Motor control method, system and equipment and storage medium

Abstract

The invention provides a motor control method, system and device and a storage medium, and the method comprises the steps: executing an initialization reset step when an IBC is powered on for the first time; the daily running state is monitored, specifically, the real-time state of a motor, system signals and an operation instruction are monitored, the system signals comprise the number of RPS reset times and whether a braking request exists or not currently, and the operation instruction comprises whether a motor rollback instruction is received or not; when a motor rollback instruction is received, motor rollback operation is executed, whether locked-rotor occurs during motor rollback is judged according to the real-time state of the motor, and if locked-rotor occurs during motor rollback, the stroke value of the motor is set to be zero; and when the RPS reset times accumulate to reach the set times and the braking request does not exist at present, executing a motor back-off operation, and setting the stroke value of the motor to be zero. When the RPS feedback motor does not return to the zero point, normal braking of the vehicle is guaranteed through the self-learning strategy, and the driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a motor control method, system, device and storage medium. Background Technology

[0002] When the driver applies the brakes, the IBC (Integrated Brake Control) detects the speed and depth of the brake pedal application and controls the motor to drive the piston for increased braking pressure. When the driver releases the brakes, the IBC controls the motor to retract the piston, allowing brake fluid to flow back to the reservoir, reducing and eliminating hydraulic pressure at the wheel ends. The IBC motor retracts to a position where it can no longer move, indicating that it has returned to the mechanical zero point. Simultaneously, the RPS (Return to Position Sensor) sensor provides feedback on the motor's real-time position to calibrate the consistency between the mechanical position and the electrical signal, ensuring the accuracy of subsequent control. If the motor does not return to the mechanical zero point, the motor travel will be shortened, resulting in insufficient braking force when the driver applies the brakes.

[0003] When the IBC motor returns to its zero position, the RPS sensor records that the motor still has a large amount of travel. Current technology mainly addresses this issue from the following aspects:

[0004] If the IBC increases the motor retraction current and the current and duration exceed a certain threshold, the RPS will report that the motor has not retracted to zero. The IBC will then report a fault code, degrade its functionality, and alert the driver to a system malfunction.

[0005] The brushless motor back-off control relies too heavily on fixed threshold judgments, which cannot effectively cope with occasional mechanical jamming and RPS error interference, resulting in insufficient system robustness.

[0006] After the vehicle is powered on, if the RPS feedback motor fails to return to zero during driving, the system will still degrade and report a fault, and the normal operation of the system cannot be guaranteed during driving. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a motor control method, system, device and storage medium.

[0008] In a first aspect, the present invention discloses a motor control method, comprising the following steps:

[0009] Monitor the real-time status of the motor, system signals, and operation commands. System signals include the number of RPS resets and whether there is a braking request. Operation commands include whether a motor reversal command has been received.

[0010] When a motor retraction command is received, the motor retraction operation is executed, and the motor is judged whether a stall occurs during retraction based on the real-time status of the motor. If a stall occurs during retraction, the motor stroke value is set to zero.

[0011] When the cumulative number of RPS resets reaches the set number and there is no braking request at present, the motor retraction operation is performed, and the motor stroke value is set to zero.

[0012] In some embodiments, the motor control method of the present invention further includes: performing an initialization reset step when the motor is powered on for the first time, specifically including: controlling the motor to perform an automatic retraction operation;

[0013] Monitor the motor status until the motor bottoms out and stalls;

[0014] When the stalled state is maintained for the first set time, the motor stroke value is set to zero, and the initialization reset is completed.

[0015] In some embodiments, setting the motor travel value to zero specifically includes: requesting the underlying layer to set the motor travel value to zero, so that the underlying layer sets the motor travel value to zero according to the request.

[0016] In some embodiments, the real-time status of the motor includes stroke, speed, and operating current.

[0017] In some embodiments, based on the monitored real-time status of the motor, it is determined whether a stall occurs during the motor retraction. Specifically, if the motor retraction process simultaneously satisfies the following conditions: the stroke is less than a first threshold, the speed is less than a second threshold, and the current is less than a third threshold, and the state continues for a second set time, then it is determined that a stall occurs during the motor retraction.

[0018] In some embodiments, the motor control method of the present invention further includes: synchronously executing a travel estimation compensation step during any reset process, specifically including:

[0019] Real-time monitoring of motor speed and displacement;

[0020] The piston stroke value is dynamically adjusted based on historical operating data.

[0021] In some embodiments, the motor control method of the present invention further includes: when an RPS reset occurs, recording the motor travel and motor speed before the reset; and when the RPS reset ends, estimating the motor travel after the reset by combining the motor travel before the reset, the motor speed before and after the reset, and the reset duration.

[0022] In some embodiments, the motor control method of the present invention further includes:

[0023] When the IBC power-on status is detected, it is determined whether it is the first power-on or not.

[0024] If this is the first power-on, then perform the initialization and reset steps;

[0025] If it is not the first power-on, it will directly enter the daily operation status monitoring process.

[0026] Secondly, the present invention also discloses a motor control system, comprising:

[0027] The monitoring module is used to monitor the real-time status of the motor, system signals, and operation commands. System signals include the number of RPS resets and whether there is a braking request. Operation commands include whether a motor retraction command has been received.

[0028] The first reset module is used to execute the motor retraction operation when a motor retraction command is received, and to determine whether the motor stalls during retraction based on the real-time status of the motor. If the motor stalls during retraction, the motor stroke value is set to zero.

[0029] The second reset module is used to perform a motor retraction operation and set the motor stroke value to zero when the cumulative number of RPS resets reaches a set number and there is no braking request at present.

[0030] In some embodiments, the motor control system further includes a reset stroke calibration module, which is used to synchronously execute a stroke estimation and compensation step in any reset process, specifically including: real-time monitoring of motor speed and displacement, and dynamically correcting the piston stroke value by combining historical operating data.

[0031] In some embodiments, the motor control system further includes a reset stroke estimation module, which is used to record the motor stroke and motor speed before the reset when an RPS reset occurs, and to estimate the motor stroke after the reset by combining the motor stroke before the reset, the motor speed before and after the reset, and the reset duration.

[0032] Thirdly, the present invention also discloses an electronic device, comprising:

[0033] One or more processors;

[0034] Memory, used to store one or more programs;

[0035] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in the first aspect.

[0036] Fourthly, the present invention also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect.

[0037] The present invention has at least the following beneficial effects:

[0038] This invention proposes a motor control method that determines the motor status by detecting the PRS reset status, motor stroke, and speed during the motor retraction process. When the PRS feedback indicates that the motor has not retracted to zero, the self-learning strategy of the IBC motor retraction process is used to ensure normal vehicle braking and increase driving safety. Attached Figure Description

[0039] Figure 1 A schematic flowchart of a motor control method provided in an embodiment of the present invention;

[0040] Figure 2 A flowchart illustrating the initialization and reset steps provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram showing the motor not having returned to zero.

[0042] Figure 4 A schematic diagram of a motor control system provided in an embodiment of the present invention;

[0043] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0045] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0046] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0047] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0048] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0049] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0050] When the driver applies the brakes, the IBC (Integrated Brake Control) detects the speed and depth of the brake pedal application and controls the motor to drive the piston for increased braking pressure. When the driver releases the brakes, the IBC controls the motor to retract the piston, allowing brake fluid to flow back to the reservoir, reducing and eliminating hydraulic pressure at the wheel ends. The IBC motor retracts to a position where it can no longer move, indicating that it has returned to the mechanical zero point. Simultaneously, the RPS (Return to Position Sensor) sensor provides feedback on the motor's real-time position to calibrate the consistency between the mechanical position and the electrical signal, ensuring the accuracy of subsequent control. If the motor does not return to the mechanical zero point, the motor travel will be shortened, resulting in insufficient braking force when the driver applies the brakes.

[0051] When the driver releases the brake, the IBC motor retracts to release pressure. During the retraction process, due to mechanical, power supply, or signal reasons, the RPS sensor records that the motor still has a large stroke after it has retracted to the zero point.

[0052] The RPS is powered by the MCU. Due to occasional poor contact or electromagnetic interference, the power supply voltage fluctuates. Abnormal voltage will cause the PRS to reset, which will cause the motor travel recorded by the PRS to deviate from the actual travel.

[0053] Figure 3 This is a diagram showing the motor not returning to zero. (See attached diagram) Figure 3 The PRS sensor reset due to low supply voltage at 7 revolutions and 1 degree. The ECU stored 7 revolutions, but the motor continued to retract. After the PRS sensor restarted, its position was 6 revolutions and 359 degrees, based on the stored 7 revolutions. The angle was equal to the actual angle of 359 degrees, with a deviation of 1 revolution (approximately 1.65 mm). The reset time was <1 ms, corresponding to <0.133 revolutions (0.133 r / ms). When the motor returned to the mechanical zero point, the position recorded by the PRS was 1.65 mm, which was significantly different from the mechanical zero point. The IBC determined that the motor had not returned to the zero point, and the function was degraded.

[0054] When the IBC motor returns to its zero position, the RPS sensor records that the motor still has a large amount of travel. Current technology mainly addresses this issue from the following aspects:

[0055] If the IBC increases the motor retraction current and the current and duration exceed a certain threshold, the RPS will report that the motor has not retracted to zero. The IBC will then report a fault code, degrade its functionality, and alert the driver to a system malfunction.

[0056] The brushless motor back-off control relies too heavily on fixed threshold judgments, which cannot effectively cope with occasional mechanical jamming and RPS error interference, resulting in insufficient system robustness.

[0057] When the ECU is powered on for the first time, the motor automatically retracts, and after the speed reaches 0 (it reaches the bottom and stalls) and remains there for a certain period of time, the IBC sets the motor stroke value to 0;

[0058] After the vehicle is powered on, if the RPS feedback motor fails to return to zero during driving, the system will still degrade and report a fault, and the normal operation of the system cannot be guaranteed during driving.

[0059] The IBC (Integrated Brake Controller) is an integrated brake controller assembly that integrates the brake booster unit with the traditional ESP module into a single, comprehensive braking unit. This unit enables basic braking, TCS, ABS, VDC, EBD, and other basic braking and vehicle stability control functions. It primarily uses a brake pedal travel sensor to detect the driver's pedal pressure and speed, converting the mechanical displacement signal into an electrical signal to control the motor that drives the master cylinder piston to generate hydraulic braking force.

[0060] The drive motor is integrated inside the IBC and is used to drive the master cylinder piston to generate hydraulic pressure. The hydraulic pressure is transmitted to the wheel end to generate braking force. When it is necessary to reduce the braking pressure, the motor rotates in the reverse direction, driving the ball screw mechanism to pull the master cylinder piston back, so that the brake fluid flows from the wheel cylinder back to the reservoir.

[0061] RPS stands for Resolver Position Sensor, which calculates the motor position by measuring the phase difference of the electromagnetic signal of the motor rotor. The motor zero point refers to the initial reference position of the master cylinder piston driven by the motor, that is, the mechanical origin when the braking system is not under pressure. The motor has a physical zero point and an electrical zero point. The physical zero point is when the motor returns to its limit position, and the electrical zero point is the zero point where the motor rotor position is recorded by the motor stroke sensor.

[0062] 2. To address the inconsistency between some abnormal mechanical zero points and the travel recorded by the sensors during the retraction of the IBC motor, this invention adds a self-learning strategy to increase the robustness of the braking system and the safety of driving.

[0063] In order to effectively improve or even completely solve the above-mentioned problems in the related technologies, this disclosure provides corresponding solutions.

[0064] Figure 1 This is a flowchart illustrating a motor control method according to an embodiment of the present invention. See also... Figure 1 A motor control method includes the following steps:

[0065] S1. Monitor daily operation status, including: monitor the real-time status of the motor, system signals and operation commands. System signals include the number of RPS resets and whether there is a braking request. Operation commands include whether a motor reversal command has been received.

[0066] S2. When a motor retraction command is received (not the initial power-on automatic retraction), the non-initial power-on retraction stall reset step is executed (corresponding to the first reset strategy, the trigger condition is receiving the motor retraction command), including: executing the motor retraction (not the ECU initial power-on automatic retraction) operation, and judging whether the motor stall occurs during the motor retraction based on the real-time status of the motor. If the motor stalls during the retraction (i.e., after confirming that the stall condition is met), the motor stroke value is set to zero.

[0067] S3. When the cumulative number of RPS resets reaches the set number (e.g., the number of RPS resets reaches 7 times) and there is no braking request at present, execute the active reset step triggered by the number of RPS resets (corresponding to the second reset strategy, the trigger condition is that the cumulative number of RPS resets reaches the set number and there is no braking request at present), including: performing a motor retraction operation and setting the motor stroke value to zero.

[0068] In some embodiments, see Figure 2The motor control method of the present invention further includes: when the IBC is powered on for the first time, performing an initialization reset step (corresponding to the third reset strategy, the trigger condition being the initial power-on of the IBC), specifically including: controlling the motor to perform an automatic retraction operation;

[0069] Monitor the motor status until the motor bottoms out and stalls;

[0070] When the stalled state is maintained for the first set time, the motor stroke value is set to zero, and the initialization reset is completed.

[0071] The purpose of this invention is to propose a self-learning strategy for the retraction process of an IBC motor. By detecting the PRS reset status, motor stroke, and speed during the retraction process, the motor state is determined. When the PRS feedback indicates that the motor has not retracted to zero, the self-learning strategy (including adding a reset strategy when the motor is stalled, detecting the PRS reset status, and actively resetting the motor position) ensures normal vehicle braking and increases driving safety.

[0072] In some embodiments, setting the motor travel value to zero specifically includes: requesting the underlying layer to set the motor travel value to zero, so that the underlying layer sets the motor travel value to zero according to the request.

[0073] The lower layer consists of low-level drivers running in the control chip (such as code responsible for directly controlling motor start / stop, current output, and stroke value register operations). Various reset strategies (such as judging stall conditions and initiating reset requests) belong to the upper logic layer (responsible for decision-making); while the "lower layer" is the execution layer that receives requests from the upper layer and directly operates the motor hardware to complete specific actions such as "reset stroke to 0" and "motor retraction".

[0074] In some embodiments, performing an initialization reset step specifically includes: controlling the motor to perform an automatic retraction operation;

[0075] Continuously monitor the motor status until the motor hits the bottom and stalls (speed drops to 0);

[0076] When the stall state is maintained for the first set time (e.g., 5 seconds), the motor stroke value is set to zero (e.g., if the motor stroke value is requested to be set to 0, the underlying layer sets the motor stroke value to 0), and the initialization reset is completed.

[0077] In some embodiments, if the motor retraction timeout fails to reach the bottom: retry retraction (up to 2 times), and if it fails, record the initialization retraction fault and report it;

[0078] If the stall state is not maintained stably for the first set time (e.g., 5 seconds), the timer will restart. If there are multiple fluctuations, it will indicate that the environment is unstable.

[0079] If setting the process to 0 fails, retry the request once. If it fails again, record the process initialization fault code.

[0080] In some embodiments, the real-time status of the motor includes stroke, speed, and operating current.

[0081] In some embodiments, based on the monitored real-time motor status, it is determined whether a stall occurs during motor retraction. Specifically, this includes: if the motor retraction process simultaneously satisfies the following conditions: stroke less than a first threshold (e.g., stroke < 13 mm), speed less than a second threshold (e.g., speed < 5 rpm), and current less than a third threshold (e.g., current < -50 A), and the condition persists for a second set time (e.g., the condition persists for 1 second), then it is determined that a stall occurs during motor retraction. This invention adds a reset strategy when the motor stalls.

[0082] In some embodiments, if the stall conditions are not simultaneously met, the status is continuously monitored until the conditions are met. If the stall duration is interrupted, the timer is restarted, and the stall conditions must be met again and continue for a second set time (e.g., 1 second). If setting the stroke to 0 fails: a retry request is made once; if it fails, "stall reset position 0 failure" is recorded.

[0083] In some embodiments, the motor control method of the present invention further includes, in any reset process, synchronously executing a stroke estimation compensation step (i.e., a stroke calibration step in the reset process), specifically including:

[0084] During the reset process, the motor speed and displacement are monitored in real time.

[0085] Based on historical operating data, the piston stroke value (current effective stroke reference) is dynamically adjusted.

[0086] In some embodiments, the motor control method of the present invention further includes a stroke estimation step after RPS reset: when RPS reset occurs, the motor stroke and motor speed before reset are recorded; when RPS reset ends, the motor stroke after reset is estimated by combining the motor stroke before reset, the motor speed before and after reset, and the reset duration.

[0087] In some embodiments, the motor control method of the present invention further includes a state recovery step after a reset is completed:

[0088] Confirm that the motor stroke value has been successfully set to 0 / calibrated;

[0089] Restore the motor's normal control logic and return to the routine operation status monitoring process.

[0090] In some embodiments, the motor control method of the present invention further includes:

[0091] When the IBC power-on status is detected, it is determined whether it is the first power-on or not.

[0092] If this is the first power-on, then perform the initialization and reset steps;

[0093] If it is not the first power-on, it will directly enter the daily operation status monitoring process.

[0094] Once the daily operation status monitoring process begins, the daily operation status will be continuously monitored.

[0095] In some embodiments, if a braking request exists when the system is triggered, the reset task is temporarily stored and automatically retried after the braking request is released; if the motor retraction fails: retry the retraction (up to 2 times), and if it fails, record the active reset retraction fault; if there is no response when the stroke is set to 0: report the timeout of the 0 setting request and trigger the system self-test.

[0096] In some embodiments, if the number of RPS resets reaches a set number (e.g., 7 times) and the stroke after reset is less than a first threshold (e.g., stroke after reset < 13 mm), zeroing is performed. Foreign objects or jamming faults will be identified as deviations caused by position sensor resets. The remaining stroke can guarantee the linear control brake (> 32 mm, full stroke 45 mm).

[0097] In some embodiments, if the travel after reset is greater than the first threshold (e.g., travel after reset > 13mm), the reset time is considered long and a fault is reported normally.

[0098] The zero-stroke strategy of this invention ensures that the remaining effective stroke is >32mm (total stroke 45mm), guaranteeing braking reliability during driving and increasing driving safety. Furthermore, this invention enhances the robustness of the IBC system, avoiding unnecessary component replacements and improving product reliability in the eyes of customers, resulting in significant economic benefits. Moreover, this invention is simple and practical, applicable to all vehicle models, and can be operated modularly, offering substantial business benefits.

[0099] Based on the same inventive concept, the present invention provides a motor control system. Figure 4 A schematic diagram of a motor control system provided in an embodiment of the present invention is shown below. Figure 4 A motor control system, comprising:

[0100] Monitoring module 1 is used to monitor daily operation status, including: monitoring the real-time status of the motor, system signals and operation commands. System signals include the number of RPS resets and whether there is a braking request. Operation commands include whether a motor retraction command has been received.

[0101] The first reset module 2 is used to execute the motor retraction operation when a motor retraction command is received, and to determine whether the motor stalls during retraction based on the real-time status of the motor. If the motor stalls during retraction, the motor stroke value is set to zero (i.e., the motor stroke value is requested to be set to zero, and the underlying layer sets the motor stroke value to zero).

[0102] The second reset module 3 is used to perform a motor retraction operation and set the motor stroke value to zero when the cumulative number of RPS resets reaches a set number and there is no braking request at present (i.e., requesting the motor stroke value to be set to zero, the underlying layer sets the motor stroke value to zero).

[0103] In some embodiments, the motor control system further includes a third reset module for performing an initialization reset step when the IBC is first powered on.

[0104] In some embodiments, the motor control system further includes a reset stroke calibration module, which is used to synchronously execute a stroke estimation and compensation step in any reset process, specifically including: real-time monitoring of motor speed and displacement, and dynamically correcting the piston stroke value by combining historical operating data.

[0105] In some embodiments, the motor control system further includes a reset stroke estimation module, which is used to record the motor stroke and motor speed before the reset when an RPS reset occurs, and to estimate the motor stroke after the reset by combining the motor stroke before the reset, the motor speed before and after the reset, and the reset duration.

[0106] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the motor control methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0107] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0108] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0109] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0110] This invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the motor control methods described in the above embodiments. The computer-readable storage medium may be volatile or non-volatile.

[0111] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described motor control method.

[0112] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0113] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0114] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0115] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0116] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0117] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should 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-readable program instructions.

[0118] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0119] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0120] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0121] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method of controlling an electric machine, characterized by, Comprising the following steps: Monitoring the real-time state of the motor, system signals and operation instructions, the system signals including the number of RPS resets, whether there is a brake request at present, and the operation instructions including whether the motor rollback instruction is received; When the motor rollback instruction is received, performing the motor rollback operation, and judging whether the motor stalls when rolling back according to the real-time state of the motor, if the motor stalls when rolling back, setting the motor stroke value to zero; When the number of RPS resets accumulates to a set number and there is no brake request at present, performing the motor rollback operation and setting the motor stroke value to zero.

2. The method of claim 1, wherein, Further comprising: When powered on for the first time, performing the initialization reset step, specifically including: controlling the motor to perform the automatic rollback operation; Detecting the motor state until the motor is stuck at the bottom; When the stuck state is maintained for a first set time, setting the motor stroke value to zero, completing the initialization reset.

3. The method of claim 1, wherein, The real-time state of the motor includes stroke, speed and working current.

4. The method of claim 1, wherein, According to the monitored real-time state of the motor, judging whether the motor stalls when rolling back, specifically including: if the stroke is less than a first threshold value, the speed is less than a second threshold value, and the current is less than a third threshold value during the motor rollback process, and the state lasts for a second set time, it is determined that the motor stalls when rolling back.

5. The method of claim 1, wherein, Further comprising: In any reset process, the stroke estimation compensation step is synchronously performed, specifically including: Real-time monitoring of the motor speed and displacement; Combining historical operation data to dynamically correct the piston stroke value.

6. The method according to claim 1 or 5, characterized in that, Further comprising: When the RPS reset occurs, the motor stroke before the reset and the motor speed before the reset are recorded, and after the RPS reset is completed, the motor stroke after the reset is estimated in combination with the motor stroke before the reset, the motor speed before and after the reset, and the reset duration.

7. The method of claim 1, wherein, Further comprising: When the IBC power-on state is detected, it is judged whether it is powered on for the first time or not; If it is powered on for the first time, the initialization reset step is performed; If it is not powered on for the first time, the routine operation state monitoring process is directly entered.

8. An electric motor control system characterized by, Comprising: A monitoring module for monitoring the real-time state of the motor, system signals and operation instructions, the system signals including the number of RPS resets, whether there is a brake request at present, and the operation instructions including whether the motor rollback instruction is received; A first reset module for, when the motor rollback instruction is received, performing the motor rollback operation, and judging whether the motor stalls when rolling back according to the real-time state of the motor, if the motor stalls when rolling back, setting the motor stroke value to zero; A second reset module for, when the number of RPS resets accumulates to a set number and there is no brake request at present, performing the motor rollback operation and setting the motor stroke value to zero.

9. An electronic device, comprising: Comprising: One or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the steps in the method of any one of claims 1 to 7.

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