Full-speed-domain control method, device and equipment of sweeping robot and medium

Abstract

The invention provides a full-speed-domain control method and device for a sweeping robot, equipment and a medium, and effectively solves the problem that an existing sweeping robot cannot achieve full-speed-domain accurate smooth control. The method comprises the following steps: acquiring speed data of a rotor of a PMSM of the sweeping robot in real time, and judging the speed data based on a target controller to determine that the PMSM is at a first gear; a corresponding first control strategy is adopted according to the first gear, and the first control strategy is executed to enable the PMSM to run smoothly; different gears correspond to different control strategies; according to a preset sweeping strategy, the sweeping robot is switched from the first gear to a second gear, and the PMSM is controlled to be switched from the first control strategy to a second control strategy based on a delay switching strategy; and carrying out real-time smooth control on the PMSM based on a second control strategy so as to realize jitter control on the full-speed domain of the sweeping robot.

Description

Technical Field

[0001] This application relates to the field of intelligent control and motor drive technology, and more specifically, to a method, device, equipment and medium for full-speed domain control of a sweeping robot. Background Technology

[0002] As robotic vacuum cleaners become increasingly popular in home cleaning, users are placing higher demands on their cleaning efficiency, operating noise, and control precision. As a core component, the drive system must combine rapid response, high efficiency, and low noise. Considering high efficiency, low noise, and excellent speed regulation performance, permanent magnet synchronous motors (PMSMs) are generally chosen as the preferred solution for robotic vacuum cleaner drive systems.

[0003] Traditional PMSM control relies heavily on position sensors such as encoders for closed-loop control. While offering high accuracy, this approach also introduces problems such as increased cost, system complexity, and poor environmental adaptability. Especially in dusty or humid home environments, sensors are easily damaged, affecting system reliability. Therefore, sensorless control technology has gradually become a research focus, aiming to simplify the structure, reduce costs, and improve robustness. Currently, the mainstream sensorless control methods mainly include signal injection and back-EMF observation. The signal injection method estimates position by injecting a high-frequency excitation signal and analyzing the rotor response. It performs well at low speeds but is susceptible to noise interference and its accuracy decreases at high speeds. The back-EMF method uses the back-EMF generated during motor rotation for position estimation. It has a simple structure and low cost, but the signal is weak at low speeds or during startup, making estimation difficult. Although the flux linkage observation method is used as a supplement, it still struggles to overcome estimation errors caused by sudden load changes and parameter variations.

[0004] Existing control methods generally suffer from the problem that a single strategy cannot cover the full range of operating conditions. Taking a typical solution as an example, external auxiliary positioning is required during the low-speed start-up phase, and the system switches to observer control after entering high-speed operation. However, torque pulsation and speed overshoot are prone to occur during the mode transition, affecting the system's operational stability. Although some studies have adopted a hybrid scheme combining I / F start-up and closed-loop observers to improve dynamic performance, there are still significant shortcomings in terms of anti-interference capability and switching smoothness. Especially during the low-speed start-up phase, due to the slow rotor movement, the accuracy of traditional sensorless position estimation methods decreases significantly, directly affecting the system's control accuracy and operational reliability. In the critical transition phase from low speed to high speed, if the control strategy switch is not smooth enough, it is very easy to cause current surges and speed oscillations, resulting in overshoot, ultimately affecting the robot's adaptability to different terrains and its operating efficiency.

[0005] However, existing methods still have shortcomings in terms of low-speed start-up accuracy and dynamic transition performance, making it difficult to guarantee the consistency of estimation and control stability under all operating conditions. Therefore, there is an urgent need to develop a full-speed-domain control strategy that can achieve smooth switching and high-precision control to improve the adaptability of devices such as robotic vacuum cleaners in dynamic environments. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide a method, device, equipment and medium for full-speed domain control of a sweeping robot, which effectively solves the problem that existing sweeping robots cannot achieve precise and smooth control across the entire speed domain.

[0007] In a first aspect, embodiments of this application provide a full-speed-domain control method for a robotic vacuum cleaner, the method comprising: The speed data of the PMSM rotor of the robotic vacuum cleaner is acquired in real time, and the target controller determines that the PMSM is in the first gear based on the speed data; the target observer in the target controller is improved. The first control strategy is adopted according to the first gear position, and the first control strategy is executed to make the PMSM run smoothly; different gear positions correspond to different control strategies. According to the preset sweeping strategy, the sweeping robot switches from the first level to the second level, and controls the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy; The PMSM is subjected to real-time smooth control based on the second control strategy to achieve jitter control of the sweeping robot across the entire speed range.

[0008] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein the different gear positions correspond to different control strategies, including: The causes of vibration in each gear's PMSM are collected in advance, and corresponding control strategies are set based on the causes of vibration. The control strategy is executed to control the vibration caused by PMSM in the corresponding gear of the robot vacuum cleaner.

[0009] In conjunction with the first aspect, this application provides a second possible implementation of the first aspect, wherein the gear position includes at least a low speed gear; Executing the control policy includes: A low-speed control strategy is obtained by fusing the target virtual coordinate system and the target curve with a preset variable slope control strategy. Estimate the initial position of the PMSM rotor, and execute the low-speed control strategy based on the initial position to smoothly control the sweeping robot at low speeds.

[0010] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein the gear position includes at least a medium / high speed gear; Executing the control policy includes: The position of the target component of the PMSM is observed using a Luneburger observer to obtain the observation results, and the observation results are corrected based on a pre-set correction component; Based on the corrected observation results, the target rotation speed of the target component of the sweeping robot is calculated to smoothly control the sweeping robot in medium / high speed mode.

[0011] In conjunction with the first aspect, embodiments of this application provide a fourth possible implementation of the first aspect, wherein the pre-set correction component includes: An initial calibration component for the Romberg observer is pre-determined, and an improvement module is set up based on the jitter cause of the medium / high speed settings; The initial calibration component is configured based on the improved module to obtain the calibration component.

[0012] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein controlling the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy includes: A time-dependent nonlinear decreasing network is pre-configured based on the aforementioned delay switching strategy; The nonlinear decreasing network is controlled to process the q-axis current at the current moment to obtain the q-axis current at the next moment, so that the PMSM operates according to the q-axis current at the next moment.

[0013] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein the method further includes: A simulation environment and an experimental environment are set up, and the control strategy is executed in the simulation environment and the experimental environment respectively to obtain the corresponding simulation results and experimental results; The simulation and experimental results were evaluated from multiple dimensions to verify the degree of control effect of the control strategy on jitter.

[0014] Secondly, embodiments of this application provide a full-speed-domain control device for a robotic vacuum cleaner, the device comprising: The detection module is used to acquire the rotor speed data of the PMSM of the sweeping robot in real time, and to determine the PMSM is in the first gear based on the speed data by the target controller; the target observer in the target controller is improved. The execution module is used to adopt a corresponding first control strategy according to the first gear position, and execute the first control strategy to make the PMSM run smoothly; different gear positions correspond to different control strategies; The switching module is used to switch the sweeping robot from the first speed to the second speed according to the preset sweeping strategy, and to control the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy. The control module is used to perform real-time smooth control of the PMSM based on the second control strategy, so as to achieve jitter control of the sweeping robot across the entire speed range.

[0015] Thirdly, embodiments of this application provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of any one of the full-speed domain control methods for a sweeping robot are performed.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of any one of the full-speed-domain control methods for a sweeping robot.

[0017] This application provides a full-speed-domain control method for a robotic vacuum cleaner. The method first acquires the rotor speed data of the robotic vacuum cleaner's PMSM (partially mounted sweeping unit) in real time, and determines the PMSM's position based on the speed data using a target controller. The target observer in the target controller is improved. Second, a corresponding first control strategy is adopted based on the first position, and the first control strategy is executed to ensure smooth operation of the PMSM. Different positions correspond to different control strategies. Then, according to a preset sweeping strategy, the robotic vacuum cleaner switches from the first position to a second position, and the PMSM is controlled to switch from the first control strategy to the second control strategy based on a delayed switching strategy. Finally, the PMSM is subjected to real-time smooth control based on the second control strategy to achieve full-speed-domain jitter control of the robotic vacuum cleaner. Based on the above methods, not only is corresponding control achieved at different speeds based on the target controller, but also a smooth effect is achieved when switching gears. This effectively solves the problem that existing robotic vacuum cleaners cannot achieve precise and smooth control across the entire speed range. Thus, a full-speed-range control strategy that can achieve smooth switching and high-precision control is provided. Based on the control strategy corresponding to different gears, the advantages of open-loop start-up and sensorless closed-loop control are effectively combined. Through the synergistic effect of the above control strategies, the robotic vacuum cleaner can finally achieve stable and efficient operation under all working conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a full-speed-domain control method for a sweeping robot provided in an embodiment of this application is shown. Figure 2 This paper illustrates another flowchart of a full-speed-domain control method for a sweeping robot provided in an embodiment of this application. Figure 3 This paper shows a block diagram of a sensorless control structure for a surface-mounted permanent magnet synchronous motor provided in an embodiment of this application. Figure 4 This application provides a schematic diagram showing the actual and estimated position waveforms of a permanent magnet synchronous motor rotor under no-load conditions, as provided in an embodiment of this application. Figure 5 This invention provides a schematic diagram of the rotational speed variation across the entire speed range, as illustrated in an embodiment of this application. Figure 6 This paper presents a schematic diagram of the phase current waveform of a permanent magnet synchronous motor under no-load conditions, as provided in an embodiment of this application. Figure 7 The I / F control flowchart provided in the embodiment of this application is shown; Figure 8 This paper shows a structural block diagram of a full-speed-domain control device for a sweeping robot provided in an embodiment of this application; Figure 9 A structural block diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0023] Existing methods still have shortcomings in terms of low-speed start-up accuracy and dynamic transition performance, making it difficult to guarantee the consistency of estimation and control stability under all operating conditions.

[0024] Based on this, the present application provides a method, apparatus, device and medium for full-speed domain control of a sweeping robot, which will be described below through embodiments.

[0025] Example 1 To facilitate understanding of this embodiment, a full-speed-domain control method for a sweeping robot disclosed in this application will first be described in detail. For example... Figure 1 The diagram shown is a flowchart of a full-speed domain control method for a robotic vacuum cleaner. Figure 2 The diagram shows another flowchart of a full-speed-domain control method for a robotic vacuum cleaner. This application provides a full-speed-domain control method for a robotic vacuum cleaner, the method comprising: S101. Real-time acquisition of the rotor speed data of the PMSM of the sweeping robot, and determination of the PMSM being in the first gear based on the speed data by the target controller; the target observer in the target controller is improved. S102. Adopt the corresponding first control strategy according to the first gear position, and execute the first control strategy to make the PMSM run smoothly; different gear positions correspond to different control strategies; S103. According to the preset sweeping strategy, the sweeping robot switches from the first gear to the second gear, and controls the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy. S104. Based on the second control strategy, perform real-time smooth control on the PMSM to achieve full-speed domain jitter control of the sweeping robot.

[0026] In step S101, when the sweeping robot described in this application is working according to the preset sweeping strategy, it obtains the rotor speed data of the sweeping robot's PMSM in real time through a preset encoder. Specifically, the speed data of the rotor is detected by the encoder and sent to the target controller. The target observer in the target controller is improved. The target controller is an improved Active Disturbance Rejection Controller (ADRC). The target controller divides the speed data into a first gear, where the gear includes low speed or medium / high speed. Low speed is 300-500 r / min, and speeds above this range are medium / high speed. The low speed gear also includes zero speed. The target controller sets the first acquired gear as the first gear, the gear acquired at subsequent detection times as the second gear, and so on. Based on the speed data, the target controller determines that the PMSM is in the first gear.

[0027] The target observer in the target controller is improved, specifically by replacing the original function in its extended state observer (ESO) with the optimized function shown in formula (1) to enhance the target controller's anti-disturbance capability and dynamic response accuracy. Formula (1) is expressed as: (1); in, The error range is... As a tuning factor, the fal function exhibits smoother characteristics near the origin, and the parameters are simplified from three to two, significantly reducing the complexity of parameter tuning. The improved ADRC controller, namely the extended state observer (ESO) of the target controller, enhances observation accuracy and stability through structural optimization. This ESO estimates the total disturbance (including external disturbances and internal dynamics) based on input and output data. Its improvement is reflected in effectively suppressing observation jitter caused by high-frequency noise by adjusting the observer gain and introducing an optimized filter, thus avoiding the resulting degradation of control performance. While enhancing the extraction capability of useful signals through the optimized filter, it maintains the response characteristics to fast dynamics. Its parameters are optimally designed, enabling the ESO to adapt to disturbances and load changes under different operating conditions, thereby significantly enhancing the robustness and stability of the control system and providing a guarantee for high-precision smooth control. This application applies a target controller in the velocity loop, whose internal extended state observer can estimate and compensate for the total disturbance in real time. The nonlinear combination can handle errors more efficiently, thereby significantly enhancing the system's dynamic response capability and disturbance resistance capability in the face of complex ground environments.

[0028] In step S102, this application pre-sets control strategies corresponding to different gear levels in the target controller. Different gear levels correspond to different control strategies. That is, this application pre-establishes a mapping relationship between gear levels and control strategies. After determining the first gear level, the corresponding control strategy can be queried based on the mapping relationship. Correspondingly, the control strategy corresponding to the first gear level is the first control strategy, and the control strategy corresponding to the second gear level is the second control strategy. Therefore, after determining the first gear level, the corresponding first control strategy is adopted according to the first gear level. The first control strategy is executed to make the PMSM run smoothly, thereby achieving the effect of smooth operation of the PMSM in each gear level of the sweeping robot.

[0029] In the specific implementation of step S102, one embodiment is as follows: the different gears correspond to different control strategies, including: S1021. Collect the causes of vibration in each gear's PMSM in advance, and set the corresponding control strategy based on the causes of vibration. S1022. Execute the control strategy to control the vibration caused by PMSM in the corresponding gear of the sweeping robot.

[0030] In steps S1021-S1022, this application pre-collects the causes of vibration in each PMSM gear. In the low-speed gear, the misalignment of the stator magnetic field and rotor magnetic field due to the incorrect magnetic field orientation of the PMSM leads to torque pulsation and vibration. In the medium / high-speed gears, factors such as magnetic field control mismatch, mechanical characteristic coupling, external disturbances, or parameter deviations amplify torque pulsation or speed fluctuations, and the vibration is amplified sharply. Therefore, a corresponding control strategy is set based on the causes of vibration. After the target controller identifies the first or second gear corresponding to the speed data of the PMSM, it executes the control strategy corresponding to the first or second gear to control the vibration caused by the PMSM in the first or second gear of the sweeping robot, thereby achieving vibration control of the sweeping robot at low speed or medium / high speed to ensure the normal operation of the sweeping robot.

[0031] In the specific implementation of step S1022, one embodiment is that the gear position includes at least a low speed gear. Executing the control policy includes: A1. A low-speed control strategy is obtained by fusing the target virtual coordinate system and the target curve with a preset variable slope control strategy. A2. Estimate the initial position of the rotor of the PMSM, and execute the low-speed control strategy based on the initial position to smoothly control the sweeping robot at low speed.

[0032] In steps A1-A2, a low-speed control strategy is obtained by fusing the target virtual coordinate system and the target curve with a preset variable slope control strategy. The target virtual coordinate system is a virtual synchronous coordinate system with a phase lead of π / 2, the target curve is an S-shaped acceleration curve, and the preset variable slope control strategy is a variable slope I / F strategy. The initial position of the PMSM rotor is estimated based on the variable slope I / F strategy to achieve the initial positioning of the rotor with the α axis. The low-speed control strategy is then executed based on the initial position to smoothly control the sweeping robot at low speed. First, by aligning the d-axis current to zero, the rotor is accurately aligned with the α-axis, establishing a precise initial position reference for startup. Then, a virtual synchronous coordinate system with a phase leading the actual coordinate system by π / 2 is set up. By dynamically adjusting the q-axis current reference value to synchronize with the acceleration, smooth torque output is ensured. Based on the synergistic effect of variable slope I / F control and the virtual coordinate system, the q-axis current reference value can smoothly transition to the closed-loop reference value, effectively suppressing torque oscillations during startup and achieving rapid and stable startup performance. In other words, the variable slope I / F control strategy achieves rapid and stable motor startup by injecting a constant current into the d-axis of the motor, generating a position in the stationary coordinate system aligned with the α-axis direction. A fixed magnetic field is used to forcefully pull and stabilize the rotor on the permanent magnet of the rotor, thereby achieving precise zero-position alignment of the rotor at the moment of startup. This eliminates the risk of starting torque pulsation and loss of synchronization caused by uncertainty in the initial position. At the same time, a virtual synchronous coordinate system with a phase lead of π / 2 is established. By multiplying the preset S-shaped acceleration curve by the motor's moment of inertia and torque coefficient, a q-axis current reference command that strictly corresponds to it is dynamically generated, enabling the output torque to accurately track the acceleration change, thereby achieving smooth torque control. This method effectively suppresses the current overshoot and torque oscillation caused by traditional fixed slope control, laying a stable foundation for subsequent medium and high-speed operation.

[0033] like Figure 3 The diagram illustrates a dual-closed-loop control system for a three-phase motor based on vector control. The system employs a classic FOC (Field-Oriented Control) architecture. The speed loop receives a reference signal ωref to generate the q-axis current Iq for the next moment, which, together with the d-axis current command Id (Idef is typically set to zero), forms the current loop input. The current loop outputs control voltages Ud and Uq through a PI regulator. These voltages are then transformed using an inverse Park transform to obtain Uα and Uβ in the stationary coordinate system. Finally, an SVPWM module generates the PWM signals to drive the three-phase motor. The system continuously monitors the three-phase currents ia, ib, and ic, transforming them using a Clark transform to obtain iα and iβ, which are then converted using a Park transform to obtain id and iq in the rotating coordinate system for current closed-loop control.

[0034] In the specific implementation of step S1022, another embodiment is as follows: the gear position includes at least a medium / high speed gear; Executing the control policy includes: B1. The position of the target component of the PMSM is observed using a Luneburger observer to obtain the observation results, and the observation results are corrected based on a pre-set correction component. B2. Based on the corrected observation results, calculate the target rotation speed of the target component of the sweeping robot to smoothly control the sweeping robot in medium / high speed mode.

[0035] In steps B1-B2, during the high-speed operation phase of this application, a Luneburger observer is used to estimate the rotor position of the permanent magnet synchronous motor (PMSM) in real time. This observer calculates the rotor position based on the motor state-space model and the relationship between the back electromotive force and motor parameters. The rotor position is represented by an angle, which is the actual angle value, thereby calculating the actual rotor speed. Figure 4 As shown, the target component is the rotor. However, since the back electromotive force (EMF) is easily affected by noise, load, and parameter changes, direct use can easily lead to the accumulation of position estimation errors. Therefore, based on a pre-set correction component, the rotor position corresponding to the observation results is corrected. Based on the corrected observation results, the target rotational speed of the target component of the sweeping robot is calculated. Specifically, the Loenberger observer, based on the motor back EMF model, estimates the orthogonal components of the back EMF containing position information in real time, and performs amplitude normalization on the orthogonal components of the back EMF. Then, the normalized signal is input into a phase-locked loop (PLL) for phase tracking and filtering, and finally extracts a smooth and continuous signal. The rotor position angle is calculated, and the target speed is obtained after differentiation. The rotor is then controlled to rotate at the target speed. Specifically, the voltage or current of the PMSM is controlled so that the actual speed of the motor follows the target speed. By controlling the motor speed, the actual angle tracks the target angle. This application achieves high-precision position and speed observation while enhancing the system's robustness to parameter perturbations and load disturbances through amplitude normalization. This significantly improves the position observation accuracy and robustness under complex operating conditions. This composite observation strategy ensures the continuous provision of stable and reliable state parameters under different operating conditions, laying a solid foundation for subsequent closed-loop control. Figure 5 As can be seen, the estimated angle value and the actual angle value converge rapidly after 1.8s, demonstrating that this application can still maintain stable and reliable position observation performance under complex load disturbances, providing high-precision feedback for closed-loop control, so as to smoothly control the sweeping robot in medium / high speed mode, where the rotational speed is the derivative of the angle with respect to time, or the angle is the integral of the rotational speed with respect to time.

[0036] In a specific implementation of step B1, one embodiment is as follows: the pre-set correction component includes: B11. Predetermine the initial calibration components for the Romberg observer, and set up an improvement module based on the jitter cause of the medium / high speed gear; B12. Configure the initial calibration component based on the improved module to obtain the calibration component.

[0037] In steps B11-B12, this application predetermines an initial correction component for the Luneburg observer, which is a phase-locked loop. Based on the amplitude fluctuation problem caused by the jitter in the medium / high speed range, including speed, load, and temperature rise, an improvement module is set up, namely, the amplitude normalization module, which is specifically represented by formula (2). Based on the improvement module, the initial correction component is configured to obtain the correction component, thereby improving the adaptability of the Luneburg observer to changes in operating conditions. Formula (2) is expressed as: (2); in, This is the normalization factor.

[0038] The improved phase-locked loop (PLL) effectively suppresses signal amplitude fluctuations caused by speed, load, and temperature rise by introducing back EMF amplitude normalization processing, thereby improving position observation accuracy. On this basis, by constructing a virtual synchronous coordinate system with a phase lead of π / 2, the q-axis current dynamically tracks the changes in the S-shaped acceleration curve, thereby achieving smooth torque output and smooth switching.

[0039] In step S103, according to the preset sweeping strategy, the speed loop of the target controller controls the sweeping robot to switch from the first speed setting to the second speed setting, i.e., from low speed to medium / high speed, or from medium / high speed to low speed. However, due to the large difference in q-axis current before and after the switching point, jitter occurs. To ensure a smooth switching process, a delayed switching strategy is used to control the PMSM to switch from the first control strategy to the second control strategy, delaying the original direct switching point and reducing current jitter before and after the switch. Therefore, based on the delayed switching strategy, during the transition from open-loop I / F control corresponding to the low speed setting to Luneburger observer control corresponding to the medium / high speed setting, the PMSM phase current fluctuation does not exceed 1.0A, the speed switching transition time is less than 1.2 seconds, and the maximum speed overshoot does not exceed 5 r / min, thus achieving a smooth switching. Figure 6 The figure shows the phase current waveform of the PMSM under no-load conditions.

[0040] In a specific implementation of step S103, one embodiment is as follows: controlling the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy includes: S1031. Based on the delay switching strategy, a time-dependent nonlinear decreasing network is set in advance; S1032. Control the nonlinear decreasing network to process the q-axis current at the current moment to obtain the q-axis current at the next moment, so that the PMSM operates according to the q-axis current at the next moment.

[0041] In steps S1031-S1032, this application pre-sets a time-dependent nonlinear decreasing network based on the aforementioned delay switching strategy. The nonlinear decreasing network is expressed by formula (3): (3); in, The preset conversion time, To switch the start time, the nonlinear decreasing network is controlled to process the q-axis current at the current time to obtain the q-axis current at the next time, specifically expressed by formula (4): (4); in, This represents the q-axis current output by the speed loop at the current moment. The q-axis current at the current moment is calculated based on the sampled three-phase current of the PMSM, using mature existing technology. This represents the initial value of the q-axis current output during the I / F control phase. The q-axis current is set for the next moment, so that the PMSM operates according to the q-axis current of the next moment, thereby achieving smooth switching.

[0042] In step S104, after determining the second gear, the target controller queries based on the mapping relationship to obtain a second control strategy. The PMSM is then subjected to real-time smooth control based on this second control strategy to achieve full-speed domain jitter control of the sweeping robot. Figure 7 As shown, no jitter occurs in the full speed domain. This application comprehensively improves the dynamic response quality and anti-interference capability of the PMSM system by integrating variable slope I / F start-up, improved Luneburger observer and phase-locked loop position estimation, smooth decrement switching mechanism and enhanced active disturbance rejection controller (ADRC). Through the innovative application of improved phase-locked loop technology and smooth switching mechanism, the advantages of open-loop start-up and sensorless closed-loop control are effectively combined. Through the synergistic effect of the above control strategies, the robot vacuum cleaner can finally achieve stable and efficient operation under all working conditions.

[0043] In a specific implementation of step S104, one embodiment is as follows: the method further includes: S1041. Set up a simulation environment and an experimental environment, and execute the control strategy in the simulation environment and the experimental environment respectively to obtain the corresponding simulation results and experimental results; S1042. Evaluate the simulation results and experimental results from multiple dimensions to verify the degree of control of the control strategy against jitter.

[0044] In steps S1041-S1042, to ensure the accuracy and effectiveness of the strategy proposed in this application, a simulation environment and an experimental environment are built. Specifically, a motor control system model and an STM32F407 control system are constructed in the Simulink environment for experimentation. The control strategy is executed in the simulation environment and the experimental environment respectively to obtain the corresponding simulation results and experimental results. The simulation results and experimental results are evaluated from multiple dimensions to verify the degree of control of the control strategy against jitter. The evaluation dimensions include current waveform and speed response characteristics. The degree of control of the control strategy against jitter is verified, that is, the control strategy for low speed gear and medium / high speed gear shows advantages in terms of stability and reliability. The final results show that the method provided in this application can achieve stable and efficient motor drive, meeting the operating requirements of the sweeping robot in complex environments.

[0045] Example 2 This application also provides a full-speed-range control device for a robotic vacuum cleaner, such as... Figure 8 The diagram shows a block diagram of a full-speed-domain control device for a robotic vacuum cleaner. The functions implemented by this device correspond to the steps of executing a full-speed-domain control method for a robotic vacuum cleaner on a terminal device as described above. This device can be understood as a server component including a processor. The full-speed-domain control device for a robotic vacuum cleaner described in this application includes: The detection module 801 is used to acquire the rotor speed data of the PMSM of the sweeping robot in real time, and to determine the PMSM is in the first gear based on the speed data by the target controller; the target observer in the target controller is improved. Execution module 802 is used to adopt a corresponding first control strategy according to the first gear position, and execute the first control strategy to make the PMSM run smoothly; different gear positions correspond to different control strategies; The switching module 803 is used to switch the sweeping robot from the first gear to the second gear according to the preset sweeping strategy, and to control the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy. The control module 804 is used to perform real-time smooth control of the PMSM based on the second control strategy, so as to achieve jitter control of the sweeping robot across the entire speed range.

[0046] In one feasible implementation, the execution module includes: The collection module is used to collect the causes of vibration in each gear's PMSM in advance, and set corresponding control strategies based on the causes of vibration. The first execution module is used to execute the control strategy to control the vibration caused by PMSM in the corresponding gear of the sweeping robot.

[0047] In one feasible implementation, the execution module further includes: A module is used to fuse the target virtual coordinate system and target curve with a preset variable slope control strategy to obtain a low-speed control strategy; An estimation module is used to estimate the initial position of the rotor of the PMSM and execute the low-speed control strategy based on the initial position to smoothly control the sweeping robot at low speeds.

[0048] In one feasible implementation, the execution module also includes: The observation module is used to observe the position of the target component of the PMSM using a Luneburger observer to obtain the observation results, and to correct the observation results based on a pre-set correction component; The calculation module is used to calculate the target rotation speed of the target component of the sweeping robot based on the corrected observation results, so as to smoothly control the sweeping robot in medium / high speed mode.

[0049] In one feasible implementation, the execution module further includes: The determination module is used to pre-determine the initial correction components for the Romberg observer and to set up an improvement module based on the jitter cause of the medium / high speed gear. A configuration module is used to configure the initial calibration component based on the improved module to obtain the calibration component.

[0050] In one feasible implementation, the switching module includes: The configuration module is used to pre-configure a time-dependent nonlinear decreasing network based on the delay switching strategy. The operation module is used to control the nonlinear decreasing network to process the q-axis current at the current moment to obtain the q-axis current at the next moment, so that the PMSM operates according to the q-axis current at the next moment.

[0051] In one feasible implementation, the device further includes: The module is used to build simulation and experimental environments, and execute the control strategy in the simulation and experimental environments respectively to obtain the corresponding simulation results and experimental results. The evaluation module is used to evaluate the simulation results and experimental results from multiple dimensions to verify the degree of control of the control strategy against jitter.

[0052] Example 3 This application also provides an electronic device, such as Figure 9 As shown, it includes: a processor 901, a memory 902, and a bus 903. The memory 902 stores machine-readable instructions that can be executed by the processor 901. When the electronic device is running, the processor 901 and the memory 902 communicate through the bus 903. When the machine-readable instructions are executed by the processor 901, the steps of any one of the full-speed domain control methods for a sweeping robot are performed.

[0053] Example 4 This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of any one of the full-speed-domain control methods for a sweeping robot.

[0054] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0055] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0056] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0057] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0058] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included 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 full-speed-domain control method for a robotic vacuum cleaner, characterized in that, The method includes: The speed data of the PMSM rotor of the robotic vacuum cleaner is acquired in real time, and the target controller determines that the PMSM is in the first gear based on the speed data; the target observer in the target controller is improved. The first control strategy is adopted according to the first gear position, and the first control strategy is executed to make the PMSM run smoothly; different gear positions correspond to different control strategies. According to the preset sweeping strategy, the sweeping robot switches from the first level to the second level, and controls the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy; The PMSM is subjected to real-time smooth control based on the second control strategy to achieve jitter control of the sweeping robot across the entire speed range.

2. The method according to claim 1, characterized in that, The different gears correspond to different control strategies, including: The causes of vibration in each gear's PMSM are collected in advance, and corresponding control strategies are set based on the causes of vibration. The control strategy is executed to control the vibration caused by PMSM in the corresponding gear of the robot vacuum cleaner.

3. The method according to claim 2, characterized in that, The gears include at least a low gear; Executing the control policy includes: A low-speed control strategy is obtained by fusing the target virtual coordinate system and the target curve with a preset variable slope control strategy. Estimate the initial position of the PMSM rotor, and execute the low-speed control strategy based on the initial position to smoothly control the sweeping robot at low speeds.

4. The method according to claim 2, characterized in that, The gears include at least medium / high speed gears; Executing the control policy includes: The position of the target component of the PMSM is observed using a Luneburger observer to obtain the observation results, and the observation results are corrected based on a pre-set correction component; Based on the corrected observation results, the target rotation speed of the target component of the sweeping robot is calculated to smoothly control the sweeping robot in medium / high speed mode.

5. The method according to claim 4, characterized in that, The pre-set correction component includes: An initial calibration component for the Romberg observer is pre-determined, and an improvement module is set up based on the jitter cause of the medium / high speed settings; The initial calibration component is configured based on the improved module to obtain the calibration component.

6. The method according to claim 1, characterized in that, The method of controlling the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy includes: A time-dependent nonlinear decreasing network is pre-configured based on the aforementioned delay switching strategy; The nonlinear decreasing network is controlled to process the q-axis current at the current moment to obtain the q-axis current at the next moment, so that the PMSM operates according to the q-axis current at the next moment.

7. The method according to claim 1, characterized in that, The method further includes: A simulation environment and an experimental environment are set up, and the control strategy is executed in the simulation environment and the experimental environment respectively to obtain the corresponding simulation results and experimental results; The simulation and experimental results were evaluated from multiple dimensions to verify the degree of control effect of the control strategy on jitter.

8. A full-speed-range control device for a sweeping robot, characterized in that, The device includes: The detection module is used to acquire the rotor speed data of the PMSM of the sweeping robot in real time, and to determine the PMSM is in the first gear based on the speed data by the target controller; the target observer in the target controller is improved. The execution module is used to adopt a corresponding first control strategy according to the first gear position, and execute the first control strategy to make the PMSM run smoothly; different gear positions correspond to different control strategies; The switching module is used to switch the sweeping robot from the first speed to the second speed according to the preset sweeping strategy, and to control the PMSM to switch from the first control strategy to the second control strategy based on the delay switching strategy. The control module is used to perform real-time smooth control of the PMSM based on the second control strategy, so as to achieve jitter control of the sweeping robot across the entire speed range.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of a full-speed domain control method for a sweeping robot as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the full-speed-domain control method for a sweeping robot as described in any one of claims 1 to 7.

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