A motor adaptive control method and device based on a rotary electric tool
Patent Information
- Application Number
- CN202611217156.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-12
- Publication Date
- 2026-10-30
AI Technical Summary
该急减速过程会在输出轴与锯片、砂轮片等大惯量负载之间产生明显反向作用力，容易导致依靠法兰螺母固定的工作头发生反转松脱，进而造成锯片、磨片等高速旋转部件脱落或飞出，存在严重安全隐患
[0015]本发明的一种基于旋转类电动工具的电机自适应控制方法及装置的有益效果是：通过实时监测目标转速和实际转速，获取转速误差。当转速误差大于或等于超速预设值时，表示旋转类电动工具为正常带载状态，将第一PI参数作为目标PI参数，第一PI参数能够保证旋转类电动工具的正常稳速工况，确保电机能够快速响应。当转速误差小于超速预设值时，表示旋转类电动工具为突发卸载超速状态，进一步比较电流变化率和负向电流变化率阈值进行判断，通过转速误差、超速预设值和第一PI参数自适应对PI参数进行自适应调整，得到目标PI参数。能够在正常带载和突发卸载超速两类工况之间自适应调整PI参数，无需增加复杂机械防松结构，易于应用于现有旋转类电动工具。根据目标PI参数和转速误差计算速度环输出，并将速度环输出作为电流环指令，驱动旋转类电动工具的电机，使电机在带载时快速响应，在突发卸载超速时平缓降速，显著提升了旋转类电动工具电机控制的安全性。
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Figure CN123019528A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of motor control technology, and more specifically, to an adaptive control method and apparatus for motors of rotary power tools. Background Technology
[0002] Rotary power tools are those that use an electric motor to drive a working head (such as a drill bit, saw blade, or grinding wheel) to rotate at high speed. PI (Proportional-Integral) controllers are widely used in power tools due to their simple algorithm and low cost. However, when a rotary power tool completes a cut or the working head momentarily detaches from the workpiece, the load suddenly decreases, and the actual motor speed can easily exceed the target speed. The PI controller will immediately output a large negative torque or negative current setpoint to abruptly reduce the speed. This rapid deceleration process generates a significant reverse force between the output shaft and the high-inertia loads such as the saw blade and grinding wheel. This can easily cause the working head, which is secured by a flange nut, to reverse and loosen, leading to the detachment or ejection of high-speed rotating components such as the saw blade and grinding wheel, posing a serious safety hazard. Summary of the Invention
[0003] The problem addressed by this invention is how to improve the safety of rotary power tools.
[0004] To address the above problems, this invention provides a motor adaptive control method and apparatus based on rotary power tools.
[0005] In a first aspect, the present invention provides an adaptive control method for a motor based on rotary power tools, comprising: The difference between the target speed and the actual speed is taken as the speed error; When the speed error is greater than or equal to the overspeed preset value, the first PI parameter is used as the target PI parameter, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools. When the speed error is less than the overspeed preset value, a comparison result is obtained by comparing the current change rate and the negative current change rate threshold; the target PI parameter is obtained by using the comparison result, the speed error, the overspeed preset value, and the first PI parameter. The speed loop output is calculated based on the target PI parameters and the speed error, and the speed loop output is used as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.
[0006] Optionally, obtaining the target PI parameter using the comparison result through the speed error, the overspeed preset value, and the first PI parameter includes: When the comparison result is that the rate of change of current is greater than or equal to the threshold of the rate of change of negative current, the first PI parameter is used as the target PI parameter. When the comparison result is that the rate of change of current is less than the threshold of the rate of change of negative current, the second PI parameter is obtained by using the speed error and the overspeed preset value; the second PI parameter is used as the target PI parameter.
[0007] Optionally, obtaining the second PI parameter through the speed error and the overspeed preset value includes: The overspeed amount is obtained based on the speed error and the overspeed preset value; The second PI parameter is obtained by attenuating the first PI parameter based on the overspeed amount.
[0008] Optionally, the overspeed amount includes: Over = max(0, -e×V_lim), V_lim=-ΔV, Where Over is the overspeed amount, e is the rotational speed error, V_lim is the overspeed preset value, ΔV is the anti-shake dead zone, and max() is the maximum value function.
[0009] Optionally, the first PI parameter includes a first proportional coefficient and a first integral coefficient, and the second PI parameter includes a second proportional coefficient and a second integral coefficient. The step of adjusting the first PI parameter to attenuate it based on the overspeed amount to obtain the second PI parameter includes: The first proportional coefficient is attenuated and adjusted according to the overspeed amount to obtain the second proportional coefficient; The first integral coefficient is attenuated and adjusted according to the overspeed amount to obtain the second integral coefficient.
[0010] Optionally, the second scaling factor includes: Kp2=max(Kp_min,Kp1×(1-a×Over)), Wherein, Kp2 is the second proportional coefficient, Kp1 is the first proportional coefficient, Kp_min is the minimum proportional coefficient, Over is the overspeed amount, a is the proportional attenuation coefficient, and max() is the function to take the maximum value.
[0011] Optionally, the second integral coefficient includes: Ki2=max(Ki_min,Ki1×(1-b×Over)), Where Ki2 is the second integral coefficient, Ki1 is the first integral coefficient, Ki_min is the minimum integral coefficient, b is the integral attenuation coefficient, and max() is the function to take the maximum value.
[0012] Optionally, the target PI parameter includes a target proportional coefficient and a target integral coefficient, and the step of calculating the speed loop output based on the target PI parameter and the speed error includes: The speed loop output is calculated based on the target proportional coefficient, the target integral coefficient, and the speed error; The speed loop output includes: u = Kp × e + Ki × ∫e dt Where u is the speed loop output, Kp is the target proportional coefficient, Ki is the target integral coefficient, e is the speed error, and ∫e dt is the integral of the speed error.
[0013] Optionally, the rotational speed error includes: e = Vtarget - Vactual, Where e is the rotational speed error, Vtarget is the target rotational speed, and Vactual is the actual rotational speed.
[0014] Secondly, the present invention provides a motor adaptive control device based on rotary power tools, comprising: a speed error calculation module, used to use the difference between the target speed and the actual speed as the speed error; The PI parameter adaptive acquisition module is used to take the first PI parameter as the target PI parameter when the speed error is greater than or equal to the overspeed preset value, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools. When the speed error is less than the overspeed preset value, a comparison result is obtained by comparing the current change rate and the negative current change rate threshold; the target PI parameter is obtained by using the comparison result, the speed error, the overspeed preset value, and the first PI parameter. The drive output module is used to calculate the speed loop output based on the target PI parameters and the speed error, and to use the speed loop output as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.
[0015] The beneficial effects of the adaptive control method and device for motors in rotary power tools of the present invention are as follows: By real-time monitoring of the target speed and the actual speed, the speed error is obtained. When the speed error is greater than or equal to the overspeed preset value, it indicates that the rotary power tool is in a normal load state. The first PI parameter is used as the target PI parameter, which ensures the normal steady-speed operation of the rotary power tool and ensures the motor can respond quickly. When the speed error is less than the overspeed preset value, it indicates that the rotary power tool is in a sudden unloading overspeed state. Further comparison of the current change rate and the negative current change rate threshold is used for judgment. The PI parameter is adaptively adjusted through the speed error, the overspeed preset value, and the first PI parameter to obtain the target PI parameter. This allows for adaptive adjustment of the PI parameter between normal load and sudden unloading overspeed conditions without the need for complex mechanical anti-loosening structures, making it easy to apply to existing rotary power tools. The speed loop output is calculated based on the target PI parameter and the speed error, and the speed loop output is used as a current loop command to drive the motor of the rotary power tool. This enables the motor to respond quickly under load and decelerate smoothly during sudden unloading overspeed, significantly improving the safety of the rotary power tool motor control. Attached Figure Description
[0016] Figure 1 This is a flowchart illustrating an adaptive motor control method for rotary power tools according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a rotary power tool according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an adaptive motor control device based on rotary power tools according to an embodiment of the present invention. Detailed Implementation
[0017] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.
[0018] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.
[0019] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; and the term "another embodiment" means "at least one additional embodiment". Definitions of other terms will be given in the following description.
[0020] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0021] In related technologies, existing power tools such as wall cutters and angle grinders with threaded rotating loads experience a sudden decrease in load when cutting is completed or the working head is momentarily detached from the workpiece. This causes the actual motor speed to easily exceed the target speed. Traditional, fixed, and relatively aggressive speed-loop PI controllers immediately output a large negative torque or negative current setpoint to abruptly reduce the speed. This rapid deceleration process generates a significant reverse force between the output shaft and the high-inertia loads such as the saw blade and grinding wheel. This can easily cause the working head, which is secured by a flange nut, to reverse and loosen, leading to the detachment or ejection of high-speed rotating components such as the saw blade and grinding wheel, posing a serious safety hazard.
[0022] To address the problems existing in the aforementioned related technologies, this embodiment provides a motor adaptive control method and device based on rotary power tools.
[0023] like Figure 1 As shown in the figure, an adaptive motor control method for rotary power tools provided by an embodiment of the present invention includes: Step 110: The difference between the target speed and the actual speed is taken as the speed error.
[0024] In some more specific embodiments, the target speed can be derived from the user's gear selection, a setting within the controller, or a command from a host computer. The actual speed can be obtained from a Hall sensor, encoder, back EMF estimation, sensorless observer, or other speed detection unit. Low-pass filtering, moving averages, or continuous multi-cycle verification can also be applied to the actual speed or speed error to improve the stability of operating condition determination.
[0025] Step 121: When the speed error is greater than or equal to the overspeed preset value, the first PI parameter is used as the target PI parameter, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools.
[0026] Step 1221: When the speed error is less than the overspeed preset value, the comparison result is obtained by comparing the current change rate and the negative current change rate threshold.
[0027] Step 1222: Using the comparison result, the target PI parameter is obtained through the speed error, the overspeed preset value, and the first PI parameter.
[0028] Specifically, rotary power tools typically employ PI controllers. The PI controller (Proportional-Integral Controller) is one of the most commonly used feedback control algorithms in industrial control, used to ensure the output of the controlled system accurately tracks the target value. The core parameters of the PI controller are Kp (proportional gain) and Ki (integral gain), whose values directly determine the system's control performance. When the speed error is less than the overspeed preset value, it indicates that the actual speed is higher than the target speed, and the motor may be in a state of sudden unloading, rapid load reduction, or overspeed. At this time, the controller triggers an adaptive mechanism, introducing the current change rate for further comparison and confirmation, and then adjusts the first PI parameter to obtain the target PI parameter. The first PI parameter is relatively aggressive, ensuring the speed recovery capability and cutting efficiency under load disturbances.
[0029] Step 130: Calculate the speed loop output based on the target PI parameter and the speed error, and use the speed loop output as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.
[0030] Specifically, the current loop command is used to represent torque commands, current loop setpoints, q-axis current setpoints, PWM duty cycle adjustments, or other control quantities that can affect the motor's output torque. When the current loop command is the current loop setpoint, if the measured current is less than the speed loop output u, the loop will increase the output signal. In the motor controller, the current loop output signal generally corresponds to the PWM duty cycle. The speed loop output u can also be directly used as a PWM duty cycle adjustment quantity to control the inverter drive signal duty cycle. When the speed loop output u increases, the corresponding duty cycle increases, causing the inverter output voltage to increase and drive the motor of rotary power tools.
[0031] In some more specific embodiments, such as Figure 2 As shown, Figure 2 This is a type of rotary power tool, comprising a connected motor, motor shaft, inner flange, saw blade, and outer flange nut. Rotary power tools that use threaded self-locking flanges, clamping nuts, or similar rotary clamping devices to secure the saw blade typically align the nut tightening direction with the tool's normal rotation direction. When the saw blade is cutting under load, the relative force generated by the cutting resistance helps the nut remain locked. However, when the motor controller suddenly outputs a reverse braking torque, the motor shaft is rapidly decelerated, while the saw blade, flange, and clamping nut maintain their original rotational direction due to their rotational inertia. This creates a relative angular acceleration opposite to the locking direction, potentially loosening the threaded connection that was originally intended for self-locking.
[0032] In this embodiment, the speed error is obtained by real-time monitoring of the target speed and the actual speed. When the speed error is greater than or equal to the overspeed preset value, it indicates that the rotary power tool is in a normal load state. The first PI parameter is used as the target PI parameter, which can ensure the normal stable speed operation of the rotary power tool and ensure that the motor can respond quickly. When the speed error is less than the overspeed preset value, it indicates that the rotary power tool is in a sudden unloading overspeed state. The current change rate and the negative current change rate threshold are further compared for judgment. The PI parameter is adaptively adjusted by the speed error, the overspeed preset value, and the first PI parameter to obtain the target PI parameter. It can adaptively adjust the PI parameter between the two types of operating conditions: normal load and sudden unloading overspeed, without the need to add a complex mechanical anti-loosening structure, and is easy to apply to existing rotary power tools. The speed loop output is calculated based on the target PI parameter and the speed error, and the speed loop output is used as the current loop command to drive the motor of the rotary power tool. This enables the motor to respond quickly under load and decelerate smoothly during sudden unloading overspeed, significantly improving the safety of the motor control of the rotary power tool.
[0033] Optionally, obtaining the target PI parameter using the comparison result through the speed error, the overspeed preset value, and the first PI parameter includes: When the comparison result is that the rate of change of current is greater than or equal to the threshold of the rate of change of negative current, the first PI parameter is used as the target PI parameter. When the comparison result is that the rate of change of current is less than the threshold of the rate of change of negative current, the second PI parameter is obtained by using the speed error and the overspeed preset value; the second PI parameter is used as the target PI parameter.
[0034] Specifically, a sudden unloading is confirmed only when the comparison result shows that the rate of change of current dI / dt is less than the negative rate of change of current threshold I_drop_th. If only a small fluctuation in rotational speed is detected and the current does not drop rapidly, the first set of PI parameters is maintained or the switching is delayed. Here, I represents current and t represents time.
[0035] In this optional embodiment, when the controller uses the second PI parameter, the amplitude and rate of change of the negative torque command are significantly reduced, so that the motor does not forcibly decelerate through rapid braking, but gradually returns to the target speed through a gentler and slower adjustment. The first PI parameter ensures rapid response and strong power under load conditions such as cutting and grinding; the second PI parameter ensures a smooth transition when unloading at overspeed, solving the problem that a single PI parameter cannot simultaneously achieve both rapid response and anti-backlash.
[0036] Optionally, obtaining the second PI parameter through the speed error and the overspeed preset value includes: The overspeed amount is obtained based on the speed error and the overspeed preset value; The second PI parameter is obtained by attenuating the first PI parameter based on the overspeed amount.
[0037] Optionally, the overspeed amount includes: Over = max(0, -e×V_lim), V_lim=-ΔV, Where Over is the overspeed amount, e is the rotational speed error, V_lim is the overspeed preset value, ΔV is the anti-shake dead zone, and max() is the maximum value function.
[0038] Specifically, the anti-shake dead zone ΔV is used to define the boundary between normal minor overspeed and sudden unloading overspeed. When e ≥ -ΔV, it indicates that the actual speed has not exceeded the limit or is only slightly higher than the target speed within the allowable dead zone, and the controller uses the first PI parameter. Only when e < -ΔV does it enter the unloading candidate state.
[0039] Optionally, the first PI parameter includes a first proportional coefficient and a first integral coefficient, and the second PI parameter includes a second proportional coefficient and a second integral coefficient. The step of adjusting the first PI parameter to attenuate it based on the overspeed amount to obtain the second PI parameter includes: The first proportional coefficient is attenuated and adjusted according to the overspeed amount to obtain the second proportional coefficient; The first integral coefficient is attenuated and adjusted according to the overspeed amount to obtain the second integral coefficient.
[0040] Optionally, the second scaling factor includes: Kp2=max(Kp_min,Kp1×(1-a×Over)), Wherein, Kp2 is the second proportional coefficient, Kp1 is the first proportional coefficient, Kp_min is the minimum proportional coefficient, Over is the overspeed amount, a is the proportional attenuation coefficient, and max() is the function to take the maximum value.
[0041] Optionally, the second integral coefficient includes: Ki2=max(Ki_min,Ki1×(1-b×Over)), Where Ki2 is the second integral coefficient, Ki1 is the first integral coefficient, Ki_min is the minimum integral coefficient, b is the integral attenuation coefficient, and max() is the function to take the maximum value.
[0042] In some more specific embodiments, the second PI parameter is smoother than the first PI parameter, at least satisfying Kp2 < Kp1 or Ki2 < Ki1, preferably both Kp2 and Ki2 are less than the corresponding first PI parameter, and Ki2 can be set to zero or a minimum value if necessary to suppress the rapid accumulation of negative output of the integral term during the overspeed phase.
[0043] In this optional embodiment, when entering the sudden unloading state, the controller can perform freezing, zeroing, limiting or slow release processing on the integral term, so that the process of the motor falling back from overspeed to the target speed is a smooth transition, rather than generating a sudden braking reverse electromagnetic torque.
[0044] Optionally, the target PI parameter includes a target proportional coefficient and a target integral coefficient, and the step of calculating the speed loop output based on the target PI parameter and the speed error includes: The speed loop output is calculated based on the target proportional coefficient, the target integral coefficient, and the speed error; The speed loop output includes: u = Kp × e + Ki × ∫e dt Where u is the speed loop output, Kp is the target proportional coefficient, Ki is the target integral coefficient, and e is the speed error.
[0045] Optionally, the rotational speed error includes: e = Vtarget - Vactual, Where u is the speed loop output, Kp is the target proportional coefficient, Ki is the target integral coefficient, e is the speed error, and ∫e dt is the integral of the speed error.
[0046] In some more specific embodiments, the first PI parameter includes a first proportional coefficient Kp1 and a first integral coefficient Ki1, and the second PI parameter includes a second proportional coefficient Kp2 and a second integral coefficient Ki2. Assume the target speed Vtarget of the wall cutter is 8000 rpm, the anti-shake dead zone ΔV is 200 rpm, and Kp1=0.5 and Ki1=0.02 are used under normal load. Here, rpm is an abbreviation for Revolutions Per Minute. The first PI parameter rapidly increases the output torque, allowing the saw blade to maintain cutting efficiency. When cutting ends or the saw blade momentarily leaves the wall, the load suddenly decreases, and the actual motor speed exceeds the target speed, with the actual speed Vactual rising to 8500 rpm. Then e=8000-8500=-500 rpm, satisfying e<-ΔV. If simultaneously a rapid decrease in the bus current or q-axis current is detected within a preset time, for example, dI / dt falling below the negative threshold, then a sudden unloading is confirmed. At this point, the controller switches or dynamically decays the speed loop parameters to Kp2=0.1 and Ki2=0.01, causing the motor to gradually return to around 8000 rpm. The second PI parameter suppresses the negative current setpoint and reverse braking torque, causing the motor to gradually return to the target speed. Since the output shaft does not exert a sudden reverse impact on the saw blade, the nut fixing the saw blade is less likely to reverse and loosen.
[0047] like Figure 3 As shown in the figure, an embodiment of the present invention provides a motor adaptive control device based on rotary power tools, comprising: The speed error calculation module 10 is used to take the difference between the target speed and the actual speed as the speed error; The PI parameter adaptive acquisition module 20 is used to take the first PI parameter as the target PI parameter when the speed error is greater than or equal to the overspeed preset value, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools. When the speed error is less than the overspeed preset value, a comparison result is obtained by comparing the current change rate and the negative current change rate threshold; the target PI parameter is obtained by using the comparison result, the speed error, the overspeed preset value, and the first PI parameter. The drive output module 30 is used to calculate the speed loop output based on the target PI parameters and the speed error, and to use the speed loop output as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.
[0048] The adaptive motor control device based on rotary power tools in this embodiment is used to implement the adaptive motor control method based on rotary power tools as described above. Its advantages over the prior art are the same as those of the adaptive motor control method based on rotary power tools compared to the prior art, and will not be repeated here.
[0049] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.
Claims
1. A motor adaptive control method based on rotary power tools, characterized in that, include: The difference between the target speed and the actual speed is taken as the speed error; When the speed error is greater than or equal to the overspeed preset value, the first PI parameter is used as the target PI parameter, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools. When the speed error is less than the overspeed preset value, a comparison result is obtained by comparing the current change rate and the negative current change rate threshold; the target PI parameter is obtained by using the comparison result, the speed error, the overspeed preset value, and the first PI parameter. The speed loop output is calculated based on the target PI parameters and the speed error, and the speed loop output is used as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.
2. The adaptive motor control method for rotary power tools according to claim 1, characterized in that, The process of obtaining the target PI parameter by using the comparison result through the speed error, the overspeed preset value, and the first PI parameter includes: When the comparison result is that the rate of change of current is greater than or equal to the threshold of the rate of change of negative current, the first PI parameter is used as the target PI parameter. When the comparison result is that the rate of change of current is less than the threshold of the rate of change of negative current, the second PI parameter is obtained by using the speed error and the overspeed preset value; the second PI parameter is used as the target PI parameter.
3. The adaptive motor control method for rotary power tools according to claim 1, characterized in that, The process of obtaining the second PI parameter through the speed error and the overspeed preset value includes: The overspeed amount is obtained based on the speed error and the overspeed preset value; The second PI parameter is obtained by attenuating the first PI parameter based on the overspeed amount.
4. The adaptive motor control method for rotary power tools according to claim 3, characterized in that, The overspeed amount includes: Over = max(0, -e×V_lim), V_lim=-ΔV, Where Over is the overspeed amount, e is the rotational speed error, V_lim is the overspeed preset value, ΔV is the anti-shake dead zone, and max() is the maximum value function.
5. The adaptive motor control method for rotary power tools according to claim 3, characterized in that, The first PI parameter includes a first proportional coefficient and a first integral coefficient, and the second PI parameter includes a second proportional coefficient and a second integral coefficient. The step of adjusting the first PI parameter to attenuate it based on the overspeed amount to obtain the second PI parameter includes: The first proportional coefficient is attenuated and adjusted according to the overspeed amount to obtain the second proportional coefficient; The first integral coefficient is attenuated and adjusted according to the overspeed amount to obtain the second integral coefficient.
6. The adaptive motor control method for rotary power tools according to claim 5, characterized in that, The second proportionality coefficient includes: Kp2=max(Kp_min,Kp1×(1-a×Over)), Wherein, Kp2 is the second proportional coefficient, Kp1 is the first proportional coefficient, Kp_min is the minimum proportional coefficient, Over is the overspeed amount, a is the proportional attenuation coefficient, and max() is the function to take the maximum value.
7. The adaptive motor control method for rotary power tools according to claim 5, characterized in that, The second integral coefficient includes: Ki2=max(Ki_min,Ki1×(1-b×Over)), Where Ki2 is the second integral coefficient, Ki1 is the first integral coefficient, Ki_min is the minimum integral coefficient, b is the integral attenuation coefficient, and max() is the function to take the maximum value.
8. The adaptive motor control method for rotary power tools according to claim 1, characterized in that, The target PI parameters include a target proportional coefficient and a target integral coefficient. The calculation of the speed loop output based on the target PI parameters and the speed error includes: The speed loop output is calculated based on the target proportional coefficient, the target integral coefficient, and the speed error; The speed loop output includes: u = Kp × e + Ki × ∫e dt Where u is the speed loop output, Kp is the target proportional coefficient, Ki is the target integral coefficient, e is the speed error, and ∫e dt is the integral of the speed error.
9. The adaptive motor control method for rotary power tools according to claim 1, characterized in that, The speed error includes: e = Vtarget - Vactual, Where e is the rotational speed error, Vtarget is the target rotational speed, and Vactual is the actual rotational speed.
10. A motor adaptive control device based on rotary power tools, characterized in that, include: The speed error calculation module is used to take the difference between the target speed and the actual speed as the speed error; The PI parameter adaptive acquisition module is used to take the first PI parameter as the target PI parameter when the speed error is greater than or equal to the overspeed preset value, wherein the first PI parameter is used to ensure the normal and stable speed operation of rotary power tools. When the speed error is less than the overspeed preset value, a comparison result is obtained by comparing the current change rate and the negative current change rate threshold; the target PI parameter is obtained by using the comparison result, the speed error, the overspeed preset value, and the first PI parameter. The drive output module is used to calculate the speed loop output based on the target PI parameters and the speed error, and to use the speed loop output as a current loop command, wherein the current loop command is used to drive the motor of the rotary power tool.