Motor control method based on high-frequency cyclic operation environment
By employing dynamic segmented control and discrete pre-stressing motor control methods in high-frequency cyclic environments, the motor stability problem caused by traditional PID control is solved, achieving a balance between smooth motor operation and rapid response, and improving positioning accuracy and speed stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
- Filing Date
- 2026-01-13
- Publication Date
- 2026-05-15
AI Technical Summary
Traditional PID control methods can cause a sudden increase in error when the motor starts or the target changes in high-frequency cyclic control, resulting in sudden acceleration and deceleration of the motor and mechanical vibration, leading to poor operational stability.
A motor control method based on a high-frequency cyclic operating environment is adopted. By obtaining the target value of motor operation and the preset change step size, the proportion of acceleration and deceleration stages is determined. The current change value of the motor is updated according to the change mode and stage. Control is carried out using full-range constant speed, three-stage, constant acceleration to constant speed and constant speed to constant deceleration modes.
It improves the stability of motor operation. Through dynamic segmented control and discrete step adjustment, it overcomes the inherent defects of traditional PID control, suppresses mechanical vibration, and improves positioning accuracy and speed stability.
Smart Images
Figure CN122052647A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of motor control, and particularly relates to a motor control method based on a high-frequency cyclic operation environment. BACKGROUND
[0002] With the continuous development of technology, there is a higher requirement for the operation stability and dynamic performance of a motor. At present, a traditional control mode is PID control. In high-frequency cyclic control, when starting or a target mutates, the error suddenly increases, and the output changes sharply, thereby causing the motor to accelerate and decelerate suddenly and mechanical shaking, and thereby causing the problem of poor operation stability of the motor.
[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY
[0004] The main purpose of the present application is to provide a motor control method based on a high-frequency cyclic operation environment, aiming to improve the stability of motor operation. In order to achieve the above purpose, the present application provides a motor control method based on a high-frequency cyclic operation environment, which comprises the following steps: obtaining a target value and a preset change step of motor operation, and obtaining an acceleration stage proportion and a deceleration stage proportion of the motor; determining a change mode of motor operation according to the acceleration stage proportion and the deceleration stage proportion; obtaining a stay value and a current change value, and determining a change stage according to the stay value and the current change value; updating the current change value according to the change mode, the change stage and the preset change step; controlling the motor according to the current change value; The change mode comprises at least one of a full-speed uniform mode, a three-section mode, a uniform acceleration to uniform speed mode and a uniform speed to uniform deceleration mode, and the three-section mode is a mode of uniform acceleration to uniform speed to uniform deceleration.
[0005] Optionally, after the step of controlling the motor according to the current change value, the method further comprises: when the current change value is not equal to the target value, returning to execute the step of obtaining the acceleration stage proportion and the deceleration stage proportion of the motor; when the current change value is equal to the target value, determining that the control of the motor is completed.
[0006] Optionally, the step of determining the change mode of motor operation according to the acceleration stage proportion and the deceleration stage proportion comprises: When the proportion of the acceleration phase is equal to a preset value, and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be the constant speed mode throughout the entire process. When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the three-stage mode. When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be uniform acceleration to uniform speed. When the proportion of the acceleration phase is equal to a preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the uniform speed to uniform deceleration mode.
[0007] Optionally, the step of determining the change stage based on the dwell value and the current change value includes: Subtract the dwell value from the current change value to obtain the stage judgment value; The stage of change is determined based on the stage judgment value.
[0008] Optionally, the step of updating the current change value according to the change pattern, the change stage, and the preset change step size includes: The change calculation formula is determined based on the change pattern and the change stage; The real-time change step size and execution step size are determined according to the change calculation formula and the preset change step size; The current change value is updated based on the real-time change step size and the execution step size to obtain the updated current change value.
[0009] Optionally, before the step of determining the real-time change step size based on the change calculation formula and the preset change step size, the method further includes: When the current change value is less than or equal to the preset change step size, or when the execution step size is less than or equal to the real-time change step size during the deceleration phase, the target value is taken as the current change value.
[0010] Optionally, before the step of determining the real-time change step size based on the change calculation formula and the preset change step size, the method further includes: When the current change value is less than or equal to the preset change step size, or when the execution step size is less than or equal to the real-time change step size during the deceleration phase, the target value is taken as the current change value.
[0011] Furthermore, to achieve the above objectives, the present invention also provides a motor control device based on a high-frequency cyclic operating environment, the motor control device based on a high-frequency cyclic operating environment comprising: The acquisition module is used to acquire the target value and preset change step size of the motor operation, and to acquire the proportion of the acceleration phase and the proportion of the deceleration phase of the motor. The analysis module is used to determine the change mode of motor operation based on the proportion of the acceleration phase and the proportion of the deceleration phase; The identification module is used to acquire the dwell value and the current change value, and determine the change stage based on the dwell value and the current change value; The update module is used to update the current change value according to the change pattern, the change stage, and the preset change step size. The control module is used to control the motor according to the previous change value, wherein the change mode includes at least one of the following: constant speed mode, three-stage mode, constant acceleration to constant speed mode, and constant speed to constant deceleration mode, wherein the three-stage mode is a mode of constant acceleration to constant speed to constant deceleration.
[0012] Furthermore, to achieve the above objectives, the present invention also provides a motor control device based on a high-frequency cyclic operating environment. The motor control device based on a high-frequency cyclic operating environment includes: a memory, a processor, and a motor control program based on a high-frequency cyclic operating environment stored in the memory and executable on the processor. The motor control program based on a high-frequency cyclic operating environment is configured to implement the steps of the motor control method based on a high-frequency cyclic operating environment as described above.
[0013] In addition, to achieve the above objectives, the present invention also provides a storage medium storing a motor control program based on a high-frequency cyclic operating environment, wherein when the motor control program based on the high-frequency cyclic operating environment is executed by a processor, the motor control program based on the high-frequency cyclic operating environment implements the steps of the motor control method based on the high-frequency cyclic operating environment described above.
[0014] This invention proposes a motor control method based on a high-frequency cyclic operating environment. This method acquires the target value and preset change step size of the motor operation, and obtains the proportion of the acceleration phase and the proportion of the deceleration phase. Based on the acceleration and deceleration phase proportions, it determines the change mode of the motor operation, acquires the dwell value and the current change value, determines the change stage based on the dwell value and the current change value, and updates the current change value based on the change mode, the change stage, and the preset change step size. Compared with PID control, this method can effectively determine the current change value based on the motor's change stage and control the motor based on the current change value, thereby improving the stability of the motor during operation. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of a motor control device based on a high-frequency cyclic operating environment, which is part of the hardware operating environment of the embodiment of the present invention. Figure 2 This is a flowchart illustrating the first embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention. Figure 3 This is a flowchart illustrating the third embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention. Figure 4 This is an equivalent diagram showing the change of execution step size with the number of executions in the fourth embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0016] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0017] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a motor control device based on a high-frequency cyclic operating environment, which is part of the hardware operating environment of the embodiment of the present invention.
[0018] like Figure 1 As shown, the motor control device based on a high-frequency cyclic operating environment may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, an interactive device 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The interactive device 1003 may include a display screen or an input unit such as a keyboard. Optionally, the interactive device 1003 may also be connected to the communication bus via standard wired or wireless interfaces. The network interface 1004 may optionally include standard wired or wireless interfaces (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.
[0019] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on motor control equipment based on high-frequency cyclic operating environment, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0020] like Figure 1As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a motor control program based on a high-frequency cyclic operating environment.
[0021] exist Figure 1 In the motor control device based on a high-frequency cyclic operating environment shown, the network interface 1004 is mainly used for data communication with other devices; the interactive device 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the motor control device based on a high-frequency cyclic operating environment of the present invention can be set in the motor control device based on a high-frequency cyclic operating environment. The motor control device based on a high-frequency cyclic operating environment calls the motor control program based on a high-frequency cyclic operating environment stored in the memory 1005 through the processor 1001 and executes the motor control method based on a high-frequency cyclic operating environment provided in the embodiment of the present invention.
[0022] This invention provides a motor control method based on a high-frequency cyclic operating environment, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a motor control method based on a high-frequency cyclic operating environment according to the present invention.
[0023] In this embodiment, the motor control method based on a high-frequency cyclic operating environment includes: Step S1: Obtain the target value and preset change step size of the motor operation, and obtain the proportion of the acceleration phase and the proportion of the deceleration phase of the motor. In this embodiment, motor control is achieved through three main parts: change mode judgment, change stage judgment, and calculation output. In this embodiment, the target value can be set by the user, who can set a fixed target value. This target value can be a target position. Furthermore, the preset change step size can also be set by the user. The acceleration phase percentage is specifically the ratio of the time taken for the motor to accelerate to the total motor running time; similarly, the deceleration phase percentage is specifically the ratio of the time taken for the motor to decelerate to the total motor running time.
[0024] Step S2: Determine the change mode of motor operation based on the proportion of acceleration phase and the proportion of deceleration phase; In this embodiment, the motor's operating state needs to be determined by judging the change mode. Common change modes include at least one of the following: constant speed mode throughout, three-stage mode, uniform acceleration to constant speed mode, and uniform speed to uniform deceleration mode. The constant speed mode throughout refers to a mode where the motor operates at the same speed at every moment. The three-stage mode refers to a change process including three different types of stages. By allowing users to customize the acceleration and deceleration interval ratios, various motion modes can be flexibly configured. This system can adapt to diverse dynamic performance requirements without retuning core parameters, solving the problems of rigidity and poor adaptability of traditional control strategies.
[0025] Step S3: Obtain the dwell value and the current change value, and determine the change stage based on the dwell value and the current change value; The dwell value here refers to the final dwell value of the last motor change, and the current change value is the current value recorded by the system for marking at the current moment. In this embodiment, the change stage is determined by the dwell value and the current change value. The change stage can be...
[0026] Here, current_val is the current change value, last_change is the dwell value, distance is the total change in system response, T_A is the proportion of the acceleration phase, and T_C is the proportion of the deceleration phase.
[0027] Step S4: Update the current change value according to the change pattern, the change stage, and the preset change step size; In this embodiment, after determining the change mode and change stage, the current change value is updated according to the preset change step size. This improves the finer details of the change step size, allowing for different operating conditions to correspond to different change stages.
[0028] Step S5: Control the motor according to the current change value; The motor is controlled by outputting corresponding data based on the current change value.
[0029] In this embodiment, by acquiring the target value and preset change step size of the motor operation, and acquiring the proportion of the acceleration phase and the proportion of the deceleration phase of the motor, the change mode of the motor operation is determined based on the proportion of the acceleration phase and the proportion of the deceleration phase. The dwell value and the current change value are acquired, and the change phase is determined based on the dwell value and the current change value. The current change value is updated based on the change mode, the change phase, and the preset change step size. Compared with the PID control method, this method can effectively determine the current change value based on the change phase of the motor and control the motor based on the current change value, thereby improving the stability of the motor during operation.
[0030] Furthermore, based on the first embodiment, a second embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention is proposed. In this embodiment, after the step of controlling the motor according to the previous change value, the method further includes: When the current change value is not equal to the target value, return to the step of obtaining the acceleration phase percentage and deceleration phase percentage of the motor. When the current change value equals the target value, it is determined that the control of the motor is complete.
[0031] In this embodiment, it should be noted that the core of the algorithm adopts an discrete stepping method, which equates the number of executions of the system in a high-frequency cyclic operation environment to time, and the change step size to speed. That is, in this embodiment, by determining the current change value at a high frequency, smooth control of the motor can be achieved.
[0032] Furthermore, based on the first or second embodiment, a third embodiment of the motor control method of the present invention based on a high-frequency cyclic operating environment is proposed, with reference to... Figure 3 The step of determining the motor operation change mode based on the proportion of the acceleration phase and the proportion of the deceleration phase includes: Step S21: When the proportion of the acceleration phase is equal to a preset value and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be the constant speed mode throughout the entire process. Step S22: When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the three-stage mode. Step S23: When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be uniform acceleration to uniform speed. Step S24: When the proportion of the acceleration phase is equal to the preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the uniform speed to uniform deceleration mode.
[0033] In this embodiment, the preset value is 0. That is, when the proportion of the acceleration phase is zero and the proportion of the deceleration phase is zero, the motor operation mode is determined to be the constant speed mode throughout the entire process; when the proportion of the acceleration phase is not zero and the proportion of the deceleration phase is not zero, the motor operation mode is determined to be the three-stage mode; when the proportion of the acceleration phase is not zero and the proportion of the deceleration phase is zero, the motor operation mode is determined to be the uniform acceleration to uniform speed mode; when the proportion of the acceleration phase is zero and the proportion of the deceleration phase is not zero, the motor operation mode is determined to be the uniform speed to uniform deceleration mode.
[0034] In this embodiment, by comparing the proportion of the acceleration phase with the preset value, the type of change mode can be determined, thereby enabling the determination of accurate data, avoiding large errors, and improving data stability.
[0035] Furthermore, based on any of the above embodiments, a fourth embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention is proposed, wherein the step of determining the change stage based on the dwell value and the current change value includes: Subtract the dwell value from the current change value to obtain the stage judgment value; The stage of change is determined based on the stage judgment value.
[0036] In this embodiment, different stage judgment values correspond to different change stages. These change stages can be uniform acceleration, uniform speed, or uniform deceleration.
[0037] Furthermore, based on any of the above embodiments, a fifth embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention is proposed, wherein the step of updating the current change value according to the change mode, the change stage, and the preset change step size includes: The change calculation formula is determined based on the change pattern and the change stage; The real-time change step size and execution step size are determined according to the change calculation formula and the preset change step size; The current change value is updated based on the real-time change step size and the execution step size to obtain the updated current change value.
[0038] In this embodiment, the change mode is described using a three-stage model. The change calculation formula varies depending on the change mode and stage. The real-time change step size, representing the increase / decrease in the system per cycle during acceleration / constant speed / deceleration, is denoted by one_A, one_B, and one_C, respectively. Specifically, the change calculation formula is as follows:
[0039] In this embodiment, the calculation formula for one_B and one_C can be as follows:
[0040] Here, `step` represents the preset change step size; in this embodiment, `t` represents the number of executions, and `F0` represents the number of times the system needs to execute during the acceleration phase. Furthermore, the formula for updating the current change value is as follows:
[0041]
[0042]
[0043]
[0044] Here, add1, add2, and add3 represent the execution step size during the acceleration phase, respectively. current_A, current_B, and current_C are the count results for the acceleration, constant speed, and decrease phases, respectively. (See reference...) Figure 4 , Figure 4 This is an equivalent diagram showing how the execution step size changes with the number of executions.
[0045] In this embodiment, by determining a change calculation formula based on the change pattern and the change stage, determining a real-time change step size and an execution step size based on the change calculation formula and the preset change step size, and updating the current change value based on the real-time change step size and the execution step size, the updated current change value is obtained, thereby improving the update effect.
[0046] Furthermore, before the step of determining the real-time change step size based on the change calculation formula and the preset change step size, the method further includes: When the current change value is less than or equal to the preset change step size, or when the execution step size is less than or equal to the real-time change step size during the deceleration phase, the target value is taken as the current change value.
[0047] In this embodiment, by introducing dynamic segmented control and discrete step adjustment mechanisms, the inherent defects of traditional PID control algorithms are effectively overcome, achieving the following significant technical effects: It fundamentally resolves the contradiction between dynamic response and operational stability. Through a three-stage dynamic smooth switching of acceleration, constant speed, and deceleration, it avoids drastic changes in output caused by sudden error changes, thereby suppressing sudden changes in motor acceleration and mechanical jitter at the source. This design does not require deliberately reducing the system response speed; through adaptive recursive adjustment of the step size, it can achieve stable operation while ensuring rapid convergence, successfully balancing the two key performance indicators of response speed and stability. It also significantly improves the system's control accuracy. The effective suppression of mechanical jitter directly translates into a substantial improvement in motor positioning accuracy and speed stability, providing reliable performance assurance for high-precision applications and breaking through the limitations on accuracy caused by inherent jitter in traditional algorithms.
[0048] Furthermore, based on any of the above embodiments, a sixth embodiment of the motor control method based on a high-frequency cyclic operating environment of the present invention is proposed, wherein after the step of obtaining the target value of motor operation, the method further includes: Determine whether the target value is the same as the historical target value before the current time. When the target value and the historical target value are different, the step of obtaining the preset change step size is determined to be executed. When the target value is different from the historical target value, the motor control system is reset and restarted.
[0049] In this embodiment, a mathematical model based on discrete stepping is adopted, which equates the number of high-frequency cycles to a time process. The calculation process is simple and easy to implement on a microcontroller, reducing system complexity and computational overhead. The built-in error handling mechanism ensures that the control quantity can accurately converge to the target value, further improving the stability and reliability of long-term operation.
[0050] Furthermore, embodiments of the present invention also propose a motor control device based on a high-frequency cyclic operating environment, the motor control device based on a high-frequency cyclic operating environment comprising: The acquisition module is used to acquire the target value and preset change step size of the motor operation, and to acquire the proportion of the acceleration phase and the proportion of the deceleration phase of the motor. The analysis module is used to determine the change mode of motor operation based on the proportion of the acceleration phase and the proportion of the deceleration phase; The identification module is used to acquire the dwell value and the current change value, and determine the change stage based on the dwell value and the current change value; The update module is used to update the current change value according to the change pattern, the change stage, and the preset change step size. The control module is used to control the motor according to the previous change value, wherein the change mode includes at least one of the following: constant speed mode, three-stage mode, constant acceleration to constant speed mode, and constant speed to constant deceleration mode, wherein the three-stage mode is a mode of constant acceleration to constant speed to constant deceleration.
[0051] Furthermore, this embodiment of the invention also proposes a motor control device based on a high-frequency cyclic operating environment. The motor control device based on a high-frequency cyclic operating environment includes: a memory, a processor, and a motor control program based on a high-frequency cyclic operating environment stored in the memory and executable on the processor. The motor control program based on a high-frequency cyclic operating environment is configured to implement the steps of the motor control method based on a high-frequency cyclic operating environment described above.
[0052] Furthermore, this embodiment of the invention also proposes a storage medium storing a motor control program based on a high-frequency cyclic operating environment. When the motor control program based on the high-frequency cyclic operating environment is executed by a processor, it implements the steps of the motor control method based on the high-frequency cyclic operating environment described above.
[0053] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0054] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0055] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0056] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A motor control method based on a high-frequency cyclic operating environment, characterized in that, The motor control method based on a high-frequency cyclic operating environment includes the following steps: Obtain the target value and preset change step size of the motor operation, and obtain the proportion of the acceleration phase and the proportion of the deceleration phase of the motor. The change mode of motor operation is determined based on the proportion of the acceleration phase and the proportion of the deceleration phase. Obtain the dwell value and the current change value, and determine the change stage based on the dwell value and the current change value; The current change value is updated according to the change pattern, the change stage, and the preset change step size; Control the motor according to the current change value; The change mode includes at least one of the following: constant speed mode throughout, three-stage mode, constant acceleration to constant speed mode, and constant speed to constant deceleration mode. The three-stage mode is a mode of constant acceleration to constant speed to constant deceleration.
2. The motor control method based on a high-frequency cyclic operating environment as described in claim 1, characterized in that, After the step of controlling the motor based on the previous change value, the method further includes: When the current change value is not equal to the target value, return to the step of obtaining the acceleration phase percentage and deceleration phase percentage of the motor. When the current change value equals the target value, it is determined that the control of the motor is complete.
3. The motor control method based on a high-frequency cyclic operating environment as described in claim 1, characterized in that, The step of determining the motor operation change mode based on the proportion of the acceleration phase and the proportion of the deceleration phase includes: When the proportion of the acceleration phase is equal to a preset value, and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be the constant speed mode throughout the entire process. When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the three-stage mode. When the proportion of the acceleration phase is not equal to the preset value, and the proportion of the deceleration phase is equal to the preset value, the change mode of motor operation is determined to be uniform acceleration to uniform speed. When the proportion of the acceleration phase is equal to a preset value, and the proportion of the deceleration phase is not equal to the preset value, the change mode of motor operation is determined to be the uniform speed to uniform deceleration mode.
4. The motor control method based on a high-frequency cyclic operating environment as described in claim 1, characterized in that, The step of determining the change stage based on the dwell value and the current change value includes: Subtract the dwell value from the current change value to obtain the stage judgment value; The stage of change is determined based on the stage judgment value.
5. The motor control method based on a high-frequency cyclic operating environment as described in claim 1, characterized in that, The step of updating the current change value according to the change pattern, the change stage, and the preset change step size includes: The change calculation formula is determined based on the change pattern and the change stage; The real-time change step size and execution step size are determined according to the change calculation formula and the preset change step size; The current change value is updated based on the real-time change step size and the execution step size to obtain the updated current change value.
6. The motor control method based on a high-frequency cyclic operating environment as described in claim 5, characterized in that, Before the step of determining the real-time change step size based on the change calculation formula and the preset change step size, the method further includes: When the current change value is less than or equal to the preset change step size, or when the execution step size is less than or equal to the real-time change step size during the deceleration phase, the target value is taken as the current change value.
7. The motor control method based on a high-frequency cyclic operating environment as described in any one of claims 1 to 6, characterized in that, After the step of obtaining the target value of motor operation, the method further includes: Determine whether the target value is the same as the historical target value before the current time. When the target value and the historical target value are different, the step of obtaining the preset change step size is determined to be executed. When the target value is different from the historical target value, the motor control system is reset and restarted.
8. A motor control device based on a high-frequency cyclic operating environment, characterized in that, The motor control device based on a high-frequency cyclic operating environment includes: The acquisition module is used to acquire the target value and preset change step size of the motor operation, and to acquire the proportion of the acceleration phase and the proportion of the deceleration phase of the motor. The analysis module is used to determine the change mode of motor operation based on the proportion of the acceleration phase and the proportion of the deceleration phase; The identification module is used to acquire the dwell value and the current change value, and determine the change stage based on the dwell value and the current change value; The update module is used to update the current change value according to the change pattern, the change stage, and the preset change step size. The control module is used to control the motor according to the previous change value, wherein the change mode includes at least one of the following: constant speed mode, three-stage mode, constant acceleration to constant speed mode, and constant speed to constant deceleration mode, wherein the three-stage mode is a mode of constant acceleration to constant speed to constant deceleration.
9. A motor control device based on a high-frequency cyclic operating environment, characterized in that, The motor control device based on a high-frequency cyclic operating environment includes: a memory, a processor, and a motor control program based on a high-frequency cyclic operating environment stored in the memory and executable on the processor. The motor control program based on a high-frequency cyclic operating environment is configured to implement the steps of the motor control method based on a high-frequency cyclic operating environment as described in any one of claims 1 to 7.
10. A storage medium, characterized in that, The storage medium stores a motor control program based on a high-frequency cyclic operating environment. When the motor control program based on the high-frequency cyclic operating environment is executed by the processor, it implements the steps of the motor control method based on a high-frequency cyclic operating environment as described in any one of claims 1 to 7.