Motor control system and motor assembly

Abstract

The utility model provides a motor control system and a motor assembly. The motor control system is used for controlling a motor and comprises a data acquisition module, a control module and a driving module. Wherein the data acquisition module is arranged on the motor so as to acquire operation parameters of the motor; the data acquisition module comprises a first sensor for acquiring the mechanical vibration frequency and / or amplitude of the motor, and the operation parameters comprise the mechanical vibration frequency and / or amplitude of the motor. The control module is coupled and communicated with the data acquisition module, and outputs a control signal according to the operation parameters acquired by the data acquisition module. The driving module is coupled and communicated with the control module, is coupled with the motor, and adjusts a current control parameter input into the motor according to the control signal. According to the embodiment of the utility model, the current input into the motor can be adjusted according to the real-time mechanical vibration condition of the motor, the real-time performance is high, the mechanical vibration of the motor can be reduced, the operation efficiency of the motor is improved, and the service life of the motor is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of electric motor technology, and in particular to an electric motor control system and an electric motor assembly. Background Technology

[0002] In the field of electric motor applications, a stable working environment is required to improve the performance of electric motors. However, during the operation of an electric motor, the motor outputs power and undergoes its own motion. At the same time, it is affected by factors such as processing accuracy limitations, load changes, mechanical failures, power supply failures, and the external environment. As a result, the electric motor and the fixed or transmission structures connected to the motor will experience mechanical vibrations, which will affect the operating efficiency and service life of the electric motor.

[0003] Taking servo motors as an example, existing technical solutions mainly determine the mechanical vibration of servo motors by indirectly measuring them through the acquisition of current or voltage feedback signals. However, existing methods have poor real-time performance, making it difficult to obtain accurate vibration data. This often results in the inability to determine the mechanical vibration of the servo motor in a timely manner, thus affecting the effectiveness of reducing the mechanical vibration of the servo motor.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Utility Model Content

[0005] To address one or more deficiencies in the prior art, this utility model provides a motor control system for controlling a motor, the motor control system comprising:

[0006] A data acquisition module is disposed on the motor to acquire the operating parameters of the motor; the data acquisition module includes a first sensor for acquiring the mechanical vibration frequency and / or amplitude of the motor, and the operating parameters include the mechanical vibration frequency and / or amplitude of the motor.

[0007] A control module, coupled to and communicating with the data acquisition module, outputs control signals based on the operating parameters acquired by the data acquisition module; and

[0008] A drive module is coupled to and communicates with the control module and is also coupled to the motor. The drive module adjusts the current control parameters input to the motor according to the control signal.

[0009] According to one aspect of the present invention, the data acquisition module further includes a second sensor for acquiring the rotor position and / or rotor rotation speed of the motor, and the operating parameters further include the rotor position and / or rotor rotation speed of the motor.

[0010] According to one aspect of the present invention, the second sensor includes an encoder disk and a receiver, the encoder disk cooperating with the stator and rotor of the motor to obtain the relative positional relationship between the rotor and the stator; the receiver is coupled to and communicates with the encoder disk, and determines the position of the rotor based on the encoder disk.

[0011] According to one aspect of the present invention, the control module outputs a control signal based on the mechanical vibration frequency and / or amplitude of the motor obtained by the first sensor and the rotor position and / or rotor rotation speed of the motor obtained by the second sensor, and adjusts the current control parameters through the drive module to reduce the amplitude of mechanical vibration; the current control parameters include at least one of the magnitude, direction and period of the current input to the motor.

[0012] According to one aspect of the present invention, the data acquisition module further includes a third sensor for acquiring the noise of the motor during operation, and the operating parameters further include the noise of the motor during operation.

[0013] According to one aspect of the present invention, the motor control system further includes a first circuit board, on which the first sensor, the receiving end, and the third sensor are integrated.

[0014] According to one aspect of the present invention, the control module includes:

[0015] A communication interface, which is coupled to and communicates with the data acquisition module;

[0016] A vibration analysis unit is coupled to and communicates with the communication interface, and determines the vibration frequency and amplitude of the motor based on the operating parameters obtained by the first sensor and the third sensor.

[0017] A motion analysis unit is coupled to and communicates with the communication interface, and the rotational speed of the rotor relative to the stator is determined based on the operating parameters acquired by the second sensor.

[0018] According to one aspect of the present invention, the control module further includes:

[0019] A speed loop is coupled to and communicates with the motion analysis unit, and outputs a reference signal based on the rotational speed of the rotor relative to the stator.

[0020] A current loop is coupled to and communicates with the velocity loop and the vibration analysis unit, and outputs the control signal based on the reference signal and the vibration frequency and amplitude of the motor.

[0021] According to one aspect of the present invention, the motor control system further includes a second circuit board, on which the control module and the drive module are integrated; the second circuit board is coupled to and communicates with the motor and the data acquisition module via cables.

[0022] According to one aspect of the present invention, the present invention also relates to an electric motor assembly, the electric motor assembly comprising:

[0023] Rotor;

[0024] Stator; and

[0025] As described above, at least a portion of the motor control system is integrated on the rotor and / or the stator.

[0026] Compared with existing technologies, the embodiments of this utility model provide a motor control system. This system utilizes a first sensor in a data acquisition module to acquire the frequency and / or amplitude of the motor's mechanical vibration, and a control module adjusts the current control parameters input to the motor via a drive module, thereby controlling the motor's output. The embodiments of this utility model can adjust the current input to the motor based on the real-time mechanical vibration of the motor, resulting in high real-time performance. This helps reduce the motor's mechanical vibration and improve its operating efficiency and service life.

[0027] This utility model also relates to an electric motor assembly, wherein the aforementioned electric motor control system is integrated on the stator and / or rotor of the electric motor. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 The following are structural block diagrams of the motor control system in some embodiments of the present invention;

[0030] Figure 2 The following is a structural block diagram of the data acquisition module in the motor control system in some embodiments of the present invention;

[0031] Figure 3 The diagram shows a structural block diagram of the control module in the motor control system in some embodiments of this utility model;

[0032] Figure 4 A schematic diagram of the motor assembly is shown in some embodiments of the present invention. Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0034] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for mutual communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] The following description of the utility model provides many different embodiments or examples for implementing various structures of the present utility model. To simplify the description of the utility model, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the present utility model. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the present utility model; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, the present utility model provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0038] The embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0039] Figure 1 A block diagram of a motor control system 100 according to some embodiments of the present invention is shown. The motor control system 100 in this embodiment is used to control a motor 200, for example, to control the output characteristics of the motor 200, which include, for example, output frequency, output power, and output torque.

[0040] refer to Figure 1 The motor control system 100 includes a data acquisition module 110, a control module 120, and a drive module 130. The data acquisition module 110 is mounted on the motor 200 and can acquire the operating parameters of the motor 220. For example, the data acquisition module 110 is fixedly mounted on the housing or stator of the motor 200, or integrated inside the housing of the motor 200.

[0041] In this embodiment, the operating parameters of the motor 200 include the frequency and / or amplitude of the mechanical vibration of the motor 200. The data acquisition module 110 includes a first sensor 111, which can acquire the frequency and / or amplitude of the mechanical vibration of the motor 200. For example, in some embodiments, the first sensor 111 includes a triaxial accelerometer, specifically, for example, the ADXL358 model triaxial accelerometer manufactured by ADI, which has low noise and high accuracy. In some embodiments, the triaxial accelerometer can be installed on the motor 200, and the mechanical vibration frequency and amplitude of the motor 200 can be calculated based on the signal change frequency and signal strength of the triaxial accelerometer.

[0042] The control module 120 is coupled to and communicates with the data acquisition module 110. For example, the control module 120 and the data acquisition module 110 are connected by a cable, or the control module 120 and the data acquisition module 110 are integrated on the same circuit board. The control module 120 can output control signals based on the operating parameters acquired by the data acquisition module. For example, in some embodiments, the control module 120 includes an MCU (Microcontroller Unit), which receives the operating parameters from the data acquisition module and outputs control signals based on the operating parameters and preset settings. Specifically, in some embodiments, for example, when the frequency and / or amplitude of the mechanical vibration of the motor 200 acquired by the first sensor 111 is greater than a vibration threshold, the control module 120 outputs a control signal, wherein the control signal can be an electrical signal.

[0043] The drive module 130 is coupled to and communicates with the control module 120, and is also coupled to the motor 200, for example, by connecting the drive module 130 to the wiring port of the motor 200 via a cable. The drive module 130 can receive control signals output by the control module 120 and adjust the current control parameters of the input motor 200 according to the control signals. In some embodiments, the current control parameters of the input motor 200 include one or more of the following: current magnitude, current direction, or current period (when the current of the input motor 200 is alternating current).

[0044] The drive module 130 can change the output characteristics of the motor 200 by adjusting the current control parameters, thereby reducing the mechanical vibration of the motor 200. In some embodiments, the drive module 130 includes, for example, a power supply board, which is electrically connected to an external power source or battery and can supply power to the motor 200, for example, the power supply board is electrically connected to the windings in the motor 200.

[0045] In this embodiment, the first sensor 111 can acquire the real-time state of the mechanical vibration of the motor 200. The control module 120 and drive module 130 adjust the current control parameters input to the motor 200, thereby changing the output characteristics of the motor 200 and reducing its mechanical vibration. In this embodiment, the motor control system 100 can adjust the motor 200 quickly and in real-time with high accuracy and real-time performance, which helps reduce the mechanical vibration of the motor 200, improve its operating efficiency and service life, and reduce safety risks.

[0046] According to a preferred embodiment of this utility model, when the mechanical vibration frequency and / or amplitude of the motor 200 acquired by the first sensor 111 is greater than the vibration threshold, the control module 120 outputs a control signal, and the current control parameters are adjusted by the drive module 130 to reduce or eliminate resonance. The vibration threshold can be preset according to actual needs, such as based on historical data or safety production requirements. Resonance of the motor 200 indicates that as the motor 200 rotates, at a specific frequency, the mechanical vibration amplitude of the motor 200 increases significantly, easily leading to mechanical damage and fatigue damage. It may also cause cable compression, resulting in cable insulation failure and electrical risks.

[0047] This embodiment can adjust the current control parameters to change the output characteristics of the motor 200, thereby causing the motor 200 to move away from the resonant frequency, reducing or eliminating resonance, and thus suppressing the mechanical vibration of the motor 200. When the motor 200 is in a non-resonant state, even if the motor 200 has mechanical vibration, the amplitude of the vibration is small and the impact on the mechanical structure is small. Therefore, the current control parameters of the motor 200 do not need to be adjusted, so that the motor 200 can operate continuously and stably.

[0048] In a preferred embodiment of this invention, the operating parameters of the motor 200 further include the rotor position and / or rotor rotation speed of the motor 200, wherein the rotor position of the motor 200 represents the position (angle of rotation relative to the stator) of the rotor (output shaft) of the motor 200 relative to the stator. The data acquisition module 110 further includes a second sensor 112, which can acquire the rotor position and / or rotor rotation speed of the motor 200.

[0049] In some embodiments, the second sensor 112 includes an encoder disk and a receiver, wherein the encoder disk cooperates with the stator and rotor of the motor 200 to obtain the relative positional relationship between the rotor and the stator. For example, the encoder disk is disposed on the stator, and when the rotor rotates relative to the stator, the encoder disk and the rotor correspond to different positions, thereby determining the position of the rotor relative to the stator. Specifically, the encoder disk includes a perforated disk and a through-beam sensor. When the rotor rotates relative to the stator, the light beam emitted by the through-beam sensor is blocked by the perforated disk or passes through the perforated disk, forming a pulse signal. The relative positional relationship between the rotor and the stator can be determined based on the pulse signal.

[0050] The receiver is coupled to and communicates with an encoder disk, for example, it is coupled to and communicates with a through-beam sensor, and can determine the rotor's rotational position relative to the stator based on the encoder disk. In some embodiments, the receiver includes, for example, a processor or processing circuit, which acquires the rotor's rotational position relative to the stator based on pulse signals obtained from the through-beam sensor. Furthermore, the second sensor can also acquire the rotor's rotational direction and speed relative to the stator, for example, determining the rotor's rotational direction relative to the stator based on the pulse width of the pulse signal, and determining the rotor's rotational speed relative to the stator based on the frequency of the pulse signal.

[0051] According to some embodiments of this utility model, the control module 120 outputs a control signal based on the mechanical vibration frequency and / or amplitude of the motor 200 obtained by the first sensor 111 and the rotor position and / or rotor rotation speed of the motor 200 obtained by the second sensor 112. Furthermore, the control module 120 adjusts the current control parameters through the drive module 130 to reduce the amplitude of the mechanical vibration.

[0052] In some embodiments, the mechanical vibration amplitude of the motor 200 may be significantly increased due to mechanical structural errors or deformation. This can be mitigated by the cooperation of the first sensor 111 and the second sensor 112, with the control module 120 outputting a control signal based on the signals from the first sensor 111 and the second sensor 112. For example, if the output shaft of the motor 200 becomes eccentric, this will cause a significant increase in the mechanical vibration amplitude. The control module 120 can combine the frequency and / or amplitude of the mechanical vibration obtained by the first sensor 111 with the rotor position and / or rotor speed of the motor 200 obtained by the second sensor 112, and output a control signal to adjust the current absorption rate through the drive module 130, thereby reducing the amplitude of the mechanical vibration. For example, when the output shaft of the motor 200 is eccentric, simply increasing or decreasing the rotational speed to avoid resonance cannot eliminate the safety risk, and the faster the rotational speed, the greater the mechanical vibration amplitude caused by the eccentricity.

[0053] In some embodiments, the operating parameters also include the noise level of the motor 200 during operation. For example... Figure 1 As shown, the data acquisition module 110 also includes a third sensor 113, which can acquire the noise of the motor 200 during operation. When the motor 200 experiences mechanical vibration, friction and collisions occur between various components, generating noise. Therefore, by using the third sensor 113 to detect the noise of the motor 200 during operation, the mechanical vibration of the motor 200 can be reflected indirectly. Through the first sensor 111 and the third sensor 113, the accuracy and stability of the motor control system 100 can be improved.

[0054] Specifically, in some embodiments, the third sensor 113 can be integrated on a circuit board. The third sensor 113 can be a MEMS (Micro-Electro-Mechanical Systems) audio sensor, such as an omnidirectional digital microphone manufactured by STMicroelectronics, which has strong noise acquisition capabilities and is compact and small in size, making it suitable for integration on a circuit board.

[0055] See Figure 2 In some embodiments of this utility model, the motor control system 100 further includes a first circuit board 140. The receiving ends of the first sensor 111, the second sensor 112, and the third sensor 113 are all integrated on the first circuit board 140.

[0056] In some embodiments, the first circuit board 140 may be disposed on the motor 200, for example, the first circuit board 140 may be disposed on the outer or inner side of the housing of the motor 200. Furthermore, the power supply interface and winding power extraction interface of the motor 200 may also be integrated on the first circuit board 140, and the drive module 130 may be connected to the first circuit board 140 via a cable, and supply power to the windings of the motor 200 through the first circuit board 140. A voltage regulator circuit, an inverter, or a rectifier may be disposed on the first circuit board 140.

[0057] See Figure 3 In some embodiments of this utility model, the control module 120 includes a communication interface 121, a vibration analysis unit 122, and a motion analysis unit 123. The communication interface 121 is coupled to and communicates with the data acquisition module 110. In some embodiments, the communication interface 121 can be connected to a first circuit board 140 via a cable, and the first circuit board 140 is coupled to and communicates with the receiving ends of the first sensor 111, the second sensor 112, and the third sensor 113. Further, the communication interface 121 includes terminals disposed on the circuit board. For example, in some embodiments, the motor control system 100 also includes a second circuit board 150, on which the control module 120 and the drive module 130 are integrated. The second circuit board 150 is coupled to and communicates with the motor 200 and the data acquisition module 110 via cables. The communication interface 121 is disposed on the second circuit board 150, the receiving ends of the first sensor 111, the second sensor 112, and the third sensor 113 are integrated on the first circuit board 140, and the communication interface 121 can be connected to the first circuit board 140 via a cable.

[0058] The vibration analysis unit 122 is coupled to and communicates with the communication interface 121. The vibration analysis unit 122 can determine the vibration frequency and amplitude of the motor 200 based on operating parameters acquired by the first sensor 111 and the third sensor 113, such as the frequency and / or amplitude of the mechanical vibration of the motor 200 and the noise generated during operation of the motor 200. Specifically, a correction calculation formula can be pre-set to correct the operating parameters acquired by the first sensor 111 and the third sensor 113, resulting in a more accurate determination of the frequency and amplitude of the mechanical vibration of the motor 200. For example, in some embodiments, the first sensor 111 can acquire the frequency of the mechanical vibration of the motor 200, and combined with the noise generated during operation of the motor 200 acquired by the third sensor 113, the frequency and amplitude of the mechanical vibration of the motor 200 can be obtained.

[0059] Specifically, for example, the control module 120 includes an MCU, and the operating parameters acquired by the first sensor 111 and the third sensor 113 are used as input signals. The MCU can perform pre-set calculations and output corresponding control signals.

[0060] See Figure 3 The motion analysis unit 123 is coupled to and communicates with the communication interface 121, and the motion analysis unit 123 can determine the rotational speed of the rotor relative to the stator based on the operating parameters acquired by the second sensor 112. In some embodiments, the second sensor 112 includes, for example, an encoder disk and a receiver, and outputs a pulse signal based on the relative positional relationship between the rotor and the stator. The motion analysis unit 123 can determine the rotational speed of the rotor relative to the stator based on the pulse signal.

[0061] Specifically, the control module 120 includes an MCU. The operating parameters acquired by the second sensor 112 are used as input signals. The MCU can perform pre-set calculations and output corresponding control signals. Furthermore, the vibration analysis unit 122 and the motion analysis unit 123 are both integrated into the MCU.

[0062] like Figure 3 As shown, according to a preferred embodiment of the present invention, the control module 120 further includes a speed loop 124 and a current loop 125. The speed loop 124 is coupled to and communicates with the motion analysis unit 123, and can output a reference signal based on the rotor's rotational speed relative to the stator. The current loop 125 can obtain the reference signal from the speed loop 124, obtain the vibration frequency and amplitude of the motor 200 from the vibration analysis unit 122, and output a control signal based on the reference signal and the vibration frequency and amplitude of the motor 200. For example, in some embodiments, the current loop 125 can be directly coupled to the speed loop 124 and the vibration analysis unit 122.

[0063] See Figure 3After the motion analysis unit 123 acquires the rotational speed of the rotor relative to the stator, it transmits it to the speed loop 124. The speed loop 124 outputs a reference signal based on the rotational speed of the rotor relative to the stator, which serves as a reference parameter for the current loop 125. In some preferred embodiments, the speed loop 124 can also acquire speed reference data, such as historical data or pre-set reference data, and output a reference signal based on the rotational speed of the rotor relative to the stator (acquired in real time) and the reference data.

[0064] The current loop 125 outputs a control signal based on the reference signal output from the velocity loop 124 and the mechanical vibration frequency and amplitude of the motor 200 output from the vibration analysis unit 122. According to a preferred embodiment of this invention, a notch filter is provided upstream of the current loop 125 to filter the reference signal output from the velocity loop 124 and the mechanical vibration frequency and amplitude of the motor 200 output from the vibration analysis unit 122, further improving the accuracy of the control signal output by the current loop 125.

[0065] In some embodiments, such as Figure 3 As shown, the motion analysis unit 123 and the vibration analysis unit 122 are coupled and communicate with each other. The vibration analysis unit 122 can correct the frequency and amplitude of the mechanical vibration of the motor 200 according to the reference signal output by the motion analysis unit 123, which can further improve the accuracy of the frequency and amplitude of the mechanical vibration of the motor 200.

[0066] The drive module 130 can receive the control signal output by the current loop 125 and adjust the current control parameters of the input motor 200 according to the control signal to control the output characteristics of the motor 200 and reduce the mechanical vibration of the motor 200.

[0067] like Figure 4 As shown, this utility model also relates to an embodiment of an electric motor assembly 300, wherein the electric motor assembly 300 includes a rotor 310, a stator 320, and an electric motor control system 100 as described in the foregoing embodiments. In this embodiment, at least a portion of the electric motor control module 100 is integrated on the rotor 310 and / or the stator 320. Specifically, the data acquisition module 110 in the electric motor control module 100 can be disposed on the rotor 310 and / or the stator 320 for acquiring the operating parameters of the electric motor. The control module 120 and the drive module 130 in the electric motor control module 100 can be integrated on the control board of the electric motor. The control board of the electric motor can be disposed independently of the electric motor or fixedly disposed on the housing or stator of the electric motor.

[0068] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0071] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0072] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0073] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0074] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0075] Finally, it should be noted that the above descriptions are merely embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An electric motor control system characterized by, A motor control system for controlling an electric motor, the motor control system comprising: a data acquisition module configured to be disposed on the electric motor to acquire operational parameters of the electric motor, the data acquisition module comprising a first sensor configured to acquire mechanical vibration frequency and / or amplitude of the electric motor, the operational parameters comprising the mechanical vibration frequency and / or amplitude of the electric motor; a control module coupled to and in communication with the data acquisition module and configured to output a control signal based on the operational parameters acquired by the data acquisition module; and a drive module coupled to and in communication with the control module and coupled to the electric motor, the drive module configured to adjust a current control parameter input to the electric motor based on the control signal; wherein the data acquisition module further comprises a second sensor configured to acquire rotor position and / or rotor rotational speed of the electric motor, and the operational parameters further comprise the rotor position and / or rotor rotational speed of the electric motor.

2. The motor control system of claim 1, wherein The second sensor comprises an encoder disk and a receiving end, the encoder disk configured to cooperate with a stator and a rotor of the electric motor to acquire relative position relationship between the rotor and the stator, and the receiving end coupled to and in communication with the encoder disk and configured to determine the position of the rotor based on the encoder disk.

3. The motor control system of claim 1, wherein The control module is configured to output the control signal based on the mechanical vibration frequency and / or amplitude of the electric motor acquired by the first sensor and the rotor position and / or rotor rotational speed of the electric motor acquired by the second sensor, and to adjust the current control parameter by the drive module to reduce the amplitude of the mechanical vibration, the current control parameter comprising at least one of current magnitude, direction and period input to the electric motor.

4. The motor control system of claim 2, wherein The data acquisition module further comprises a third sensor configured to acquire noise of the electric motor during operation, and the operational parameters further comprise the noise of the electric motor during operation.

5. The motor control system of claim 4, wherein, The motor control system further comprises a first circuit board, the first sensor, the receiving end and the third sensor integrated on the first circuit board.

6. The motor control system of claim 4, wherein, The control module comprises: a communication interface coupled to and in communication with the data acquisition module; a vibration analysis unit coupled to and in communication with the communication interface and configured to determine vibration frequency and amplitude of the electric motor based on the operational parameters acquired by the first sensor and the third sensor; a motion analysis unit coupled to and in communication with the communication interface and configured to determine rotational speed of the rotor relative to the stator based on the operational parameters acquired by the second sensor.

7. The motor control system of claim 6, wherein The control module further comprises: a speed loop coupled to and in communication with the motion analysis unit and configured to output a reference signal based on the rotational speed of the rotor relative to the stator; a current loop coupled to and in communication with the speed loop and the vibration analysis unit and configured to output the control signal based on the reference signal and the vibration frequency and amplitude of the electric motor.

8. The motor control system of any one of claims 1-7, wherein, The motor control system further comprises a second circuit board, the control module and the drive module are integrated on the second circuit board; the second circuit board is coupled with and communicates with the motor and the data acquisition module through a cable.

9. An electric motor assembly characterized by, The motor assembly comprises: a rotor; a stator; and The motor control system as claimed in any one of claims 1-8, at least a part of the motor control system is integrated on the rotor and / or the stator.

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