] The first processing module is used to cut off the power supply and record the rotor phase after receiving a pause command;

[0014] The second processing module is used to, upon receiving the start command, conduct a set of specific MOS transistors based on the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0015] The third processing module is used to drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0016] The fourth processing module is used to monitor the changes in the residual voltage of the bus capacitor and adjust the duty cycle according to the changes in the residual voltage to keep the pre-rotation speed constant.

[0017] The fifth processing module is used to reconnect the power supply when the residual voltage is lower than the preset safety threshold, so that the power supply can supply power to the motor and increase the motor speed to the target speed.

[0018] The repeat module is used to repeatedly execute steps S1 to S5 until the motor stops running completely.

[0019] This invention provides a control method and a motor controller for a motor controller. The method includes: upon receiving a pause command, cutting off the power supply and recording the rotor phase; upon receiving a start command, conducting a set of specific MOSFETs based on the motor's electromagnetic parameters and the recorded rotor phase to rotate the rotor to a zero-torque impact phase; driving the motor using the residual voltage in the bus capacitor according to a preset drive sequence, so as to consume the residual voltage in the bus capacitor while using the residual voltage to drive the motor for pre-rotation; monitoring the change in the residual voltage of the bus capacitor and adjusting the duty cycle according to the change in the residual voltage to maintain a constant pre-rotation speed; and when the residual voltage is lower than a preset safety threshold, reconnecting the power supply to allow the power supply to... The motor is powered to increase its speed to the target speed; the above steps are repeated until the motor stops completely. In this application, when the motor restarts from a paused state, the residual voltage in the bus capacitor can be used to drive the motor first. This utilizes the residual voltage and allows the motor to pre-rotate, enabling it to run at a slower speed, avoiding sudden changes in motor speed, and fully utilizing the electrical energy generated by the residual voltage, thus achieving energy recycling. Furthermore, when the residual voltage in the bus capacitor is consumed to below the safety threshold, the power supply is switched to the mains power supply, thereby avoiding the superposition of residual voltage and power supply voltage, thus ensuring the motor's service life. Attached Figure Description

[0020] Figure 1 A flowchart of a control method for a motor controller provided in one embodiment;

[0021] Figure 2 This is a block flowchart of a motor controller provided in one embodiment;

[0022] Figure 3 This is a schematic diagram of the composition of a control system for a motor controller provided in one embodiment;

[0023] Figure 4 This is a block diagram of the internal structure of a motor controller in one embodiment. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various elements herein, but unless specifically stated otherwise, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0026] like Figure 1 As shown, in one embodiment, a control method for a motor controller is proposed, applied to a motor controller, the method comprising:

[0027] S1: Upon receiving a pause command, disconnect the power supply and record the rotor phase;

[0028] S2: After receiving the start command, a set of specific MOSFETs are turned on according to the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0029] S3: Drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0030] S4: Monitor the change in residual voltage of the bus capacitor and adjust the duty cycle according to the change in residual voltage to keep the pre-rotation speed constant;

[0031] S5: When the residual voltage is lower than the preset safety threshold, the power supply is connected again to supply power to the motor and increase the motor speed to the target speed.

[0032] S6: Repeat steps S1 to S5 until the motor stops running completely.

[0033] In this embodiment, the method is applied to a motor controller, such as a fan motor controller; the motor controller includes a memory and a processor, the memory storing a computer program, which, when executed by the processor, causes the processor to perform the steps of this method;

[0034] In this embodiment, the motor controller monitors external control signals (such as CAN bus commands and hard-wired trigger signals) in real time. When a pause command conforming to a preset protocol (including a stop identifier and priority code) is detected, the stop procedure is initiated, while other non-emergency command responses are blocked. The motor controller triggers the main power switch (such as a relay or high-voltage contactor) to disconnect, cutting off the connection between the input power supply and the motor drive circuit, leaving only the electrical path of the bus capacitor branch intact. The motor's built-in Hall sensor collects the current rotor's real-time phase angle (accuracy ≤ 0.5°), stores the phase data in the controller's cache (a region that is not lost when power is off), and marks the recording timestamp.

[0035] In this embodiment, when the motor is stopped, the residual voltage in the bus capacitor is monitored once. This method is performed when the residual voltage is higher than the safety threshold. If the residual voltage is lower than the safety threshold (e.g., 10% of the rated voltage), the power supply is directly connected when the motor is started again, without the need to supply power through the residual voltage of the capacitor.

[0036] In this application, when the motor restarts from a paused state, the residual voltage in the bus capacitor can be used to drive the motor first. This utilizes the residual voltage and allows the motor to pre-rotate, enabling the motor to run at a slower speed, avoiding sudden changes in motor speed, and fully utilizing the electrical energy generated by the residual voltage, thus achieving energy recycling. Furthermore, when the residual voltage in the bus capacitor is consumed to below a safe threshold, the power supply is switched to the mains, thereby avoiding the superimposed impact of the residual voltage of the capacitor and the power supply voltage, thus ensuring the service life of the motor.

[0037] In a preferred embodiment, the step of turning on a specific set of MOSFETs based on the motor's electromagnetic parameters and the recorded rotor phase to rotate the rotor to the zero torque impact phase includes:

[0038] Calculate the zero-torque impact phase based on the motor's electromagnetic parameters;

[0039] The combination of MOSFETs for three-phase full-bridge conduction is determined based on the electrical angle range where the zero-torque impact phase is located;

[0040] A calibration current is applied to a specific MOSFET to generate a directional magnetomotive force, which drives the rotor to rotate to the zero-torque impact phase.

[0041] The calculation of the zero-torque impact phase includes:

[0042] The phase compensation angle is calculated using the following formula:

[0043]

[0044] in, For phase compensation angle, For d-axis inductance, It is the q-axis inductance. It is a permanent magnet flux chain. For calibration current.

[0045] The zero-torque impact phase is calculated using the following formula:

[0046]

[0047] in, Zero torque impact phase, The recorded rotor phase.

[0048] In this embodiment, the calculation of the zero torque impact phase is also based on the principle of minimum magnetic reluctance of the stator and rotor. Essentially, the magnetic field generated by the current-carrying conductor will spontaneously choose the path with the least magnetic reluctance to close, and the magnetic field will drive the movable part (such as the motor rotor) in the magnetic circuit to move through electromagnetic force, so that the total magnetic reluctance of the entire magnetic circuit reaches the minimum value.

[0049] In this embodiment, the electromagnetic parameters of the motor include d-axis inductance and q-axis inductance. It is a permanent magnet flux chain. To calibrate the current; the flux linkage of a permanent magnet refers to the total magnetic flux generated by the permanent magnet passing through a specified winding. Its core calculation logic is the product of the main magnetic flux provided by the permanent magnet and the number of turns in the winding. The flux linkage of the permanent magnet can be determined using the no-load back EMF method. The steps include: driving the motor to a stable no-load speed n; and measuring the effective value of the no-load back EMF of the winding using a voltmeter. Calculate the electrical frequency based on the number of pole pairs p of the motor. ;calculate .

[0050] In this embodiment, the calibration current is the constant micro-current (e.g., 5% of the rated current) applied to the motor during calibration. It has the following characteristics: it can overcome the static friction torque of the motor and drive the rotor to rotate (achieving phase alignment); the torque is small enough to avoid rotor overshoot (accurately stopping at the target phase); it does not generate heat and does not interfere with position detection (stable encoder signal).

[0051] In this embodiment, determining the combination of MOSFETs for three-phase full-bridge conduction based on the electrical angle range where the zero-torque impact phase is located specifically includes:

[0052] Using the switching phase angle with zero torque impact as the boundary, the 360° electrical angle is divided into six 60° sectors. Each sector corresponds to a unique MOSFET conduction logic. The specific sector-electrical angle correspondence is as follows: Sector 1: 0°~60°; Sector 2: 60°~120°; Sector 3: 120°~180°; Sector 4: 180°~240°; Sector 5: 240°~300°; Sector 6: 300°~360°.

[0053] Set the MOSFET numbers for the upper and lower bridge arms of the three-phase bridge arm and use a unified naming rule for matching: Phase A upper bridge arm: Q1, Phase A lower bridge arm: Q2; Phase B upper bridge arm: Q3, Phase B lower bridge arm: Q4; Phase C upper bridge arm: Q5, Phase C lower bridge arm: Q6;

[0054] Select the 120° conduction mode (minimizes torque impact, suitable for BLDC), with only 2 MOSFETs conducting in each sector, and only 1 MOSFET switching during commutation;

[0055] Based on the sector where the zero-torque impact phase is located, the corresponding conduction combinations are selected: Sector 1 (0°~60°): Q1+Q4 conduct; Sector 2 (60°~120°): Q1+Q6 conduct; Sector 3 (120°~180°): Q3+Q6 conduct; Sector 4 (180°~240°): Q3+Q2 conduct; Sector 5 (240°~300°): Q5+Q2 conduct; Sector 6 (300°~360°): Q5+Q4 conduct.

[0056] In this embodiment, before driving the rotor, the rotor is first rotated to the zero torque impact phase so that it will not generate torque impact when driven (torque impact refers to the short-term, large-amplitude fluctuation of the output torque of the motor at the moment of commutation or when the operating condition changes suddenly, which manifests as a torque spike or sudden drop, and is essentially the result of the combined effect of the sudden change in the energy of the magnetic field inside the motor and the transient process of current commutation), thereby ensuring the safe start of the rotor.

[0057] In a preferred embodiment, driving the motor with the residual voltage in the bus capacitor according to a preset driving sequence includes:

[0058] Calculate the difference between the current residual voltage value and the safety threshold;

[0059] The difference segment corresponding to the obtained difference is determined according to the preset difference segment table. The difference segment table includes several difference segments, and each difference segment corresponds to a pre-rotation coefficient.

[0060] Obtain the target rotational speed and calculate the pre-rotational speed using the following formula:

[0061]

[0062] in, The rotational speed before rotation, The pre-rotation coefficient, The target rotational speed;

[0063] Drive the motor to rotate at the predetermined pre-rotation speed.

[0064] In this embodiment, the target speed is the speed that the controller receives as the speed the motor needs to reach; the difference range table includes 0~10%. (The corresponding pre-rotation coefficient is 0.1), 10% ~20% (The corresponding pre-rotation coefficient is 0.15), 20% ~30% Several difference ranges (corresponding to a pre-rotation coefficient of 0.2); for example, the safety threshold is 10%. ( (Rated voltage), residual voltage is 25%. Then the difference between the residual voltage value and the safety threshold is 25%. -10% =15% Falling into the difference range of 10% ~20% Then take The value is 0.15; the larger the difference range, the larger the corresponding pre-rotation coefficient, which in turn allows for a larger pre-rotation speed, thus enabling faster consumption of residual voltage.

[0065] As a preferred embodiment, monitoring the change in the residual voltage of the bus capacitor and adjusting the duty cycle based on the change in residual voltage includes:

[0066] At each time point, it is determined whether the residual voltage at the current time has changed relative to the residual voltage at the previous time point. If not, the duty cycle is not adjusted.

[0067] If so, adjust the duty cycle using the following formula:

[0068]

[0069] in, The duty cycle at the current moment. The duty cycle at the previous moment. This represents the residual voltage of the bus capacitor at the current moment. This represents the residual voltage of the bus capacitor at the previous moment.

[0070] The moment when the motor begins to pre-rotate is called the initial moment, and the duty cycle corresponding to the initial moment is called the initial duty cycle.

[0071] The initial duty cycle is calculated using the following formula:

[0072]

[0073] in, The initial duty cycle, This represents the residual voltage of the bus capacitor at the initial moment. The target value for stator voltage. This is the rated current of the motor. This is the stator equivalent impedance.

[0074] The target value of the stator voltage is calculated using the following formula:

[0075]

[0076] in, This is the voltage-speed proportional coefficient;

[0077] The stator equivalent impedance is calculated using the following formula:

[0078]

[0079] in, For stator equivalent impedance, For stator phase resistance, The angular velocity corresponding to the rotor speed. This represents the average of the d-axis inductance and the q-axis inductance.

[0080] In this embodiment, the duty cycle is adjusted according to the change of residual voltage. Its core function is to compensate for voltage deviation and stabilize the system output characteristics, while also suppressing torque impact and protecting circuit devices.

[0081] In this embodiment, the voltage-speed proportional coefficient is determined through prior experiments, specifically including: connecting the motor, motor controller, power supply, and oscilloscope; and operating at 0~ Take several speed points evenly within a preset, relatively large target speed range, for example, 0.1. 0.2 0.3 Enter the speed command point by point. After the speed stabilizes (deviation ≤ 3%), use an oscilloscope to measure the average value of the stator phase voltage to obtain several coordinate points (the horizontal axis of the coordinate point is the speed of a speed point, and the vertical axis is the average value of the corresponding stator phase voltage). Use the obtained coordinate points to perform linear fitting to obtain the fitting line. Take the slope of the fitting line as the voltage-speed proportional coefficient.

[0082] In a preferred embodiment, disconnecting the power supply from the bus capacitor to the motor and switching to the power supply includes:

[0083] Monitor power supply voltage The power supply is soft-started and regulated based on the difference between the power supply voltage and the residual voltage of the bus capacitor. ,in, The residual voltage of the bus capacitor is T, where T is the set voltage fluctuation threshold.

[0084] Initialize the power supply current to the actual current during the pre-rotation phase;

[0085] After the MOSFET in the power supply circuit is turned on, a set delay is set, and then the power supply circuit of the bus capacitor is cut off.

[0086] The power supply current is increased at a constant rate until the motor reaches the target speed.

[0087] In this embodiment, soft-start regulation is a 'smooth boost control' when the main power supply is connected, analogous to 'gradually pressing the accelerator when starting a car'—it doesn't instantly pull the voltage to the rated value, but gradually increases it at a set rate to avoid the impact caused by sudden voltage changes; after the MOSFET in the power circuit is turned on, the bus capacitor power supply circuit is cut off only after a set time delay (e.g., 50ms), ensuring the continuity of power supply.

[0088] like Figure 2 As shown, in one embodiment, a motor controller is provided, wherein modules in the motor controller are used to execute the control method for the motor controller, specifically including:

[0089] The first processing module is used to cut off the power supply and record the rotor phase after receiving a pause command;

[0090] The second processing module is used to, upon receiving the start command, conduct a set of specific MOS transistors based on the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0091] The third processing module is used to drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0092] The fourth processing module is used to monitor the changes in the residual voltage of the bus capacitor and adjust the duty cycle according to the changes in the residual voltage to keep the pre-rotation speed constant.

[0093] The fifth processing module is used to reconnect the power supply when the residual voltage is lower than the preset safety threshold, so that the power supply can supply power to the motor and increase the motor speed to the target speed.

[0094] The repeat module is used to repeatedly execute steps S1 to S5 until the motor stops running completely.

[0095] For details on how each module in the motor controller provided in this application implements its respective function, please refer to the foregoing. Figure 1 The description of the illustrated embodiment will not be repeated here.

[0096] like Figure 3 As shown, in one embodiment, a control system for a motor controller is provided, comprising:

[0097] Electric motor;

[0098] power supply;

[0099] Bus capacitor;

[0100] A motor controller, connected to a motor, power supply, and bus capacitor, is used to execute the control method described above.

[0101] In this application, the motor controller works in conjunction with the motor, power supply, and bus capacitor to drive the motor when it restarts from a paused state, utilizing the residual voltage in the bus capacitor. This process both consumes the residual voltage and allows the motor to pre-rotate, enabling it to run at a slower speed and avoiding sudden changes in motor speed. Furthermore, it fully utilizes the electrical energy generated by the residual voltage, achieving energy recycling. Moreover, when the residual voltage in the bus capacitor is consumed to below a safe threshold, the system switches to power supply, thus avoiding the superimposed impact of the residual voltage in the capacitor and the power supply voltage, thereby ensuring the motor's service life.

[0102] Figure 4 An internal structural diagram of a motor controller in one embodiment is shown. Figure 4 As shown, the motor controller includes a processor, a memory, a network interface, an input device, and a display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the control method for the motor controller provided in this embodiment of the invention. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the control method for the motor controller provided in this embodiment of the invention. The display screen of the motor controller can be a liquid crystal display screen or an e-ink display screen. The input device of the motor controller can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the casing of the motor controller, or an external keyboard, touchpad, or mouse, etc.

[0103] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the motor controller to which the present invention is applied. A specific motor controller may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0104] In one embodiment, such as Figure 2 The motor controller shown can be implemented as a computer program, and the computer program can be used in, for example... Figure 4 The motor controller shown is running. Figure 4 The motor controller's memory can store components Figure 2 The various program modules of the motor controller, for example, Figure 2 The diagram shows a first processing module, a second processing module, a third processing module, a fourth processing module, a fifth processing module, and a repeating module. The computer program comprised of these modules causes the processor to execute the steps of the control methods for motor controllers in the various embodiments of the present invention described in this specification.

[0105] For example, Figure 4 The motor controller shown can be controlled by, for example Figure 2 The first processing module in the motor controller shown executes step S1; the motor controller can execute step S2 through the second processing module; the motor controller can execute step S3 through the third processing module; the motor controller can execute step S4 through the fourth processing module; the motor controller can execute step S5 through the fifth processing module; and the motor controller can execute step S6 through the repeating module.

[0106] In one embodiment, a motor controller is provided, the motor controller including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0107] S1: Upon receiving a pause command, disconnect the power supply and record the rotor phase;

[0108] S2: After receiving the start command, a set of specific MOSFETs are turned on according to the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0109] S3: Drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0110] S4: Monitor the change in residual voltage of the bus capacitor and adjust the duty cycle according to the change in residual voltage to keep the pre-rotation speed constant;

[0111] S5: When the residual voltage is lower than the preset safety threshold, the power supply is connected again to supply power to the motor and increase the motor speed to the target speed.

[0112] S6: Repeat steps S1 to S5 until the motor stops running completely.

[0113] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps:

[0114] S1: Upon receiving a pause command, disconnect the power supply and record the rotor phase;

[0115] S2: After receiving the start command, a set of specific MOSFETs are turned on according to the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact.

[0116] S3: Drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor.

[0117] S4: Monitor the change in residual voltage of the bus capacitor and adjust the duty cycle according to the change in residual voltage to keep the pre-rotation speed constant;

[0118] S5: When the residual voltage is lower than the preset safety threshold, the power supply is connected again to supply power to the motor and increase the motor speed to the target speed.

[0119] S6: Repeat steps S1 to S5 until the motor stops running completely.

[0120] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0121] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0122] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A control method for a motor controller, applied to a motor controller, characterized in that, The method includes: S1: Upon receiving a pause command, disconnect the power supply and record the rotor phase; S2: After receiving the start command, a set of specific MOSFETs are turned on according to the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact. S3: Drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor. S4: Monitor the change in residual voltage of the bus capacitor and adjust the duty cycle according to the change in residual voltage to keep the pre-rotation speed constant; S5: When the residual voltage is lower than the preset safety threshold, the power supply is connected again to supply power to the motor and increase the motor speed to the target speed. S6: Repeat steps S1 to S5 until the motor stops running completely; The process of turning on a specific set of MOSFETs based on the motor's electromagnetic parameters and the recorded rotor phase to rotate the rotor to the zero-torque impact phase includes: Calculate the zero-torque impact phase based on the motor's electromagnetic parameters; The combination of MOSFETs for three-phase full-bridge conduction is determined based on the electrical angle range where the zero-torque impact phase is located; A calibration current is applied to a specific MOSFET to generate a directional magnetomotive force, which drives the rotor to rotate to the zero torque impact phase. The calculation of the zero-torque impact phase includes: The phase compensation angle is calculated using the following formula: in, For phase compensation angle, For d-axis inductance, It is the q-axis inductance. It is a permanent magnet flux chain. For calibration current; The zero-torque impact phase is calculated using the following formula: in, Zero torque impact phase, The recorded rotor phase.

2. The method according to claim 1, characterized in that, The method of driving the motor using the residual voltage in the bus capacitor according to the preset driving sequence includes: Calculate the difference between the current residual voltage value and the safety threshold; The difference segment corresponding to the obtained difference is determined according to the preset difference segment table. The difference segment table includes several difference segments, and each difference segment corresponds to a pre-rotation coefficient. Obtain the target rotational speed and calculate the pre-rotational speed using the following formula: in, The rotational speed before rotation, The pre-rotation coefficient, The target rotational speed; Drive the motor to rotate at the predetermined pre-rotation speed.

3. The method according to claim 2, characterized in that, Monitoring changes in the residual voltage of the bus capacitor and adjusting the duty cycle accordingly includes: At each time point, it is determined whether the residual voltage at the current time has changed relative to the residual voltage at the previous time point. If not, the duty cycle is not adjusted. If so, adjust the duty cycle using the following formula: in, The duty cycle at the current moment. The duty cycle at the previous moment. This represents the residual voltage of the bus capacitor at the current moment. This represents the residual voltage of the bus capacitor at the previous moment.

4. The method according to claim 3, characterized in that, The moment when the motor begins to pre-rotate is called the initial moment, and the duty cycle corresponding to the initial moment is called the initial duty cycle. The initial duty cycle is calculated using the following formula: in, The initial duty cycle, This represents the residual voltage of the bus capacitor at the initial moment. The target value for stator voltage. This is the rated current of the motor. This is the stator equivalent impedance.

5. The method according to claim 4, characterized in that, The target value of the stator voltage is calculated using the following formula: in, This is the voltage-speed proportional coefficient; The stator equivalent impedance is calculated using the following formula: in, For stator equivalent impedance, For stator phase resistance, The angular velocity corresponding to the rotor speed. This represents the average of the d-axis inductance and the q-axis inductance.

6. The method according to claim 1, characterized in that, Disconnecting the power supply from the bus capacitor to the motor and switching to the power supply includes: Monitor power supply voltage The power supply is soft-started and regulated based on the difference between the power supply voltage and the residual voltage of the bus capacitor. ,in, The residual voltage of the bus capacitor is T, where T is the set voltage fluctuation threshold. Initialize the power supply current to the actual current during the pre-rotation phase; After the MOSFET in the power supply circuit is turned on, a set delay is set, and then the power supply circuit of the bus capacitor is cut off. The power supply current is increased at a constant rate until the motor reaches the target speed.

7. A motor controller, characterized in that, The module in the motor controller is used to execute the control method for the motor controller as described in claim 1, specifically including: The first processing module is used to cut off the power supply and record the rotor phase after receiving a pause command; The second processing module is used to, upon receiving the start command, conduct a set of specific MOS transistors based on the motor electromagnetic parameters and the recorded rotor phase, so that the rotor rotates to the zero torque impact phase. When the rotor is driven in the zero torque impact phase, the rotor will not generate torque impact. The third processing module is used to drive the motor with the residual voltage in the bus capacitor according to the preset drive sequence, so as to drive the motor to pre-rotate while consuming the residual voltage in the bus capacitor. The fourth processing module is used to monitor the changes in the residual voltage of the bus capacitor and adjust the duty cycle according to the changes in the residual voltage to keep the pre-rotation speed constant. The fifth processing module is used to reconnect the power supply when the residual voltage is lower than the preset safety threshold, so that the power supply can supply power to the motor and increase the motor speed to the target speed. The repeat module is used to repeatedly execute steps S1 to S5 until the motor stops running completely.

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