A comparator square wave control forward and reverse wind state discrimination method

Abstract

The application relates to the technical field of brushless motors, and specifically discloses a comparator square wave control forward-reverse wind state discrimination method and device, equipment and medium. A dynamic pressure difference signal of a motor operating environment and a back electromotive force ripple signal of the motor are collected, and a target signal is determined according to a motor operating state; the target signal is processed based on a comparator to obtain a square wave signal, and the square wave signal is processed to obtain a square wave duty ratio and a square wave frequency; forward-reverse wind state discrimination is performed according to the square wave duty ratio and the square wave frequency to obtain a discrimination result. According to the application, the target signal is intelligently selected for state recognition according to the motor operating state, the problem that a single sensor fails or performance decreases under specific working conditions is solved, and the accuracy of the state recognition result is improved. In addition, the signal characteristics are converted into edge jumps of square waves by using the comparator, nanosecond-level conversion of the signal characteristics is realized, and the state recognition efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of brushless motor technology, and in particular to a comparator square wave control method, device, equipment and medium for determining wind direction and direction. Background Technology

[0002] Brushless DC motors, with their advantages of high efficiency, long lifespan, and low noise, have gradually replaced traditional AC motors and are widely used in products such as household circulating water pumps, ceiling fans / fan lights, and fresh air systems. In actual operation, the working state of brushless motors is significantly affected by the fluid state. The load is lighter in the flow (tailwind) and heavier in the counter-flow (headwind) state; this load change directly affects motor efficiency, energy consumption, and equipment lifespan. Existing methods for determining tailwind / headwind states involve installing independent wind speed sensors (such as hot-wire anemometers, ultrasonic anemometers, or mechanical cup anemometers) outside the motor system to directly measure ambient wind speed and direction, and then comparing the relationship between the motor's operating state and the ambient wind conditions to determine the tailwind / headwind state. However, mechanical anemometers typically have a response time greater than 1 second, which cannot meet real-time control requirements and is difficult to accurately reflect the overall airflow state of the motor, resulting in insufficient measurement representativeness. This leads to low efficiency and inaccuracy in tailwind / headwind state identification. Therefore, improving the efficiency and accuracy of tailwind / headwind state identification for motors has become an urgent problem to be solved. Summary of the Invention

[0003] This application provides a comparator square wave control method, device, equipment, and medium for determining the windward and forward states of a motor, thereby improving the efficiency and accuracy of identifying the windward and forward states of a motor.

[0004] In a first aspect, this application provides a comparator square wave control method for determining wind direction and direction, the method comprising:

[0005] Collect the dynamic pressure difference signal and the back electromotive force ripple signal of the motor operating environment;

[0006] The target signal is determined from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor's operating status.

[0007] The target signal is processed based on a preset comparator to obtain a square wave signal corresponding to the target signal, and the square wave signal is processed to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal.

[0008] Based on the square wave duty cycle and the square wave frequency, the windward and tailwind states of the motor are determined, and a determination result is obtained.

[0009] Secondly, this application also provides a comparator square wave control headwind / headwind state discrimination device, the device comprising:

[0010] The signal acquisition module is used to acquire the dynamic pressure difference signal and the back electromotive force ripple signal of the motor operating environment;

[0011] The signal determination module is used to determine the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal according to the motor operating status;

[0012] The signal processing module is used to process the target signal based on a preset comparator to obtain a square wave signal corresponding to the target signal, and to process the square wave signal to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal.

[0013] The state discrimination module is used to discriminate the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtain the discrimination result.

[0014] Thirdly, this application also provides a computer device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the comparator square wave control headwind / headwind state discrimination method as described above.

[0015] Fourthly, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the comparator square wave control method for determining headwind and headwind states as described above.

[0016] This application discloses a comparator-based square wave control method, apparatus, equipment, and medium for determining windward and forward states. The method involves acquiring dynamic pressure difference signals and back EMF ripple signals from the motor's operating environment; determining a target signal from these signals based on the motor's operating state; processing the target signal using a preset comparator to obtain a corresponding square wave signal; further processing the square wave signal to obtain its duty cycle and frequency; and determining the windward and forward states of the motor based on the duty cycle and frequency to obtain a determination result. This application intelligently selects a target signal for state recognition based on the motor's operating state, solving the problem of single sensor failure or performance degradation under specific operating conditions, thus improving the accuracy of state recognition results. Furthermore, by using a comparator to convert signal characteristics into edge transitions of a square wave, nanosecond-level signal characteristic conversion is achieved, further improving state recognition efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a first schematic flowchart of a comparator square wave control method for determining headwind and headwind states, provided in an embodiment of this application.

[0019] Figure 2 This is a second schematic flowchart of a comparator square wave control method for determining headwind and tailwind states, provided in an embodiment of this application.

[0020] Figure 3 This is a third schematic flowchart of a comparator square wave control method for determining headwind and tailwind states, provided in an embodiment of this application.

[0021] Figure 4 A schematic block diagram of a comparator square wave control headwind / headwind state discrimination device provided for embodiments of this application;

[0022] Figure 5 A schematic block diagram of the structure of a computer device provided for an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0025] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0026] This application provides a comparator square wave control method, apparatus, device, and medium for determining wind direction and direction using a windward or oblique wind state. The comparator square wave control method for determining wind direction and direction using a windward or oblique wind state can be applied to a server. It intelligently selects a target signal for state identification based on the motor's operating status, solving the problem of single sensor failure or performance degradation under specific operating conditions, thus improving the accuracy of state identification results. Furthermore, by using a comparator to convert signal characteristics into edge transitions of a square wave, nanosecond-level signal characteristic conversion is achieved, improving state identification efficiency. The server can be a standalone server or a server cluster.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a comparator square wave control method for determining wind direction and direction, provided in an embodiment of this application. This comparator square wave control method can be applied in servers to intelligently select target signals for state identification based on the motor's operating status. It solves the problem of single sensors failing or degrading under specific operating conditions, improving the accuracy of state identification results. Furthermore, by using a comparator to convert signal characteristics into edge transitions of a square wave, nanosecond-level signal characteristic conversion is achieved, further improving state identification efficiency.

[0029] like Figure 1 As shown, the comparator square wave control headwind / headwind state discrimination method specifically includes steps S101 to S104.

[0030] S101. Collect the dynamic pressure difference signal of the motor operating environment and the back electromotive force ripple signal of the motor;

[0031] In one embodiment, a miniature Pitot tube or differential pressure sensor fixed to the airflow-sensitive area of ​​the motor (such as the area near the rotor blades of a UAV motor) with the probe direction aligned with the motor axis is used to collect the dynamic pressure difference signal of the ambient airflow.

[0032] In one embodiment, the back electromotive force ripple signal of the motor during operation is acquired using any two phases (such as phases V and U) of the three-phase winding of the motor.

[0033] In one embodiment, the acquired dynamic differential pressure signal and back electromotive force ripple signal are filtered and amplified to eliminate noise interference.

[0034] S102. Determine the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor's operating status;

[0035] In one embodiment, since the reliability of the dynamic differential pressure signal and the back electromotive force ripple signal varies under different operating conditions, the amplitude of the back electromotive force ripple is insufficient to accurately reflect the state at low speeds, while the dynamic differential pressure signal has significant noise at high speeds. Dynamically switching the target signal can ensure the accuracy of subsequent judgments. Therefore, the motor controller collects operating state parameters such as speed and current in real time, analyzes them according to the operating state and preset rules, and selects the target signal.

[0036] Specifically, when the motor is running at low speed, the amplitude of the back EMF ripple signal is weak, so the dynamic pressure difference signal is preferred; when the motor is running at high speed, the dynamic pressure difference signal is easily affected by airflow turbulence, so the back EMF ripple signal is preferred; when the motor load changes abruptly, the back EMF ripple signal has a faster response speed, so this signal is preferred.

[0037] Furthermore, the motor operating status includes the motor speed and the motor load current. Based on the motor operating status, the target signal is determined from the dynamic differential pressure signal and the back EMF ripple signal, including: when the motor speed is less than the preset low speed threshold, the dynamic differential pressure signal is used as the target signal; when the motor speed is greater than the preset high speed threshold or the motor load current is greater than the preset current value, the back EMF ripple signal is used as the target signal.

[0038] In one embodiment, the preset low-speed threshold, preset high-speed threshold, and preset current value can be set by the user according to actual needs.

[0039] When the motor speed is below the preset low-speed threshold, the motor back electromotive force amplitude is small, the ripple signal-to-noise ratio is low, and it is easily affected by noise. However, the airflow pressure difference changes slowly, the sensor response is sufficient, and the signal-to-noise ratio is high. Therefore, the dynamic pressure difference signal is used as the target signal.

[0040] When the motor speed is higher than the preset high speed threshold, the back electromotive force amplitude is large and the ripple signal signal-to-noise ratio is high. However, at high speed, the airflow turbulence is aggravated and the dynamic response of the pressure sensor is delayed, resulting in distortion of the dynamic pressure difference signal. Therefore, the electromotive force ripple signal is used as the target signal.

[0041] When the load current exceeds the preset current value, the motor torque fluctuation intensifies, and the amplitude of the back EMF ripple changes rapidly, thus quickly reflecting load changes. Therefore, the back EMF ripple signal is used as the target signal.

[0042] In the above embodiments, the optimal solution for wind condition detection under different operating conditions is achieved through the process of state perception, threshold judgment, and signal switching: dynamic pressure difference signal is used for low speed and light load, and back electromotive force ripple signal is used for high speed and heavy load, so as to ensure the accuracy and real-time performance of headwind and headwind discrimination and intensity quantification.

[0043] S103. Process the target signal based on the preset comparator to obtain the square wave signal corresponding to the target signal, and process the square wave signal to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal.

[0044] In one embodiment, the selected target signal is input to a comparator with hysteresis characteristics, which converts it into a square wave signal with alternating high and low levels. Then, a timer is used to capture the rising and falling edges of the square wave, and the timestamps of two consecutive rising and falling edges are recorded to calculate the high-level time and period of the square wave. Finally, the duty cycle and frequency of the square wave are obtained based on the calculation results, where the duty cycle = high-level time / period × 100%, and the frequency = 1 / period.

[0045] It can be understood that a comparator with hysteresis can prevent square wave jitter caused by signal noise and convert analog signals into digital square waves.

[0046] The duty cycle of a square wave can reflect the amplitude change of the target signal. For example, when the wind is against the wind, the signal amplitude is large, the high level time of the square wave is longer, and the duty cycle is larger. The frequency of the square wave reflects the rate of change of the target signal. For example, when the load changes rapidly in the wind, the signal change rate is high, and the square wave frequency is also higher.

[0047] S104. Based on the square wave duty cycle and square wave frequency, determine the windward or reverse wind state of the motor and obtain the determination result.

[0048] In one embodiment, a preset wind direction discrimination threshold is read from a storage module (such as EEPROM), the obtained square wave duty cycle and frequency are compared with the threshold, and the final wind direction discrimination result is output.

[0049] Furthermore, based on the square wave duty cycle and square wave frequency, the windward and headwind states of the motor are determined to obtain a determination result, including: comparing the square wave duty cycle and square wave frequency with preset square wave duty cycle thresholds and preset square wave frequency thresholds, respectively, wherein the preset square wave duty cycle thresholds include a first preset square wave duty cycle threshold and a second preset square wave duty cycle threshold; when the square wave duty cycle is greater than the first preset square wave duty cycle threshold and the square wave frequency is less than the preset square wave frequency threshold, the windward state is taken as the determination result; when the square wave duty cycle is less than the second preset square wave duty cycle threshold and the square wave frequency is greater than the preset square wave frequency threshold, the headwind state is taken as the determination result.

[0050] In one embodiment, the preset square wave duty cycle threshold and the preset square wave frequency threshold can be set by the user according to actual needs.

[0051] The first preset duty cycle threshold is the lower limit of the square wave duty cycle in a downwind state; exceeding this value likely indicates a downwind state. The second preset duty cycle threshold is the upper limit of the duty cycle in a headwind state; falling below this value likely indicates a headwind state. The first preset duty cycle threshold is greater than the second preset duty cycle threshold.

[0052] In one embodiment, headwind and headwind directly affect the motor load and ambient airflow, which is reflected in the square wave parameters. For dynamic pressure difference signals: when the wind is headwind, the airflow is in the same direction as the motor's movement, resulting in low wind resistance, high signal amplitude (large square wave duty cycle), stable load, and low signal change rate (low frequency); when the wind is headwind, the airflow is in the opposite direction, resulting in high wind resistance, low signal amplitude (small duty cycle), large load fluctuation, and high change rate (high frequency).

[0053] For back EMF ripple signals: with a light load in the downwind direction, the ripple amplitude is high (large duty cycle), the speed is stable, and the ripple frequency is low; with a heavy load in the upwind direction, the ripple amplitude is low (small duty cycle), the speed fluctuates, and the frequency is high.

[0054] In one embodiment, when the square wave duty cycle is greater than a first preset square wave duty cycle threshold and the square wave frequency is less than a preset square wave frequency threshold, the conditions of high duty cycle (light load) and low frequency (stable) are met, and the system is determined to be in a downwind state.

[0055] When the square wave duty cycle is less than the second preset square wave duty cycle threshold and the square wave frequency is greater than the preset square wave frequency threshold, it satisfies the conditions of low duty cycle (heavy load) and high frequency (large fluctuation), and is determined to be a headwind state.

[0056] If the above conditions are not met, the condition is determined to be either windless or pending confirmation.

[0057] In the above embodiments, the target signal is intelligently selected for state recognition based on the motor's operating status, which solves the problem of single sensor failure or performance degradation under specific working conditions and improves the accuracy of state recognition results. Secondly, the signal features are converted into edge transitions of square waves using a comparator, realizing nanosecond-level conversion of signal features and improving state recognition efficiency.

[0058] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a comparator square wave control method for determining wind direction and direction, provided in an embodiment of this application. This comparator square wave control method for determining wind direction and direction can be applied in a server. It uses two independent information paths—dynamic pressure difference signal and back electromotive force ripple signal—for parallel determination. Furthermore, it employs a weighted voting decision mechanism to effectively arbitrate situations where the determination results of the two signals are inconsistent, thereby avoiding control errors caused by signal contradictions and improving the accuracy of the identification results.

[0059] like Figure 2As shown, the comparator square wave control headwind / headwind state discrimination method specifically includes steps S201 to S204.

[0060] S201. Based on a preset comparator, the dynamic pressure difference signal and the back electromotive force ripple signal are converted to obtain the first square wave signal corresponding to the dynamic pressure difference signal and the second square wave signal corresponding to the back electromotive force ripple signal.

[0061] S202. Process the first square wave signal and the second square wave signal respectively to obtain the first square wave duty cycle and the first square wave frequency of the first square wave signal, and the second square wave duty cycle and the second square wave frequency of the second square wave signal.

[0062] S203. Obtain a first discrimination result based on the first square wave duty cycle and the first square wave frequency; obtain a second discrimination result based on the second square wave duty cycle and the second square wave frequency.

[0063] S204. Based on the motor operating status, match the confidence scores of the first and second discrimination results, and perform a weighted voting decision on the first and second discrimination results based on the confidence scores to obtain the target discrimination result.

[0064] In one embodiment, the dynamic differential pressure signal is input to a first comparator, and the back electromotive force (EMF) ripple signal is input to a second comparator; the two are independent to avoid interference. A hysteresis reference voltage is set for each comparator: for example, the dynamic differential pressure signal reference voltage is 2V (upper limit 2.2V / lower limit 1.8V), and the back EMF ripple reference voltage is 1.5V (upper limit 1.6V / lower limit 1.4V). The first comparator outputs a first square wave signal (corresponding to the dynamic differential pressure), and the second comparator outputs a second square wave signal (corresponding to the back EMF ripple).

[0065] In one embodiment, two independent timers are enabled (e.g., the first timer corresponds to the first square wave, and the second timer corresponds to the second square wave), and edge capture mode is enabled. For the first square wave: the rising edge count t1, falling edge t2, and next rising edge t3 are recorded. Then, the high-level time is calculated as: t_high = t2 - t1; the period is calculated as: T = t3 - t1. Finally, the parameters are calculated as: duty cycle = (t_high / T) × 100%; frequency = system clock frequency / T (unit: Hz). Simultaneously, the same operation is performed on the second square wave using another timer to obtain the duty cycle and frequency of the second square wave.

[0066] In one embodiment, preset thresholds are read from the storage module, including discrimination thresholds (including square wave duty cycle thresholds and frequency thresholds) for the dynamic pressure difference signal corresponding to the downwind and upwind states, as well as discrimination thresholds for the back electromotive force ripple signal. For example, in the upwind state: the square wave duty cycle corresponding to the dynamic pressure difference signal is ≥60% and the frequency is ≥50Hz; the square wave duty cycle corresponding to the back electromotive force ripple signal is ≥55% and the frequency is ≥45Hz. In the downwind state: the square wave duty cycle corresponding to the dynamic pressure difference signal is ≤30% and the frequency is ≤20%; the square wave duty cycle corresponding to the back electromotive force ripple signal is ≤25% and the frequency is ≤15%.

[0067] By comparing the first square wave duty cycle and frequency with the judgment threshold corresponding to the dynamic pressure difference signal, a first judgment result is obtained: headwind or tailwind. By comparing the second square wave duty cycle and frequency with the judgment threshold corresponding to the back electromotive force ripple signal, a second judgment result is obtained: headwind or tailwind. A score mapping is applied based on the headwind / tailwind state: tailwind score is 0, headwind score is 1, and no wind score is 0.5.

[0068] In one embodiment, since different signal sources have varying reliability under different motor operating conditions (e.g., dynamic differential pressure signals are more sensitive at low speeds, while back electromotive force ripple is more reliable at high speeds), a weighted fusion of the two preliminary results using a confidence score (reflecting the reliability of the signal source) is performed to improve diagnostic accuracy.

[0069] Specifically, based on the real-time status of the motor (speed, current, load change), the confidence weights of two discrimination results are matched from a preset confidence mapping table. For example, for low-speed operation (motor speed < 1000 rpm): the dynamic pressure difference signal is more reliable, so the first discrimination weight W1 = 0.7 and the second discrimination weight W2 = 0.3; for high-speed operation (motor speed > 1000 rpm): the back EMF ripple is more reliable, so W1 = 0.3 and W2 = 0.7; for load change (current change rate > 10 A / s): the back EMF ripple response is faster, so W1 = 0.2 and W2 = 0.8.

[0070] The total score is calculated using a weighted voting system based on confidence scores: Total Score = W1 × First Discriminant Score + W2 × Second Discriminant Score. If the total score is greater than or equal to the first total score threshold (e.g., 0.8), the target is classified as a headwind; if the total score is less than the second total score threshold (e.g., 0.3), the target is classified as a tailwind; and if the total score is between the first and second total score thresholds, the target is classified as a calm state, where the first total score threshold is greater than the second total score threshold.

[0071] In the above embodiments, parallel discrimination is performed through two independent information paths: dynamic pressure difference signal and back electromotive force ripple signal. Furthermore, a weighted voting decision mechanism is used to effectively arbitrate situations where the discrimination results of the two signals are inconsistent, thereby avoiding control errors caused by signal contradictions and improving the accuracy of the identification results.

[0072] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating a comparator square wave control method for determining wind direction and direction, provided in an embodiment of this application. This comparator square wave control method can be applied in servers, enabling a transition from traditional state-on-off control to adaptive fine-grained control by introducing quantitative sensing of the state intensity index and precise execution of parameter adjustment formulas. This avoids sudden changes in motor torque and speed caused by using fixed parameter sets for transitions, thus improving the stability of motor operation.

[0073] like Figure 3 As shown, the comparator square wave control headwind and headwind state discrimination method specifically includes steps S301 to S302.

[0074] S301. Determine the state strength index of the motor based on the target signal and the corresponding reference parameters and maximum parameters;

[0075] In one embodiment, the state intensity index is a dimensionless index that quantifies the degree of influence of wind conditions on the motor. Its value range is [0,1], and it is calculated based on the baseline parameters (no wind condition) and maximum parameters (extreme wind condition) of the target signal.

[0076] Specifically, when using the dynamic pressure difference signal to determine the wind direction, the baseline parameter is the dynamic pressure difference in the windless state, and the maximum parameter is the maximum dynamic pressure difference that can withstand extreme wind conditions. The state intensity index is calculated as (current dynamic pressure difference - baseline parameter) / (maximum parameter - baseline parameter).

[0077] When using the back EMF ripple signal to determine the wind direction, the reference parameter is the duty cycle under rated load, the maximum parameter is the maximum duty cycle deviation, and the state intensity index = (current duty cycle - reference duty cycle) / maximum duty cycle deviation.

[0078] S302. Based on the discrimination result, determine the parameter to be adjusted and the corresponding parameter adjustment formula, and adjust the parameter to be adjusted based on the state intensity index and the parameter adjustment formula.

[0079] In one embodiment, due to the reduced dynamic pressure difference and lighter load under tailwind conditions, the back EMF ripple duty cycle increases, posing a risk of motor overspeed and necessitating output limitation. Conversely, under headwind conditions, the increased dynamic pressure difference and heavier load, coupled with a reduced back EMF ripple duty cycle, pose a risk of motor stall and necessitate increased output. Therefore, it is necessary to adaptively adjust operating parameters based on both tailwind and headwind conditions to ensure stable motor operation.

[0080] In one embodiment, each operating parameter has a different adjustment formula for tailwind and headwind conditions, and different formulas are invoked for parameter adjustment based on different judgment results.

[0081] Furthermore, based on the discrimination result, the parameter to be adjusted and the parameter adjustment formula corresponding to the parameter to be adjusted are determined, and the parameter to be adjusted is adjusted based on the state intensity index and the parameter adjustment formula, including: when the discrimination result is a downwind state, the current parameter, PID control parameter and PWM duty cycle are adjusted based on the first current adjustment formula, the first PID control parameter adjustment formula and the first PWM duty cycle adjustment formula;

[0082] The first current adjustment formula is:

[0083] ;

[0084] in, The adjusted current parameters, The current parameters are as follows: (1) before adjustment; (2) D is the square wave duty cycle. This is the current adjustment coefficient under tailwind conditions;

[0085] The formula for adjusting the duty cycle of the first PWM is:

[0086] ;

[0087] in, This is the adjusted PWM duty cycle. Empty space ratio adjustment factor The PWM duty cycle before adjustment;

[0088] The formula for adjusting the first PID control parameter is:

[0089] ;

[0090] in, For PID control parameters, The state intensity index, Based on the proportional gain, Based on the integral gain, Based on the differential gain, For error signals, , and These are the adjustment coefficients for the proportional gain, integral gain, and derivative gain under tailwind conditions, respectively. This is the feedforward gain.

[0091] In one embodiment, when the motor is assisted by the wind, the output power needs to be reduced and the PID gain lowered to save energy and avoid over-acceleration.

[0092] The current is linearly reduced by the first current adjustment formula, the PWM duty cycle is reduced by the first PWM (Pulse-width modulation) duty cycle adjustment formula to reduce the output power, and the PID gain is reduced by the first PID (Proportion-Integration-Derivative) controller parameter adjustment formula to avoid over-response.

[0093] Furthermore, based on the discrimination result, the parameters to be adjusted and the corresponding parameter adjustment formulas are determined, and the parameters to be adjusted are adjusted based on the state intensity index and the parameter adjustment formulas. This also includes: when the discrimination result is a headwind state, adjusting the current parameter, PID control parameter, and PWM duty cycle based on the second current adjustment formula, the second PID control parameter adjustment formula, and the second PWM duty cycle adjustment formula.

[0094] The second current adjustment formula is:

[0095] ;

[0096] in, This is the current adjustment coefficient under headwind conditions;

[0097] The formula for adjusting the second PWM duty cycle is:

[0098] ;

[0099] in, This is the air ratio adjustment factor under headwind conditions;

[0100] The formula for adjusting the second PID control parameter is:

[0101] ;

[0102] in, , and These are the adjustment coefficients for proportional gain, integral gain, and derivative gain under headwind conditions, respectively.

[0103] In one embodiment, the motor's operating resistance increases under headwind conditions, requiring increased output power and improved PID gain to maintain stable speed.

[0104] The current is linearly increased by the second current adjustment formula, the PWM duty cycle is increased by the second PWM duty cycle adjustment formula to improve the output power, and the PID gain is increased by the second PID control parameter adjustment formula to speed up the response.

[0105] In the above embodiments, by introducing the quantitative perception of the state intensity index and the precise execution of the parameter adjustment formula, the transformation from traditional state-switching control to adaptive fine control is realized, avoiding the sudden changes in motor torque and speed caused by using a fixed set of parameters, and improving the stability of motor operation.

[0106] Please see Figure 4 , Figure 4 This embodiment of the present application provides a schematic block diagram of a comparator square wave control headwind / tailwind state discrimination device, which is used to execute the aforementioned comparator square wave control headwind / tailwind state discrimination method. The comparator square wave control headwind / tailwind state discrimination device can be configured on a server.

[0107] like Figure 4 As shown, the comparator square wave control headwind / headwind state discrimination device 400 includes:

[0108] The signal acquisition module 401 is used to acquire the dynamic pressure difference signal of the motor operating environment and the back electromotive force ripple signal of the motor;

[0109] The signal determination module 402 is used to determine the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor operating status.

[0110] The signal processing module 403 is used to process the target signal based on a preset comparator to obtain the square wave signal corresponding to the target signal, and to process the square wave signal to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal.

[0111] The state discrimination module 404 is used to discriminate the windward or tailwind state of the motor based on the square wave duty cycle and square wave frequency, and obtain the discrimination result.

[0112] Furthermore, the motor operating status includes the motor speed and the motor load current. The signal determination module 402 is specifically used to take the dynamic voltage difference signal as the target signal when the motor speed is less than the preset low speed threshold; and to take the back electromotive force ripple signal as the target signal when the motor speed is greater than the preset high speed threshold or the motor load current is greater than the preset current value.

[0113] Furthermore, the comparator square wave control headwind / headwind state discrimination device 400 also includes:

[0114] The square wave signal conversion module is used to convert the dynamic pressure difference signal and the back electromotive force ripple signal based on a preset comparator to obtain the first square wave signal corresponding to the dynamic pressure difference signal and the second square wave signal corresponding to the back electromotive force ripple signal.

[0115] The square wave signal processing module is used to process the first square wave signal and the second square wave signal respectively to obtain the first square wave duty cycle and the first square wave frequency of the first square wave signal, as well as the second square wave duty cycle and the second square wave frequency of the second square wave signal.

[0116] The motor state discrimination module is used to obtain a first discrimination result based on the first square wave duty cycle and the first square wave frequency, and to obtain a second discrimination result based on the second square wave duty cycle and the second square wave frequency.

[0117] The target discrimination result acquisition module is used to match the confidence scores of the first discrimination result and the second discrimination result based on the motor operating status, and to perform a weighted voting decision on the first discrimination result and the second discrimination result based on the confidence scores to obtain the target discrimination result.

[0118] Furthermore, the comparator square wave control headwind / headwind state discrimination device 400 also includes a motor operating parameter adjustment module, which includes:

[0119] The state intensity index determination unit is used to determine the state intensity index of the motor based on the target signal and the corresponding reference parameters and maximum parameters.

[0120] The motor operating parameter adjustment unit is used to determine the parameters to be adjusted and the corresponding parameter adjustment formulas based on the discrimination results, and to adjust the parameters to be adjusted based on the state intensity index and the parameter adjustment formulas.

[0121] Furthermore, the motor operating parameter adjustment unit is specifically used to adjust the current parameter, PID control parameter and PWM duty cycle based on the first current adjustment formula, the first PID control parameter adjustment formula and the first PWM duty cycle adjustment formula when the judgment result is a tailwind state;

[0122] The first current adjustment formula is:

[0123] ;

[0124] in, The adjusted current parameters, The current parameters are as follows: (1) before adjustment; (2) D is the square wave duty cycle. This is the current adjustment coefficient under tailwind conditions;

[0125] The formula for adjusting the duty cycle of the first PWM is:

[0126] ;

[0127] in, This is the adjusted PWM duty cycle. Empty space ratio adjustment factor The PWM duty cycle before adjustment;

[0128] The formula for adjusting the first PID control parameter is:

[0129] ;

[0130] in, For PID control parameters, The state intensity index, Based on the proportional gain, Based on the integral gain, Based on the differential gain, For error signals, , and These are the adjustment coefficients for the proportional gain, integral gain, and derivative gain under tailwind conditions, respectively. This is the feedforward gain.

[0131] Furthermore, the motor operating parameter adjustment unit is specifically used to adjust the current parameters, PID control parameters, and PWM duty cycle based on the second current adjustment formula, the second PID control parameter adjustment formula, and the second PWM duty cycle adjustment formula when the judgment result is a headwind condition;

[0132] The second current adjustment formula is:

[0133] ;

[0134] in, This is the current adjustment coefficient under headwind conditions;

[0135] The formula for adjusting the second PWM duty cycle is:

[0136] ;

[0137] in, This is the air ratio adjustment factor under headwind conditions;

[0138] The formula for adjusting the second PID control parameter is:

[0139] ;

[0140] in, , and These are the adjustment coefficients for proportional gain, integral gain, and derivative gain under headwind conditions, respectively.

[0141] Furthermore, the state determination module 404 includes:

[0142] The numerical comparison unit is used to compare the square wave duty cycle and square wave frequency with a preset square wave duty cycle threshold and a preset square wave frequency threshold, respectively. The preset square wave duty cycle threshold includes a first preset square wave duty cycle threshold and a second preset square wave duty cycle threshold.

[0143] The discrimination result determination unit is used to determine the following state as the discrimination result when the square wave duty cycle is greater than the first preset square wave duty cycle threshold and the square wave frequency is less than the preset square wave frequency threshold; and to determine the following state as the discrimination result when the square wave duty cycle is less than the second preset square wave duty cycle threshold and the square wave frequency is greater than the preset square wave frequency threshold.

[0144] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and modules can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0145] The aforementioned device can be implemented as a computer program, which can be used in, for example... Figure 5 It runs on the computer device shown.

[0146] Please see Figure 5 , Figure 5 This is a schematic block diagram illustrating the structure of a computer device according to an embodiment of this application. The computer device may be a server.

[0147] See Figure 5 The computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0148] Non-volatile storage media can store operating systems and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any comparator square wave control method for determining wind direction.

[0149] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0150] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any comparator square wave control method for determining the wind direction.

[0151] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0152] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0153] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0154] Collect the dynamic pressure difference signal and the back electromotive force ripple signal of the motor operating environment;

[0155] The target signal is determined from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor's operating status.

[0156] The target signal is processed based on a preset comparator to obtain a square wave signal corresponding to the target signal, and the square wave signal is processed to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal.

[0157] Based on the square wave duty cycle and the square wave frequency, the windward and tailwind states of the motor are determined, and a determination result is obtained.

[0158] In one embodiment, the motor operating state includes motor speed and motor load current. When the processor determines the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor operating state, it is configured to:

[0159] When the motor speed is less than a preset low speed threshold, the dynamic pressure difference signal is used as the target signal;

[0160] When the motor speed is greater than a preset high-speed threshold or the motor load current is greater than a preset current value, the back EMF ripple signal is used as the target signal.

[0161] In one embodiment, after acquiring the dynamic differential pressure signal of the motor operating environment and the back electromotive force ripple signal of the motor, the processor is further configured to:

[0162] Based on a preset comparator, the dynamic pressure difference signal and the back electromotive force ripple signal are converted to obtain the first square wave signal corresponding to the dynamic pressure difference signal and the second square wave signal corresponding to the back electromotive force ripple signal.

[0163] The first square wave signal and the second square wave signal are processed respectively to obtain the first square wave duty cycle and the first square wave frequency of the first square wave signal, and the second square wave duty cycle and the second square wave frequency of the second square wave signal.

[0164] A first discrimination result is obtained based on the first square wave duty cycle and the first square wave frequency; a second discrimination result is obtained based on the second square wave duty cycle and the second square wave frequency.

[0165] The confidence scores of the first and second discrimination results are matched based on the motor operating status, and a weighted voting decision is made on the first and second discrimination results based on the confidence scores to obtain the target discrimination result.

[0166] In one embodiment, after the processor determines the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtains the determination result, it is further configured to:

[0167] The state strength index of the motor is determined based on the target signal and the corresponding reference parameters and maximum parameters.

[0168] Based on the discrimination result, the parameter to be adjusted and the parameter adjustment formula corresponding to the parameter to be adjusted are determined, and the parameter to be adjusted is adjusted based on the state intensity index and the parameter adjustment formula.

[0169] In one embodiment, when the processor determines the parameter to be adjusted and the corresponding parameter adjustment formula based on the discrimination result, and adjusts the parameter to be adjusted based on the state intensity index and the parameter adjustment formula, it is configured to:

[0170] When the determination result is a downwind state, the current parameter, PID control parameter and PWM duty cycle are adjusted based on the first current adjustment formula, the first PID control parameter adjustment formula and the first PWM duty cycle adjustment formula;

[0171] The first current adjustment formula is:

[0172] ;

[0173] in, The adjusted current parameters, Here are the current parameters before adjustment, and D is the duty cycle of the square wave. This is the current adjustment coefficient under tailwind conditions;

[0174] The first PWM duty cycle adjustment formula is:

[0175] ;

[0176] in, This is the adjusted PWM duty cycle. Empty space ratio adjustment factor The PWM duty cycle before adjustment;

[0177] The formula for adjusting the first PID control parameter is:

[0178] ;

[0179] in, For PID control parameters, The state intensity index, Based on the proportional gain, Based on the integral gain, Based on the differential gain, For error signals, , and These are the adjustment coefficients for the proportional gain, integral gain, and derivative gain under tailwind conditions, respectively. This is the feedforward gain.

[0180] In one embodiment, the processor, in addition to determining the parameter to be adjusted and the parameter adjustment formula corresponding to the parameter to be adjusted based on the discrimination result, and adjusting the parameter to be adjusted based on the state intensity index and the parameter adjustment formula, is further configured to:

[0181] When the determination result indicates a headwind condition, the current parameter, PID control parameter, and PWM duty cycle are adjusted based on the second current adjustment formula, the second PID control parameter adjustment formula, and the second PWM duty cycle adjustment formula.

[0182] The second current adjustment formula is:

[0183] ;

[0184] in, This is the current adjustment coefficient under headwind conditions;

[0185] The second PWM duty cycle adjustment formula is:

[0186] ;

[0187] in, This is the air ratio adjustment factor under headwind conditions;

[0188] The second PID control parameter adjustment formula is:

[0189] ;

[0190] in, , and These are the adjustment coefficients for proportional gain, integral gain, and derivative gain under headwind conditions, respectively.

[0191] In one embodiment, when the processor determines the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtains the determination result, it is configured to:

[0192] The square wave duty cycle and the square wave frequency are compared with a preset square wave duty cycle threshold and a preset square wave frequency threshold, respectively. The preset square wave duty cycle threshold includes a first preset square wave duty cycle threshold and a second preset square wave duty cycle threshold.

[0193] When the square wave duty cycle is greater than the first preset square wave duty cycle threshold and the square wave frequency is less than the preset square wave frequency threshold, the downwind state is taken as the discrimination result.

[0194] When the square wave duty cycle is less than the second preset square wave duty cycle threshold and the square wave frequency is greater than the preset square wave frequency threshold, the headwind state is taken as the discrimination result.

[0195] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the comparator square wave control headwind / headwind state discrimination methods provided in the embodiments of this application.

[0196] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0197] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A comparator square wave control method for determining wind direction (headwind or tailwind), characterized in that, include: Collect the dynamic pressure difference signal and the back electromotive force ripple signal of the motor operating environment; The target signal is determined from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor's operating status. The target signal is processed based on a preset comparator to obtain a square wave signal corresponding to the target signal, and the square wave signal is processed to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal. Based on the square wave duty cycle and the square wave frequency, the windward and tailwind states of the motor are determined, and a determination result is obtained. The motor operating state includes motor speed and motor load current. Determining the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal based on the motor operating state includes: When the motor speed is less than a preset low speed threshold, the dynamic pressure difference signal is used as the target signal; When the motor speed is greater than a preset high-speed threshold or the motor load current is greater than a preset current value, the back EMF ripple signal is used as the target signal. The process, after acquiring the dynamic pressure difference signal of the motor operating environment and the back electromotive force ripple signal of the motor, also includes: Based on a preset comparator, the dynamic pressure difference signal and the back electromotive force ripple signal are converted to obtain the first square wave signal corresponding to the dynamic pressure difference signal and the second square wave signal corresponding to the back electromotive force ripple signal. The first square wave signal and the second square wave signal are processed respectively to obtain the first square wave duty cycle and the first square wave frequency of the first square wave signal, and the second square wave duty cycle and the second square wave frequency of the second square wave signal. A first discrimination result is obtained based on the first square wave duty cycle and the first square wave frequency; a second discrimination result is obtained based on the second square wave duty cycle and the second square wave frequency. The confidence scores of the first and second discrimination results are matched based on the motor operating status, and a weighted voting decision is made on the first and second discrimination results based on the confidence scores to obtain the target discrimination result.

2. The comparator square wave control method for determining wind direction and direction according to claim 1, characterized in that, After determining the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtaining the determination result, the method further includes: The state strength index of the motor is determined based on the target signal and the corresponding reference parameters and maximum parameters. Based on the discrimination result, the parameter to be adjusted and the parameter adjustment formula corresponding to the parameter to be adjusted are determined, and the parameter to be adjusted is adjusted based on the state intensity index and the parameter adjustment formula.

3. The comparator square wave control method for determining wind direction and direction according to claim 2, characterized in that, The step of determining the parameter to be adjusted and the corresponding parameter adjustment formula based on the discrimination result, and adjusting the parameter to be adjusted based on the state intensity index and the parameter adjustment formula, includes: When the determination result is a downwind state, the current parameter, PID control parameter and PWM duty cycle are adjusted based on the first current adjustment formula, the first PID control parameter adjustment formula and the first PWM duty cycle adjustment formula; The first current adjustment formula is: in, The adjusted current parameters, Here are the current parameters before adjustment, and D is the duty cycle of the square wave. This is the current adjustment coefficient under tailwind conditions; The first PWM duty cycle adjustment formula is as follows: in, This is the adjusted PWM duty cycle. This is the duty cycle adjustment factor under tailwind conditions. The PWM duty cycle before adjustment; The first PID control parameter adjustment formula is as follows: in, For PID control parameters, The state intensity index, Based on the proportional gain, Based on the integral gain, Based on the differential gain, For error signals, , and These are the adjustment coefficients for the proportional gain, integral gain, and derivative gain under tailwind conditions, respectively. This is the feedforward gain.

4. The comparator square wave control method for determining wind direction and direction according to claim 3, characterized in that, The step of determining the parameter to be adjusted and the parameter adjustment formula corresponding to the parameter to be adjusted based on the discrimination result, and adjusting the parameter to be adjusted based on the state intensity index and the parameter adjustment formula, further includes: When the determination result indicates a headwind condition, the current parameter, PID control parameter, and PWM duty cycle are adjusted based on the second current adjustment formula, the second PID control parameter adjustment formula, and the second PWM duty cycle adjustment formula. The second current adjustment formula is: in, This is the current adjustment coefficient under headwind conditions; The second PWM duty cycle adjustment formula is as follows: in, This is the duty cycle adjustment factor under headwind conditions; The second PID control parameter adjustment formula is as follows: in, , and These are the adjustment coefficients for proportional gain, integral gain, and derivative gain under headwind conditions, respectively.

5. The comparator square wave control method for determining wind direction and direction according to claim 1, characterized in that, The step of determining the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtaining the determination result, includes: The square wave duty cycle and the square wave frequency are compared with a preset square wave duty cycle threshold and a preset square wave frequency threshold, respectively. The preset square wave duty cycle threshold includes a first preset square wave duty cycle threshold and a second preset square wave duty cycle threshold. When the square wave duty cycle is greater than the first preset square wave duty cycle threshold and the square wave frequency is less than the preset square wave frequency threshold, the downwind state is taken as the discrimination result. When the square wave duty cycle is less than the second preset square wave duty cycle threshold and the square wave frequency is greater than the preset square wave frequency threshold, the headwind state is taken as the discrimination result.

6. A comparator square wave control device for determining wind direction (headwind or tailwind), characterized in that, include: The signal acquisition module is used to acquire the dynamic pressure difference signal and the back electromotive force ripple signal of the motor operating environment; The signal determination module is used to determine the target signal from the dynamic differential pressure signal and the back electromotive force ripple signal according to the motor operating status; The signal processing module is used to process the target signal based on a preset comparator to obtain a square wave signal corresponding to the target signal, and to process the square wave signal to obtain the square wave duty cycle and square wave frequency corresponding to the square wave signal. The state discrimination module is used to discriminate the windward or tailwind state of the motor based on the square wave duty cycle and the square wave frequency, and obtain the discrimination result. The motor operating status includes motor speed and motor load current. The signal determination module is specifically used to use the dynamic pressure difference signal as the target signal when the motor speed is less than a preset low speed threshold; and to use the back electromotive force ripple signal as the target signal when the motor speed is greater than a preset high speed threshold or the motor load current is greater than a preset current value. The comparator square wave control headwind / headwind state discrimination device further includes: The square wave signal conversion module is used to convert the dynamic pressure difference signal and the back electromotive force ripple signal based on a preset comparator to obtain a first square wave signal corresponding to the dynamic pressure difference signal and a second square wave signal corresponding to the back electromotive force ripple signal. A square wave signal processing module is used to process the first square wave signal and the second square wave signal respectively to obtain the first square wave duty cycle and the first square wave frequency of the first square wave signal, and the second square wave duty cycle and the second square wave frequency of the second square wave signal. The motor state discrimination module is used to obtain a first discrimination result based on the first square wave duty cycle and the first square wave frequency, and to obtain a second discrimination result based on the second square wave duty cycle and the second square wave frequency; The target discrimination result acquisition module is used to match the confidence scores of the first discrimination result and the second discrimination result based on the motor operating state, and to perform a weighted voting decision on the first discrimination result and the second discrimination result based on the confidence scores to obtain the target discrimination result.

7. A computer device, characterized in that, The computer device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the comparator square wave control headwind / headwind state discrimination method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the comparator square wave control headwind / headwind state discrimination method as described in any one of claims 1 to 5.

Images