Motor type automatic identification method

Abstract

The invention discloses a motor type automatic identification method, which comprises the steps of obtaining a preset threshold value which comprises a first reference voltage, a second reference voltage, continuous output time and the number of motors; obtaining a current variation corresponding to each motor in the plurality of different types of motors according to a preset threshold value; obtaining an error threshold value corresponding to each motor according to the current variable quantity corresponding to each motor, obtaining a threshold value interval corresponding to each motor according to the current variable quantity corresponding to each motor and the error threshold value corresponding to each motor, and storing the threshold value interval; obtaining the current variation of the to-be-identified motor, and judging the threshold interval corresponding to the current variation according to the stored threshold interval, so as to identify the motor type corresponding to the to-be-identified motor; therefore, various motor types are identified by taking the current variation as a judgment basis, the influence of the salient pole rate is avoided, the operation is convenient, the judgment basis required by automatic identification of various motors can be quickly determined, the operation is simple, and the efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to an automatic method for identifying motor types. Background Technology

[0002] In the field of motor control technology, it is often necessary to match one motor controller with multiple motors. Different types of motors have different parameters, and the control parameters configured in the software also differ. Different control parameters can be selected by identifying the motor type to adapt to various types of motors. Existing methods for identifying motor types can be divided into two categories: one is the motor parameter identification method, which requires complex identification algorithms, involves a large amount of computation, and has low identification accuracy; the other is to inject voltage signals to identify motor characteristics and then select the corresponding type of motor. This method involves injecting pulse signals at different positions within a mechanical cycle and determining the motor type based on the strength of the saliency ratio. This method is suitable for built-in motors with high saliency ratios, but identification is difficult for motors with low saliency ratios. Furthermore, automatic motor type determination requires the motor controller to connect to various motors, collect a large amount of current and voltage data, and conduct repeated tests and comparisons, which is cumbersome and inefficient. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, one objective of the present invention is to propose an automatic motor type identification method that uses current change as the criterion to identify various motor types, is unaffected by salient pole ratio, is easy to operate, and can quickly determine the criterion required for automatic identification of multiple motors. It is simple to operate and highly efficient.

[0004] To achieve the above objectives, this invention proposes an automatic motor type identification method applied to a main controller. The main controller is connected to a motor driver and a multiplexer controller. The motor driver is connected to the multiplexer controller, and the multiplexer controller is connected to multiple motors of different types. The method includes: obtaining a preset threshold, wherein the preset threshold includes a first reference voltage, a second reference voltage, a continuous output time, and the number of connected motors; obtaining the current change of each of the multiple motors of different types according to the preset threshold, and sorting them in ascending order; obtaining an error threshold for each motor according to the current change of each motor, and obtaining a threshold range for each motor according to the current change of each motor and the error threshold for each motor, and storing them; obtaining the current change of the motor to be identified, and determining the threshold range corresponding to the current change according to the stored threshold range, so as to identify the motor type of the motor to be identified.

[0005] According to an embodiment of the present invention, the automatic motor type identification method first obtains a preset threshold, wherein the preset threshold includes a first reference voltage, a second reference voltage, a continuous output time, and the number of connected motors; then, based on the preset threshold, the current change amount corresponding to each of multiple different types of motors is obtained and sorted in ascending order; next, based on the current change amount corresponding to each motor, an error threshold corresponding to each motor is obtained, and based on the current change amount and the error threshold corresponding to each motor, a threshold range corresponding to each motor is obtained and stored; finally, the current change amount of the motor to be identified is obtained, and the threshold range corresponding to the current change amount is determined based on the stored threshold range to identify the motor type corresponding to the motor to be identified; thus, using the current change amount as the discrimination criterion to identify various motor types is not affected by the saliency rate, is easy to operate, and can quickly determine the discrimination criterion required for the automatic identification of multiple motors, which is simple to operate and highly efficient.

[0006] In addition, the automatic motor type identification method proposed in the above embodiments of the present invention may also have the following additional technical features:

[0007] Optionally, obtaining the current change of each of the plurality of different types of motors according to the preset threshold includes: selecting one of the plurality of different types of motors to control the multiplexer controller to connect the motor driver to the motor; controlling the motor driver to drive the motor according to the preset threshold, and obtaining the current value collected by the motor driver, and obtaining the current change of the motor according to the current value.

[0008] Optionally, controlling the motor driver to drive the motor according to the preset threshold and acquiring the current value collected by the motor driver includes: sending the first reference voltage and the second reference voltage to the motor driver according to the continuous output time to control the motor driver to output a corresponding voltage to drive the motor, wherein the first reference voltage and the second reference voltage are voltage components in a two-phase stationary coordinate system; acquiring the first current value and the second current value collected by the motor driver in each sampling period in the two-phase stationary coordinate system during the continuous output time; and calculating a composite current based on the first current value and the second current value as the current value collected by the motor driver in each sampling period.

[0009] Alternatively, the resultant current can be calculated according to the following formula:

[0010]

[0011] Among them, I s (k) represents the synthesized current value in the kth sampling period, I α(k) and I β (k) represents the first and second current values ​​in the kth sampling period in the two-phase stationary coordinate system.

[0012] Optionally, obtaining the current change corresponding to the motor based on the current value includes: calculating the average value of the current value collected by the motor driver in each sampling period, as the current change corresponding to the motor.

[0013] Alternatively, its average value can be calculated using the following formula:

[0014]

[0015] Among them, I s (k-1) represents the composite current value in the (k-1)th sampling period.

[0016] Optionally, the current changes corresponding to each of the plurality of different types of motors are sorted in ascending order to obtain This indicates that the i-th motor is the m-th motor in the size sort. Let j be the j-th motor, and m+1th in the size sort. The error threshold for each motor is obtained according to the following formula:

[0017]

[0018] Δε m =25%ε m

[0019] Where n represents the number of connected motors. This represents the change in current of the i-th motor. Δε represents the change in current of the j-th motor. m This is the m-th error threshold in the size sorting.

[0020] Optionally, obtaining the threshold range for each motor based on the current change and the error threshold for each motor includes: subtracting the corresponding error threshold from the current change of the motor to obtain the lower threshold of the threshold range for the motor, and adding the corresponding error threshold to the current change of the motor to obtain the upper threshold of the threshold range for the motor, so as to obtain the threshold range for the motor. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating the automatic motor type identification method according to an embodiment of the present invention;

[0022] Figure 2 This is a block diagram of an automatic motor type identification device according to an embodiment of the present invention. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art.

[0025] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0026] Figure 1 This is a flowchart illustrating an automatic motor type identification method according to an embodiment of the present invention. This automatic motor type identification method is applied to a main controller, such as... Figure 2 As shown, the main controller is connected to both the motor driver and the multiplexer controller. The motor driver is connected to the multiplexer controller, and the multiplexer controller is connected to multiple motors of different types. Figure 1 As shown, the method includes the following steps:

[0027] S101, obtain a preset threshold, wherein the preset threshold includes a first reference voltage, a second reference voltage, a continuous output time, and the number of connected motors.

[0028] It should be noted that the first reference voltage and the second reference voltage are two commonly used components in the field of motor control. They represent the voltage components in a two-phase stationary coordinate system (dq coordinate system), respectively.

[0029] As an example, the first reference voltage is the reference voltage on the d-axis, which is used to control the excitation current of the motor, and its value ranges from 40% to 100% of the rated voltage; the second reference voltage is the reference voltage on the q-axis, which is used to control the torque current of the motor, and is set to 0.

[0030] S102: Obtain the current change of each motor among multiple different types of motors according to a preset threshold, and sort them in ascending order.

[0031] As one embodiment, obtaining the current change of each motor among multiple different types of motors according to a preset threshold includes: selecting one of the multiple different types of motors to control the multiplexer controller to connect the motor driver to the motor; controlling the motor driver to drive the motor according to the preset threshold, and obtaining the current value collected by the motor driver, and obtaining the current change of the motor according to the current value.

[0032] It should be noted that multiple different types of motors can be numbered, and then the multiplexer controller can be controlled to connect the motor driver to the corresponding numbered motor in sequence according to the numbering order, until the current change of each motor in multiple different types of motors is obtained.

[0033] As a specific embodiment, controlling the motor driver to drive the motor according to a preset threshold and acquiring the current value collected by the motor driver includes: sending a first reference voltage and a second reference voltage to the motor driver according to the continuous output time, so as to control the motor driver to output a corresponding voltage to drive the motor, wherein the first reference voltage and the second reference voltage are voltage components in a two-phase stationary coordinate system; acquiring the first current value and the second current value collected by the motor driver in each sampling period in the two-phase stationary coordinate system during the continuous output time; calculating a composite current based on the first current value and the second current value, as the current value collected by the motor driver in each sampling period.

[0034] As a specific embodiment, the combined current is calculated according to the following formula:

[0035]

[0036] Among them, I s (k) represents the synthesized current value in the kth sampling period, I α (k) and I β (k) represents the first and second current values ​​in the kth sampling period in the two-phase stationary coordinate system.

[0037] As a specific embodiment, obtaining the current change of the motor based on the current value includes: calculating the average value of the current value collected by the motor driver in each sampling period, as the current change of the motor.

[0038] As a specific example, its average value is calculated according to the following formula:

[0039]

[0040] Among them, I s (k-1) represents the composite current value in the (k-1)th sampling period.

[0041] It should be noted that accumulating the average current value to form a reasonable threshold improves the distinguishability and accuracy of identification.

[0042] S103, obtain the error threshold for each motor based on the current change for each motor, and obtain the threshold range for each motor based on the current change for each motor and the error threshold for each motor, and store them.

[0043] As an example, the current changes corresponding to each of the multiple different types of motors are sorted in ascending order to obtain... This indicates that the i-th motor is the m-th motor in the size sort. Let j be the j-th motor, and m+1th in the size sort. The error threshold for each motor is obtained according to the following formula:

[0044]

[0045] Δε m =25%ε m

[0046] Where n represents the number of connected motors. This represents the change in current of the i-th motor. Δε represents the change in current of the j-th motor. m This is the m-th error threshold in the size sorting.

[0047] As an example, the threshold range for each motor is obtained based on the current change and the error threshold for each motor, including: subtracting the corresponding error threshold from the current change of the motor to obtain the lower threshold of the threshold range for the motor, and adding the corresponding error threshold to the current change of the motor to obtain the upper threshold of the threshold range for the motor, so as to obtain the threshold range for the motor.

[0048] S104, obtain the current change of the motor to be identified, and determine the threshold range corresponding to the current change based on the stored threshold range, so as to identify the motor type corresponding to the motor to be identified.

[0049] In other words, by combining the main controller and the multi-channel switch controller, the identification threshold training can be performed quickly for a limited number of motor types. The current change is used as the basis for identification of different motor types. It is not affected by the salient pole ratio. The method is simple, efficient, convenient and reliable to operate.

[0050] In summary, the automatic motor type identification method according to embodiments of the present invention firstly obtains a preset threshold, wherein the preset threshold includes a first reference voltage, a second reference voltage, continuous output time, and the number of connected motors; then, based on the preset threshold, it obtains the current change amount corresponding to each of multiple different types of motors, and sorts them in ascending order; next, it obtains the error threshold corresponding to each motor based on the current change amount corresponding to each motor, and obtains the threshold range corresponding to each motor based on the current change amount and the error threshold corresponding to each motor, and stores them; finally, it obtains the current change amount of the motor to be identified, and determines the threshold range corresponding to the current change amount based on the stored threshold range, so as to identify the motor type corresponding to the motor to be identified; thus, using the current change amount as the discrimination criterion to identify various motor types is not affected by the saliency rate, is easy to operate, and can quickly determine the discrimination criterion required for the automatic identification of multiple motors, which is simple to operate and highly efficient.

[0051] Based on the above embodiments, this embodiment provides a possible implementation of a specific automatic motor type identification method, and the appropriate device is as follows: Figure 2 As shown, the system includes a main controller, motor drivers, a multiplexer controller, and motors 1, 2, ..., n. Motors 1, 2, ..., n represent various types of motors to be identified, numbered as Motor 1, Motor 2, ..., Motor n. The multiplexer controller is used by the main controller to select the motor to be identified and switch the connection between the motor driver and various types of motors. The motor driver is used to output voltage to drive the motor, collect the phase current of the motor, and interact with the main controller. The main controller is primarily responsible for controlling the on / off state of the multiplexer and communicating with the motor driver to obtain the required data.

[0052] The specific identification method includes the following steps:

[0053] S1. Number the n motors whose motor types need to be identified as 1, 2, ..., n, and connect them to the 1st, 2nd, ..., nth channels of the multiplexer controller according to their numbers.

[0054] S2, set the reference voltage u on the main controller. d The value range is 40%-100% of the rated voltage, and the reference voltage u is set. q =0, set the continuous output time to T, and set the number of motors to be identified to n.

[0055] S3, the main controller selects motor 1 and controls the multiplexer controller to connect the motor driver to motor 1.

[0056] S4, set value u d u q The signal is sent to the motor driver, which outputs the corresponding voltage to the motor for a duration of T.

[0057] S5, the main controller acquires the current value I in the k-th sampling period in the two-phase stationary coordinate system collected by the motor driver. α (k), I β (k), the resultant current is calculated as follows:

[0058]

[0059] K current values ​​can be obtained within time T.

[0060] S6, the main controller is based on:

[0061]

[0062] The average value is calculated cumulatively over time T and saved as the current change ΔI1 of motor 1, thus completing the detection of motor 1.

[0063] S7, return to step S3 to detect the next numbered motor, and obtain the current change ΔI1~ΔI for each motor. n .

[0064] S8, based on the current change ΔI1~ΔI n Sort them in ascending order. This indicates that the i-th motor is the m-th motor in the size sort. Let j be the j-th motor, and m+1th in the size sort. Calculate:

[0065]

[0066] Where n represents the number of connected motors. This represents the change in current of the j-th motor. This represents the change in current of the i-th motor, and the error threshold for determining the motor type is Δε. m =25%ε m ,Δε m This is the m-th error threshold in the size sorting.

[0067] S9, Set the threshold range for determining the motor type as follows: Motor i: [ΔI i -Δε m-1 ,ΔI i +Δε m ], Motor j: [ΔI j -Δε m ,ΔI i +Δε m+1 The main controller will send the judgment threshold range to the motor driver and save it to the corresponding storage area.

[0068] S10, when motor type identification is required, that is, before each power-on start of the motor, the motor driver performs the operation according to the set u d u q Calculate the combined current by outputting the voltage and maintaining the output for a duration T:

[0069]

[0070] according to

[0071]

[0072] ΔI is obtained by accumulating and averaging over time T. s Search to determine ΔI s The threshold range of which motor it falls within determines the motor type. Then, based on the identified motor type, the control parameters for that motor type are initialized, and the motor is started to drive, thus completing the automatic motor type identification.

[0073] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0078] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0080] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0082] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic identification method for motor type, characterized in that, The method is applied to a main controller, which is connected to a motor driver and a multiplexer controller respectively. The motor driver is connected to the multiplexer controller, and the multiplexer controller is connected to multiple motors of different types. The method includes: Obtain a preset threshold, wherein the preset threshold includes a first reference voltage, a second reference voltage, a continuous output time, and the number of connected motors; The current change of each of the multiple different types of motors is obtained according to the preset threshold, and sorted in ascending order; The error threshold for each motor is obtained based on the current change for each motor, and the threshold range for each motor is obtained based on the current change for each motor and the error threshold for each motor, and then stored. The current change of the motor to be identified is obtained, and the threshold range corresponding to the current change is determined according to the stored threshold range, so as to identify the motor type corresponding to the motor to be identified.

2. The automatic motor type identification method as described in claim 1, characterized in that, According to the preset threshold, the current change of each of the multiple different types of motors is obtained, including: Select one of several different types of motors to control the multiplexer controller to connect the motor driver to the motor; The motor driver is controlled to drive the motor according to the preset threshold, and the current value collected by the motor driver is obtained, and the current change of the motor is obtained according to the current value.

3. The automatic motor type identification method as described in claim 2, characterized in that, The motor driver is controlled to drive the motor according to the preset threshold, and the current value collected by the motor driver is obtained, including: The first reference voltage and the second reference voltage are sent to the motor driver according to the continuous output time, so as to control the motor driver to output the corresponding voltage to drive the motor. The first reference voltage and the second reference voltage are voltage components in a two-phase stationary coordinate system. During the continuous output time, the first current value and the second current value of each sampling cycle in the two-phase stationary coordinate system collected by the motor driver are obtained; A composite current is calculated based on the first current value and the second current value to serve as the current value collected by the motor driver in each sampling period.

4. The automatic motor type identification method as described in claim 3, characterized in that, Calculate the resultant current using the following formula: Among them, I s (k) represents the synthesized current value in the kth sampling period, I α (k) and I β (k) represents the first and second current values ​​in the kth sampling period in the two-phase stationary coordinate system.

5. The automatic motor type identification method as described in claim 4, characterized in that, Obtaining the current change of the motor based on the current value includes: calculating the average value of the current value collected by the motor driver in each sampling period, as the current change of the motor.

6. The automatic motor type identification method as described in claim 5, characterized in that, Calculate its average value using the following formula: Among them, I s (k-1) represents the composite current value in the (k-1)th sampling period.

7. The automatic motor type identification method as described in claim 6, characterized in that, Sort the current changes corresponding to each of the multiple different types of motors in ascending order to obtain... This indicates that the i-th motor is the m-th motor in the size sort. Let j be the j-th motor, and m+1th in the size sort. The error threshold for each motor is obtained according to the following formula: No m =25%e m Where n represents the number of connected motors. This represents the change in current of the i-th motor. Δε represents the change in current of the j-th motor. m This is the m-th error threshold in the size sorting.

8. The automatic motor type identification method as described in claim 7, characterized in that, The threshold range for each motor is obtained by subtracting the corresponding error threshold from the current change for each motor, and by adding the corresponding error threshold to the current change for each motor, to obtain the threshold range for each motor.

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