Current control method, device, electronic device, and recording medium

Abstract

The present application provides a current control method, apparatus, electronic device, and recording medium. The current control method includes obtaining a current first temperature of a motor and a current second temperature of a driver that drives the operation of the motor, identifying a predicted operation parameter that characterizes an operation parameter for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature, identifying a predicted filtering current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter, and controlling the current of the motor based on the predicted filtering current.

Description

Technical Field

[0001] (Related Application) This application claims the priority of a Chinese patent application filed on April 24, 2023, with the application number 202310443508.8 and the title "Current Control Method, Device, Electronic Device, and Recording Medium", and incorporates the entire content thereof by reference herein.

[0002] This application relates to the technical field of motor control, and in particular, to a current control method, device, electronic device, and recording medium.

Background Art

[0003] With the development and progress of robot joint technology, robot joints are gradually being applied to various robots. Some special robots, such as leg-type robots that walk or run at high speeds, etc., have higher requirements for the instantaneous force of robot joints. Due to the high-level instantaneous force of robot joints, the motor driver that drives the robot joints needs to meet higher requirements for the ability of large current output and the function of current protection.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to ensure that the robot joint exhibits its maximum output capacity and that the motor driver is not damaged by high currents and the motor is not damaged by overheating, in the prior art, a certain maximum allowable current is set based on empirical data. When the motor driver issues a current command greater than the maximum allowable current, the output current of the motor driver is limited to the maximum allowable current, and the motor operates continuously at the maximum allowable current, so that a method is disclosed in which the robot joint can exhibit its maximum output capacity. Such a method is simple and efficient, but the method of setting the maximum allowable current in this way cannot be applied to the motor driver and the motor under any conditions. If the setting of the maximum allowable current value is too small, the maximum output capacity of the motor cannot be exerted. If the setting of the maximum allowable current value is too large, there is still a risk that the motor will be damaged by overheating. Ultimately, due to the inability to accurately set the maximum allowable current value, the performance of the robot joint will be reduced.

[0005] Regarding the problem that the maximum performance of the robot joint cannot be exerted, no effective solution has been proposed in the related art.

Means for Solving the Problem

[0006] In this embodiment, a current control method, device, electronic device, and recording medium are provided.

[0007] In a first aspect, this embodiment provides a current control method, and the current control method includes: obtaining the current first temperature of the motor and the current second temperature of the driver that drives the operation of the motor; identifying a predicted operation parameter that characterizes the operation parameters for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature; identifying a predicted filtering current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter; controlling the current of the motor based on the predicted filtering current.

[0008] In some embodiments, identifying the predicted filtered current of the filter based on the predicted operation parameter comprises: identifying the filtering coefficient of the filter based on the predicted operation parameter; identifying the predicted filtered current based on the filtering coefficient and the q-axis current of the motor.

[0009] In some embodiments, the predicted operation parameter includes a predicted operation time, and identifying the filtering coefficient of the filter based on the predicted operation parameter comprises: acquiring the current filtering threshold of the filter and the peak current of the motor; identifying the filtering coefficient based on the predicted operation time, the current filtering threshold, and the peak current of the motor.

[0010] In some embodiments, identifying the predicted filtered current based on the filtering coefficient and the q-axis current of the motor comprises: discretizing a filter function to obtain a discretized filter function; identifying the predicted filtered current based on the discretized filter function, the filtering coefficient, and the q-axis current of the motor.

[0011] In some embodiments, controlling the current of the motor based on the predicted filtered current comprises: acquiring the current filtering threshold of the filter and the desired current of the driver; identifying the maximum threshold current of the driver based on a magnitude relationship between the current filtering threshold and the predicted filtered current; controlling the current of the motor based on the maximum threshold current and the desired current of the driver.

[0012] In some embodiments, specifying the maximum threshold current of the driver based on the magnitude relationship between the current filtering threshold and the predicted filtering current includes: when the predicted filtering current is less than or equal to the current filtering threshold, setting the maximum threshold current of the driver to the peak current of the motor; when the predicted filtering current is greater than the current filtering threshold, setting the maximum threshold current of the driver to a preset current that is less than the peak current of the motor.

[0013] In some embodiments, controlling the current of the motor based on the maximum threshold current of the driver and the desired current includes: controlling the real-time current of the motor to be the smaller value of the maximum threshold current of the driver and the desired current.

[0014] In some embodiments, specifying the predicted operating parameters of the motor based on the first temperature and the second temperature includes: specifying a first predicted operating parameter of the motor based on the first temperature and the maximum allowable temperature of the motor; specifying a second predicted operating parameter of the driver based on the second temperature and the maximum allowable temperature of the driver; specifying the predicted operating parameters based on the first predicted operating parameter and the second predicted operating parameter.

[0015] In a second aspect, this embodiment provides a current control device, which includes: an acquisition module configured to acquire a current first temperature of a motor and a current second temperature of a driver that drives the operation of the motor; a first determination module configured to determine predicted operating parameters characterizing operating parameters for the motor and the driver to operate from a current temperature to a preset temperature based on the first temperature and the second temperature; A second specifying module that specifies a predicted filtering current of a filter that performs filtering processing on the output current of the driver based on the predicted operation parameter; A control module that controls the current of the motor based on the predicted filtering current.

[0016] In a third aspect, the present embodiment provides an electronic device, the electronic device includes a memory, a processor, and a program stored in the memory for the processor to execute, and when the processor executes the program, the current control method according to any one of the above first aspects is realized.

[0017] In a fourth aspect, the present embodiment provides a recording medium, and the recording medium stores a program that realizes the current control method according to any one of the above first aspects when executed by a processor.

[0018] Details of one or more embodiments of the present application will be described below with reference to the following drawings and descriptions. Other features, objects, and advantages of the present application will become apparent from the specification, drawings, and claims.

Brief Description of the Drawings

[0019] To more clearly explain the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only the embodiments of the present application, and it is obvious that those skilled in the art can obtain other drawings from the disclosed drawings without creative labor.

Figure 1

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Figure 6

Mode for Carrying Out the Invention

[0020] Hereinafter, with reference to the drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. However, it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. It goes without saying that all embodiments obtained by those skilled in the art based on the embodiments of the present application without creative labor are included in the scope of the present application.

[0021] Unless otherwise defined, technical terms or scientific terms used in this application should have the ordinary meaning understood by an ordinary technician in the technical field related to this application. Terms such as "one", "a", "one kind", "the", "these" and other terms with similar meanings in this application do not indicate a quantitative limitation and may be singular or plural. The terms "comprise", "include", "contain", "have" and any other arbitrary variations used in this application are intended to cover non-exclusive inclusion. For example, a process, method and system, product or device including a series of steps or modules (units) is not limited to the listed steps or modules (units), may include steps or modules (units) not listed, or may include other steps or modules (units) specific to these processes, methods, products or devices. Similar terms such as "connect", "link", "couple" used in this application are not limited to physical or mechanical connections and may include electrical connections directly or indirectly. "Plurality" used in this application refers to two or more. "And / or" indicates the relationship of related objects and shows that there can be three types of relationships. For example, "A and / or B" shows three cases: only A exists, A and B exist simultaneously, and only B exists. Usually, the symbol " / " indicates that the related objects before and after are in an "or" relationship. Terms such as "first", "second", "third" etc. used in this application are not intended to distinguish similar objects and do not indicate a specific order for the objects.

[0022] With the development and progress of robot joint technology, robot joints are gradually being applied to various robots. Some special robots, such as leg-type robots that walk or run at high speed, etc., require higher instantaneous power of robot joints. Due to the high-level instantaneous power of robot joints, the motor driver driving the robot joints needs to meet higher requirements for the ability of large current output and the function of current protection.

[0023] In order to ensure that the robot joint exhibits its maximum output capacity and that the motor driver is not damaged by high currents and the motor is not damaged by overheating, in the prior art, a certain maximum allowable current is set based on empirical data. When the motor driver issues a current command greater than the maximum allowable current, the output current of the motor driver is limited to the maximum allowable current, and the robot joint can exhibit its maximum output capacity by continuously operating the motor at the maximum allowable current. Such a method is simple and efficient, but the method of setting the maximum allowable current in this way cannot be applied to the motor driver and the motor under any conditions. Furthermore, how to set an appropriate maximum allowable current value becomes a problem. If the set value of the maximum allowable current is too small, the maximum output capacity of the motor cannot be exerted. If the set value of the maximum allowable current is too large, there is still a risk that the motor will be damaged by overheating. Ultimately, due to the inability to accurately set the maximum allowable current value, the performance of the robot joint will be degraded.

[0024] Therefore, how to control the motor current to improve the performance of the robot joint is an issue to be solved.

[0025] The current control method according to the embodiment of the present application can be applied to a processor in a joint robot. The joint robot may include a temperature acquisition module, a motor, a driver, and a processor. The temperature acquisition module is used to acquire the temperatures of the motor and the driver in the joint robot and transmit the acquired temperatures to the processor. The processor is used to execute the current control method provided in the embodiment of the present application, and the current control result is fed back to the motor in real time, thereby realizing the current control of the motor.

[0026] It should be noted that the current control method according to the embodiment of the present application is described by taking the application to a joint robot as an example. In actual applications, the current control method can be applied to devices such as water pumps, fans, and transport vehicles, and can also be applied to other devices, but is not limited here.

[0027] In this embodiment, a current control method is provided. FIG. 1 is a flowchart of the current control method according to the embodiment of the present application. The execution subject of the method may be an electronic device 600, and the electronic device 600 may be a server, a processor, or a terminal, but the present application is not limited thereto. Specifically, as shown in FIG. 1, the flow includes the following steps.

[0028] Step S101 is to obtain the current first temperature of the motor and the current second temperature of the driver. The driver is used to drive the operation of the motor.

[0029] Exemplarily, the articulated robot may include a motor and a driver. The driver can drive the operation of the motor and can be used to realize the movement of the robot joint. During the operation of the articulated robot, the current first temperature of the motor and the current second temperature of the driver are obtained.

[0030] Step S102 is to identify the predicted operation parameters of the motor based on the first temperature and the second temperature.

[0031] The predicted operation parameters characterize the operation parameters for the motor and the driver to operate from the current temperature to a preset temperature.

[0032] Furthermore, based on the current first temperature of the motor and the current second temperature of the driver, the predicted operation parameters of the motor are identified. Specifically, the predicted operation parameters can characterize the operation parameters for the motor and the driver to continuously operate from the current temperature to the preset temperature at the corresponding peak current. The preset temperature can represent the limit temperature at which the motor and the driver do not burn out. The preset operation parameters may be at least one of parameters such as the operation speed, operation time, and operation torque.

[0033] Step S103 is to identify the predicted filtering current of the filter based on the predicted operation parameters.

[0034] The filter is used to perform a filtering process on the output current of the driver.

[0035] Step S104 controls the current of the motor based on the predicted filtering current.

[0036] Furthermore, based on the predicted operation parameters, the predicted filtering current of the filter is specified. The filter is used to perform a filtering process on the output current of the driver, and based on the predicted operation parameters, the predicted filtering current obtained by passing through the filtering process with the predicted operation parameters can be specified. Furthermore, based on the magnitude of the filtering current, the real-time current of the motor can be controlled.

[0037] In the above realization process, the operation parameters when the motor and the driver operate from the current temperature to the preset temperature are predicted in advance. Based on the predicted operation parameters, the predicted filtering current of the filter when the motor and the driver operate from the current temperature to the preset temperature is specified, and the motor current is controlled based on the magnitude of the predicted filtering current. Thus, the current control of the motor can be performed according to the characteristics of the filter, avoiding the problem that the performance of the articulated robot is reduced due to the unreasonable setting of the maximum allowable current of the motor. Furthermore, the real-time current of the motor is adjusted in real time to ensure that the motor and the driver are not destroyed due to overheating, and by exerting the output capacity of the motor as much as possible, the robot joint exerts the maximum performance as much as possible, improving the performance of the robot joint.

[0038] In some embodiments, specifying the predicted filtering current of the filter based on the predicted operation parameters may include the following steps. Step 1 specifies the filtering coefficient of the filter based on the predicted operation parameters. Step 2 determines the predicted filtered current based on the filtering coefficient and the q-axis current of the motor.

[0039] Exemplarily, for a motor and a driver, when the temperature is different, the operating parameters for operating up to a preset temperature are different, and the filtering coefficients corresponding to different operating parameters are different. Therefore, based on the predicted operating parameters, the filtering coefficient corresponding to the filter can be determined using the predicted operating parameters. Further, based on the filtering coefficient and the q-axis current of the motor, the predicted filtered current of the filter is predicted.

[0040] In the above implementation process, it becomes easy to determine the current filtering coefficient of the filter using the predicted operating parameters, and further accurately determine the predicted filtered current of the filter based on the filtering coefficient.

[0041] In some embodiments, the predicted operating parameters include the predicted operating time. Determining the filtering coefficient of the filter based on the predicted operating parameters may include the following steps. Step 1 obtains the current filtering threshold of the filter and the peak current of the motor. Step 2 determines the filtering coefficient based on the predicted operating time, the current filtering threshold, and the peak current of the motor.

[0042] Exemplarily, the predicted operating parameters include the predicted operating time. Specifically, the predicted operating parameters can represent the operating time for the motor and the driver to operate from the current temperature to the preset temperature at the corresponding peak current. The preset temperature may be the limit temperature at which the motor and the driver do not burn out.

[0043] Specifically, the filter can perform filtering processing on the output current of the driver. The filter may be a first-order low-pass filter, and the motor may be a three-phase permanent magnet synchronous motor.

[0044] To ensure that the motor can exert its maximum output capacity, the motor is set to operate at the peak current of the motor. That is, the maximum current output by the driver is the peak current of the motor, and in the process of filtering the current output by the driver through a first-order low-pass filter, the following relationship exists. JPEG2025516406000002.jpg9170However, I q_filter (t) represents the filtered current filtered by the first-order low-pass filter, I p represents the peak current of the motor, t represents the filtering time, and τ represents the filtering coefficient.

[0045] To ensure that the filter performs normal filtering processing, it is necessary to ensure that the filtered current in the time period when the motor operates from the current temperature to the preset temperature at the peak current of the motor meets the filtering conditions. That is, at least the filtered current needs to be equal to the current filtering threshold, that is, JPEG2025516406000003.jpg12170So, based on the predicted operation time, the current filtering threshold, and the peak current of the motor, the filtering coefficient can be determined. Specifically, the filtering coefficient can be determined by the following formula. JPEG2025516406000004.jpg12170However, t p represents the predicted operation time, that is, the time when the motor continuously operates at the peak current from the current temperature, τ represents the filtering coefficient, I th represents the current filtering threshold. More specifically, the current filtering threshold indicated by I th may be equal to the rated current Ic of the motor.

[0046] In the above realization process, based on the predicted operation parameters, the current filtering threshold, and the peak current of the motor, by specifying the filtering coefficient at the current predicted operation parameters of the filter, it becomes easy to predict the filtering current based on the specified filtering coefficient.

[0047] In some embodiments, specifying the predicted filtering current based on the filtering coefficient and the q-axis current of the motor may include the following steps. Step 1 is to discretize the filter function to obtain a discretized filter function. Step 2 is to specify the predicted filtering current based on the discretized filter function, the filtering coefficient, and the q-axis current of the motor.

[0048] Exemplarily, for the first-order low-pass filter function JPEG2025516406000005.jpg7170 can be discretized to obtain a discretized filter function. JPEG2025516406000006.jpg13170 However, k represents the filtering period, ΔT represents the control period of the driver, I q (k) represents the q-axis current of the motor in the k-th filtering period, I q_filter (k) represents the predicted filtering current in the k-th filtering period, I q_filter (k - 1) represents the predicted filtering current in the (k - 1)-th filtering period, and τ represents the filtering coefficient.

[0049] Furthermore, based on the discretized filter function, the filtering coefficient, and the q-axis current of the motor, the predicted filtering current is specified. Specifically, substituting the specified filtering coefficient τ, the q-axis current of the motor in the k-th filtering period, the predicted filtering current I q_filter (k - 1) in the (k - 1)-th filtering period, and the control period ΔT of the driver into the above formula (3), the predicted filtering current in the current filtering period can be specified.

[0050] More specifically, the q-axis current of the motor can be specified by the following formula. JPEG2025516406000007.jpg11170However, θ r represents the electrical angle of the electronic rotor, I d represents the d-axis current of the motor, I a and I b represent any two-phase currents among the three-phase currents of the motor.

[0051] In the above realization process, the filter function is discretized to obtain a discretized filter function, and based on the discretized filter function, the specified filtering coefficient, and the current q-axis current of the motor, the predicted filtering current in the current filtering period is specified, so that based on the discretized filter function, the predicted filtering current in each filtering period can be specified, and it becomes easier to control the real-time current of the motor.

[0052] In some embodiments, controlling the current of the motor based on the predicted filtering current may include the following steps. Step 1 is to obtain the current filtering threshold of the filter and the desired current of the driver. Step 2 is to specify the maximum threshold current of the driver based on the magnitude relationship between the current filtering threshold and the predicted filtering current. Step 3 is to control the current of the motor based on the maximum threshold current and the desired current of the driver.

[0053] Exemplarily, obtain the filtering threshold in the current period of the filter and the current desired current of the driver, and further control the real-time current of the motor based on the magnitude relationship among the current filtering threshold, the predicted filtering current in the current period, and the desired current. The desired current of the driver is the current value output by the driver to the motor and preset.

[0054] Specifically, based on the magnitude relationship between the current filtering threshold and the predicted filtering current, the magnitude of the maximum threshold current of the driver can be determined. Further, based on the magnitude relationship between the maximum threshold current of the driver and the desired current, the current of the motor is controlled, so that during the operation of the motor, the maximum threshold current of the driver can be adjusted based on the magnitude of the predicted filtering current, and the real-time current of the motor can be adjusted based on the maximum threshold current of the driver.

[0055] In the above implementation process, based on the magnitude relationship between the current filtering threshold and the predicted filtering current, the maximum threshold current of the driver is determined, so that the maximum threshold current of the driver can be adjusted in real time based on the magnitude of the predicted filtering current. Further, based on the adjusted maximum threshold current and the desired current, the real-time current of the motor is controlled, so that the motor outputs the maximum torque and the motor operates continuously at the peak current, thereby avoiding the motor and the driver from being damaged due to overheating.

[0056] In some embodiments, determining the maximum threshold current of the driver based on the magnitude relationship between the current filtering threshold and the predicted filtering current may include the following steps. When the predicted filtering current is less than or equal to the current filtering threshold, the maximum threshold current of the driver is set to the peak current of the motor. When the predicted filtering current is greater than the current filtering threshold, the maximum threshold current of the driver is set to a preset current that is less than the peak current of the motor.

[0057] Exemplarily, when the predicted filtering current is less than or equal to the current filtering threshold, operating the motor at the peak current at the current temperature does not cause burnout of the motor and the driver, indicating that the maximum threshold current of the driver is the peak current of the motor.

[0058] When the predicted filtered current is greater than the current filtering threshold value, operating the motor at the peak current at the current temperature may cause the motor and the driver to burn out, and it is necessary to reduce the maximum threshold current of the driver based on the peak current. That is, it is necessary to reduce the maximum threshold current of the driver from the peak current to a preset current smaller than the peak current of the motor. Specifically, the preset current can be the rated current of the motor.

[0059] In the above implementation process, when the predicted filtered current is greater than the current filtering threshold value, currently, operating at the peak current of the motor indicates that the motor or the driver is likely to be damaged due to overheating, and it is necessary to reduce the maximum threshold current of the driver. Also, when the desired current of the driver is greater than the reduced maximum threshold current, control the motor to operate at the reduced maximum threshold current (i.e., the preset current), thereby avoiding the motor and the driver being damaged due to overheating. When the predicted filtered current is less than or equal to the current filtering threshold value, it indicates that operating the motor at the peak current will not cause overheating of the motor or the driver. When the desired current of the driver is greater than the peak current of the motor, control the motor to operate at the peak current, thereby ensuring that the motor outputs the maximum torque and the robot joint exhibits the maximum performance.

[0060] In some embodiments, controlling the current of the motor based on the maximum threshold current and the desired current of the driver includes controlling the real-time current of the motor to be the smaller value of the maximum threshold current and the desired current of the driver.

[0061] Specifically, control the real-time current of the motor to operate at the smaller value of the maximum threshold current and the desired current of the driver, thereby controlling the motor to operate at the desired current as much as possible during the operation of the motor and ensuring that the motor and the driver do not burn out.

[0062] In some embodiments, when the predicted filtering current is greater than the current filtering threshold, it may further include updating the current filtering threshold to obtain the filtering threshold for the next filtering period.

[0063] Exemplarily, when the predicted filtering current is greater than the current filtering threshold, the current filtering threshold is updated. Specifically, the decreased current filtering threshold is specified as the filtering threshold for the next filtering period. When the predicted filtering current is less than or equal to the current filtering threshold, the filtering threshold is maintained without change. That is, the filtering threshold for the next filtering period is the same as the filtering threshold for the current period.

[0064] Specifically, when I q_filter (k)>I th (k), then I lim =I c , and at the same time the filtering threshold I th (k + 1)=m * I th (k) is updated. Here, I lim represents the maximum threshold current of the driver, I c represents the rated current of the motor, I th (k + 1) represents the filtering threshold for the (k + 1)-th period, I th (k) represents the filtering threshold for the k-th period, 0 < m < 1, and the magnitude of m can be selected according to actual needs and is not limited here.

[0065] When I q_filter (k)≤I th (k), then I lim =I p , and at the same time the filtering threshold I th (k + 1)=I th (k) is updated. Here, I lim represents the maximum threshold current of the driver, I p represents the peak current of the motor, I th (k + 1) represents the filtering threshold for the (k + 1)-th period, I th(k) indicates the filtering threshold for the k-th cycle.

[0066] Note that the above filtering threshold I th is equal to the rated current I c of the motor by default.

[0067] Furthermore, when the desired current of the driver is I q_sv , the current of the motor is controlled such that I q_ref = min(I q_sv , I lim ).

[0068] In the above implementation process, when the predicted filtering current is greater than the current filtering threshold, it becomes easy to update the current filtering threshold and specify the filtering threshold for the next filtering cycle.

[0069] In some embodiments, specifying the predicted operating parameters of the motor based on the first temperature and the second temperature may include the following steps. Step 1 is to specify the first predicted operating parameter of the motor based on the first temperature and the maximum allowable temperature of the motor. Step 2 is to specify the second predicted operating parameter of the driver based on the second temperature and the maximum allowable temperature of the driver. Step 3 is to specify the predicted operating parameter based on the first predicted operating parameter and the second predicted operating parameter.

[0070] Exemplarily, obtain the current first temperature of the motor and the maximum allowable temperature of the motor, and specify the first predicted operating parameter for the motor to operate from the first temperature to the maximum allowable temperature at the peak current of the motor.

[0071] Obtain the current second temperature of the driver and the maximum allowable temperature of the driver, and specify the second predicted operating parameter for the driver to operate from the current second temperature to the maximum allowable temperature at the peak current of the driver.

[0072] Furthermore, identify the smaller value of the first predicted operation parameter and the second predicted operation parameter as the final predicted operation parameter.

[0073] Specifically, the predicted operation parameter may include a predicted operation time. The first predicted operation parameter is a first operation time during which the motor operates from the current first temperature to the maximum allowable temperature of the motor at the peak current of the motor. The second predicted operation parameter is a second operation time during which the driver operates from the current second temperature to the maximum allowable temperature of the driver at the peak current of the driver.

[0074] As an example, let the current first temperature of the motor be T m . Then, the first operation time during which the motor operates from the current first temperature to the maximum allowable temperature of the motor at the peak current of the motor is t m , and t m = f(T m ), and f(T m ) can be obtained by the following formula in the offline test method. JPEG2025516406000008.jpg15170

[0075] Let the current second temperature of the driver be T d . Then, the second operation time during which the driver operates from the current second temperature to the maximum allowable temperature of the driver at the peak current of the driver is t d , and t d = g(T d ), and g(T d ) can be obtained by the following formula in the offline test method. JPEG2025516406000009.jpg14170

[0076] Furthermore, based on the first operation time t m and the second operation time t d , identify the predicted operation time t p of the motor. Specifically, the predicted operation time t p is the first operation time t m and the second operation time t dIt may be the smaller value among them. That is, t p = min(t m , t d ) holds.

[0077] In the above implementation process, based on the first predicted operation parameter of the identified motor and the second predicted operation parameter of the driver, by identifying the final predicted operation parameter based on the first predicted operation parameter and the second predicted operation parameter, it can be ensured that the operation process of the motor and the driver is within the safe temperature range.

[0078] In some embodiments, based on the first temperature and the second temperature, before identifying the predicted operation parameter of the motor, the following steps may further be included. That is, identify the magnitude relationship between the first temperature and the maximum allowable temperature of the motor, and the magnitude relationship between the second temperature and the maximum allowable temperature of the driver. When the first temperature is lower than the maximum allowable temperature of the motor and the second temperature is lower than the maximum allowable temperature of the driver, identify the predicted operation parameter of the motor; otherwise, turn off the output of the driver.

[0079] Exemplarily, when the maximum allowable temperature of the motor is T m_max and the maximum allowable temperature of the driver is T d_max , when T m < T m_max and T d < T d_max , identify the predicted operation parameter of the motor; when T m ≥ T m_max or T d ≥ T d_max , turn off the output of the driver and stop the operation of the motor and the driver.

[0080] In the above realization process, based on the magnitude relationship between the current temperature of the motor and the driver and the corresponding maximum allowable temperature, it is determined whether the motor and the driver can continue to operate currently. When the current temperatures of both the motor and the driver are lower than the corresponding maximum allowable temperatures, the motor and the driver can continue to operate. Thereby, the predicted operating parameters of the motor are determined. When either the motor or the driver has a current temperature equal to or higher than the corresponding maximum allowable temperature, the motor and the driver are controlled to stop operating, avoiding burnout of the motor and the driver due to overheating.

[0081] Hereinafter, this embodiment will be described by way of alternative embodiments.

[0082] FIG. 2 is a flowchart of an embodiment of the current control method according to the embodiment of the present application. As shown in FIG. 2, the current control method includes the following steps. Step S201 is to determine the q-axis current of the motor based on the phase current of the motor.

[0083] Specifically, the robot joint motor may be a three-phase permanent magnet synchronous motor, and the driver drives the operation of the motor. FIG. 3 is a schematic diagram of the current control method according to the embodiment of the present application. As shown in FIG. 3, during the operation of the robot joint, any two-phase currents I a and I b of the three-phase current of the motor of the robot joint are acquired, the current conversion of any two-phase phase currents is performed, and the current q-axis current I q of the current motor is determined. More specifically, in the current conversion process, based on the above formula (4), the current q-axis current I q of the motor can be determined.

[0084] Step S202 is to determine the predicted operation time of the peak current of the motor based on the current first temperature of the motor and the current second temperature of the driver.

[0085] Furthermore, by acquiring the motor temperature and the driver temperature, the current first temperature T mand the current second temperature T of the driver d is obtained, and based on the first temperature T m and the second temperature T d the predicted operating time t of the peak current of the motor is specified p .

[0086] Specifically, the first operating time t m required for the motor to continuously operate from the current first temperature T of the motor to the maximum allowable temperature T m_max of the motor with the peak current of the motor is specified, and the second operating time t m required for the driver to continuously operate from the current second temperature T of the driver to the maximum allowable temperature T d of the motor with the peak current of the driver is specified, and the smaller value of the first operating time t d_max and the second operating time t d is specified as the predicted operating time t m of the peak current of the motor, and this time is the maximum duration of the predicted peak current d . p Step S203 specifies the first-order low-pass filtering coefficient based on the predicted operating time of the peak current of the motor

[0087] .

[0088] Furthermore, based on the predicted operating time t p of the peak current of the motor, the first-order low-pass filtering coefficient is specified. Since the operating time of the peak current of the motor affects the filtering coefficient of the low-pass filter and further affects the magnitude of the filtered current, based on the predicted operating time t p of the peak current of the motor, the corresponding first-order low-pass filtering coefficient is specified

[0089] Specifically, within the predicted operating time t p of the peak current of the motor, if the motor and the driver are not destroyed due to overheating, the filtered current at this time does not exceed the current filtering threshold at most, and since the current filtering threshold is set as the rated current I c of the joint motor JPEG2025516406000010.jpg exists, and further, the current primary low-pass filtering coefficient is JPEG2025516406000011.jpg can be specified as 12170. Further, the current primary low-pass filtering coefficient can be accurately specified.

[0090] Step S204 specifies the filtering current based on the primary low-pass filtering coefficient and the q-axis current of the motor.

[0091] Further, based on the primary low-pass filtering coefficient and the q-axis current of the motor, the current filtering current I q_filter is obtained through low-pass filtering processing.

[0092] Specifically, the primary low-pass filter function is discretized to obtain a discretized filter function. As shown in the above formula (3), the specified primary low-pass filtering coefficient τ, the q-axis current I q (k) of the motor within the current filtering period, the q-axis current of the previous filtering period, and the driving control period are substituted into the above formula (3) to obtain the filtering current I q_filter (k) of the current filtering period.

[0093] Step S205 specifies the maximum threshold current of the driver based on the filtering current and the current filtering threshold.

[0094] Further, the magnitude relationship between the filtering current of the current filtering period and the current filtering threshold is judged. If the filtering current I q_filter (k) of the current filtering period is greater than the current filtering threshold I th (k), the maximum threshold current I lim of the driver is equal to the rated current I c of the motor, and the filtering threshold I th (k + 1) of the next filtering period is updated, that is, I th (k + 1)=m * I thLet it be (k). Here, 0 < m < 1, and the magnitude of m can be selected according to the actual demand and is not limited here.

[0095] The filtering current I of the current filtering period q_filter If (k) is less than or equal to the current filtering threshold I th (k), then the maximum threshold current I of the driver lim is equal to the peak current I of the motor p and the filtering threshold I of the next filtering period th (k + 1) does not change. That is, I th (k + 1) = I th (k) = I c is the case.

[0096] Step S206 controls the real-time current of the motor based on the maximum threshold current of the driver and the desired current of the driver.

[0097] Furthermore, before obtaining the desired current I q_sv of the driver and controlling the real-time current of the motor based on the maximum threshold current of the driver and the desired current of the driver, the following steps are further included. That is, identify the magnitude relationship between the current temperature of the motor and the driver and the corresponding maximum allowable temperature, and when the current first temperature T m of the motor is lower than the maximum allowable temperature T m_max of the motor and the current second temperature T d of the driver is lower than the maximum allowable temperature T d_max of the driver, control the real-time current of the motor to be the smaller value of the maximum threshold current I lim of the driver and the desired current I q_sv of the driver.

[0098] When the current first temperature T m of the motor is higher than the maximum allowable temperature T m_max of the motor, or when the current second temperature T d of the driver is higher than the maximum allowable temperature T d_max of the driver, stop the motor and the driver.

[0099] Figure 4 is an oscillogram of the application test of the current control method according to the embodiment of the present application. In the oscillogram shown in Figure 4, the horizontal axis represents time, the unit is second (s), the vertical axis represents the magnitude of the current, the unit is ampere (A), and the peak current I of the motor p = 10A, the rated current I c = 5A, and the desired current I of the driver q_sv is a 12A pulse, the period of the pulse is 15s, and the duration of the peak current is 4s. The following dynamic process exists. That is, when the desired current of the driver is 12A, the motor and the driver start to operate, and the temperature of both is not high. At this time, if I lim = I p = 10A, the real-time current of the control motor is 10A, and the motor operates continuously at a current of 10A for 3s. That is, when t p = 3s, the temperature of the motor and the driver rises, and thereby, I q_filter > I th becomes, and at this time, I lim = I c = 5A, and the real-time current of the motor is controlled to be 5A. Therefore, the real-time current of the motor is reduced to avoid damage to the motor and the driver due to excessively high temperature.

[0100] Note that each step in the flowchart according to each of the above embodiments is shown in order according to the arrows, but these steps are not necessarily executed in the order shown by the arrows. In the present application, unless otherwise specifically explained, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Furthermore, at least some of the steps in the flowchart according to each of the above embodiments may include a plurality of steps or a plurality of stages, and these steps or stages are not necessarily executed and completed at the same time, and can be executed at different times. The execution order of these steps or stages is not necessarily sequential, and can be executed sequentially or alternately with at least a part of the steps or stages in other steps or other steps.

[0101] In this embodiment, a current control device 500 is further provided. The device is used to implement the above embodiments and the alternative implementation methods, and the content already described will not be repeated here. Terms such as "module", "unit", and "sub-unit" used below can be realized by a combination of software and / or hardware with a predetermined function. The device described in the following embodiments is preferably realized by software, but can also be realized by hardware, or a combination of software and hardware, and is conceivable.

[0102] FIG. 5 is a block diagram showing the configuration of a current control device 500 according to an embodiment of the present application. As shown in FIG. 5, the device includes an acquisition module 501 for acquiring the current first temperature of the motor and the current second temperature of the driver that drives the operation of the motor, a first identification module 502 for identifying a predicted operation parameter that characterizes the operation parameter for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature, a second identification module 503 for identifying a predicted filtered current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter, It includes a control module 504 that controls the current of the motor based on the predicted filtered current.

[0103] In some embodiments, the second identification module 503 specifically identifies the filtering coefficient of the filter based on the predicted operation parameters, and is used to identify the predicted filtered current based on the filtering coefficient and the q-axis current of the motor.

[0104] In some embodiments, the predicted operation parameters include the predicted operation time, and the second identification module 503 specifically acquires the current filtering threshold of the filter and the peak current of the motor, and is used to identify the filtering coefficient based on the predicted operation time, the current filtering threshold, and the peak current of the motor.

[0105] In some embodiments, the second identification module 503 specifically discretizes the filter function to obtain the discretized filter function, and is used to identify the predicted filtered current based on the discretized filter function, the filtering coefficient, and the q-axis current of the motor.

[0106] In some embodiments, the control module 504 specifically acquires the current filtering threshold of the filter and the desired current of the driver, identifies the maximum threshold current of the driver based on the magnitude relationship between the current filtering threshold and the predicted filtered current, and is used to control the current of the motor based on the maximum threshold current and the desired current of the driver.

[0107] In some embodiments, the control module 504 specifically When the predicted filtered current is less than or equal to the current filtering threshold, the maximum threshold current of the driver is set to the peak current of the motor, and when the predicted filtered current is greater than the current filtering threshold, the maximum threshold current of the driver is set to a preset current, and the preset current is used to be less than the peak current of the motor.

[0108] In some embodiments, the control module 504 is further used to control such that the real-time current of the motor is the smaller value of the maximum threshold current of the driver and the desired current.

[0109] In some embodiments, the first specific module 502 is specifically to identify a first predicted operating parameter of the motor based on the first temperature and the maximum allowable temperature of the motor, and to identify a second predicted operating parameter of the driver based on the second temperature and the maximum allowable temperature of the driver, and is used to identify the predicted operating parameter based on the first predicted operating parameter and the second predicted operating parameter.

[0110] It should be noted that each of the above modules may be a functional module, a program module, may be implemented by software, or may be implemented by hardware. As a module implemented by hardware, each module may be arranged on the same processor, or each module may be arranged on different processors in any combination.

[0111] The embodiments of the present application provide a current control device 500, which includes a processor 602, and the processor 602 executes the following program modules stored in a memory 601. An acquisition module 501 that acquires the current first temperature of the motor and the current second temperature of the driver that drives the operation of the motor, and A first identification module 502 that identifies a predicted operation parameter characterizing an operation parameter for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature; A second identification module 503 that identifies a predicted filtered current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter; A control module 504 that controls the current of the motor based on the predicted filtered current.

[0112] In one embodiment, a computer device is provided. The computer device may be a server. The computer device includes a processor, a memory, and a network interface connected via a system bus. Further, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile recording medium and an internal memory. The non-volatile recording medium stores an operating system, programs, and a database. The internal memory provides an environment for the operation of the operating system and programs in the non-volatile recording medium. The database of the computer device is used to store data. The network interface of the computer device is used to connect and communicate with an external terminal via a network. When the program is executed by the processor, a current control method is realized.

[0113] As can be understood by those skilled in the art, the computer device according to the present application is only a part of the configuration related to the technical solution of the present application, and does not limit the computer device to which the technical solution of the present application is applied. A specific computer device may include more or fewer elements than the above configuration, or some elements may be combined, or different element arrangements may be adopted.

[0114] Referring to FIG. 6, in one embodiment, an electronic device 600 is further provided. The electronic device 600 includes a memory 601 and a processor 602. A program is stored in the memory 601. When the processor 602 executes the program, the steps in the embodiments of the above methods are realized.

[0115] In one embodiment, a computer-readable recording medium is provided. A program is stored in the computer-readable recording medium. When the program is executed by the processor 602, the steps in the embodiments of the above methods are realized.

[0116] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to analysis data, storage data, display data, etc.) related to the present application are all information and data authorized by the user or sufficiently authorized by each party.

[0117] A person skilled in the art can complete all or part of the steps in the method of the above embodiments by instructing the relevant hardware with a program. The program may be stored in a non-volatile computer-readable recording medium. It can be understood that when this program is executed, it can constitute the processing as in the embodiments of the above respective methods. Also, any citation to a memory, database, or other medium used in each embodiment of the present application may include at least one of non-volatile and volatile memories. Non-volatile memories may include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM (registered trademark)), phase change memories (PCM), graphene memories, and the like. Volatile memories may include random access memories (RAM) or external high-speed buffer memories, etc. By way of illustration and not limitation, RAM may be in multiple forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database according to each embodiment of the present application may include at least one of a relational database and a non-relational database. Non-relational databases may include, without limitation, blockchain-based distributed databases, etc. The processor according to each embodiment of the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logician, a data processing logician based on quantum computing, etc., but is not limited thereto.

[0118] The technical features according to the above embodiments can be arbitrarily combined. For the sake of brevity of description, not all possible combinations of the individual technical features of the above embodiments are described, but as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope described in this specification.

[0119] The above embodiments merely represent some embodiments of the present application, and although the description is relatively specific and detailed, it should not be construed as limiting the protection scope of the patent. Those skilled in the art should note that without departing from the concept of the present application, some modifications and improvements can be made, and these are included in the protection scope of the present application. Therefore, the protection scope of the present application shall be determined by the scope of the appended patent claims.

Claims

1. A method for controlling current, comprising: obtaining a current first temperature of a motor and a current second temperature of a driver that drives the operation of the motor; identifying a predicted operation parameter characterizing an operation parameter for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature; identifying a predicted filtering current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter; controlling the current of the motor based on the predicted filtering current.

2. The method for controlling current according to Claim 1, wherein identifying the predicted filtering current of the filter based on the predicted operation parameter comprises: identifying a filtering coefficient of the filter based on the predicted operation parameter; identifying the predicted filtering current based on the filtering coefficient and a q-axis current of the motor.

3. The method for controlling current according to Claim 2, wherein the predicted operation parameter includes a predicted operation time, and identifying the filtering coefficient of the filter based on the predicted operation parameter comprises: obtaining a current filtering threshold of the filter and a peak current of the motor; identifying the filtering coefficient based on the predicted operation time, the current filtering threshold, and the peak current of the motor.

4. The method for controlling current according to Claim 2, wherein identifying the predicted filtering current based on the filtering coefficient and the q-axis current of the motor comprises: discretizing a filter function to obtain a discretized filter function; identifying the predicted filtering current based on the discretized filter function, the filtering coefficient, and the q-axis current of the motor.

5. The method for controlling current according to Claim 1, wherein controlling the current of the motor based on the predicted filtering current comprises: obtaining a current filtering threshold of the filter and a desired current of the driver; identifying a maximum threshold current of the driver based on a magnitude relationship between the current filtering threshold and the predicted filtering current. A current control method including controlling the current of the motor based on the maximum threshold current of the driver and the desired current.

6. The current control method according to claim 5, wherein specifying the maximum threshold current of the driver based on the magnitude relationship between the current filtering threshold and the predicted filtered current comprises, when the predicted filtered current is less than or equal to the current filtering threshold, setting the maximum threshold current of the driver to the peak current of the motor; and when the predicted filtered current is greater than the current filtering threshold, setting the maximum threshold current of the driver to a preset current smaller than the peak current of the motor.

7. The current control method according to claim 5 or 6, wherein controlling the current of the motor based on the maximum threshold current of the driver and the desired current comprises controlling such that the real-time current of the motor is the smaller value of the maximum threshold current of the driver and the desired current.

8. The current control method according to claim 1, wherein specifying the predicted operation parameter of the motor based on the first temperature and the second temperature comprises specifying a first predicted operation parameter of the motor based on the first temperature and the maximum allowable temperature of the motor; specifying a second predicted operation parameter of the driver based on the second temperature and the maximum allowable temperature of the driver; and specifying the predicted operation parameter based on the first predicted operation parameter and the second predicted operation parameter.

9. A current control device, comprising an acquisition module that acquires the current first temperature of a motor and the current second temperature of a driver that drives the operation of the motor; a first identification module that identifies a predicted operation parameter that characterizes an operation parameter for the motor and the driver to operate from the current temperature to a preset temperature based on the first temperature and the second temperature; a second identification module that identifies a predicted filtered current of a filter that performs a filtering process on the output current of the driver based on the predicted operation parameter; and a control module that controls the current of the motor based on the predicted filtered current.

10. An electronic device comprising a memory and a processor, Store a program in the memory, The processor is installed to execute the current control method according to any one of claims 1 to 8 by executing the program. An electronic device characterized by this.

11. A computer-readable recording medium storing a program, When causing the processor to execute the program, the steps of the current control method according to any one of claims 1 to 8 are realized. A recording medium characterized by this.

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