Adaptive control method for electric motor load, and outdoor operation vehicle

Abstract

Disclosed in the present application are an adaptive control method for an electric motor load, and an outdoor operation vehicle. In the control method, correspondences between operation parameters of an electric motor and a load, correspondences between the operation parameters and performance parameters of the electric motor, and upper and lower boundary threshold values of the load are pre-stored, real-time operation parameters and load parameters are compared to obtain a matching situation, and the performance parameters of the electric motor are adjusted by means of straight-line or curve fitting, so as to adapt to the load, wherein the means by which the performance parameters of the electric motor are adjusted comprise increasing / decreasing the power of the electric motor, increasing / decreasing the rotation speed of the electric motor, increasing / decreasing the current of the electric motor, and increasing / decreasing the torque of the electric motor. The problem in the prior art whereby it is impossible to automatically adjust the output of a mowing electric motor of a ride-on mower or an adjustment is inaccurate is solved, thereby improving the endurance of the whole ride-on mower.

Description

Motor load adaptive control method and outdoor operation vehicle [Technical field]

[0001] The present application relates to a motor load adaptive control method and an outdoor operation vehicle. [Background Technology]

[0002] Traditional lawn mowers, primarily backpack mowers, portable mowers, and push mowers, have low automation levels, low efficiency, and high levels of labor intensity and strain. For year-round, large-scale lawn maintenance, riding mowers offer advantages such as long battery life, flexible control, and high efficiency, while also avoiding fatigue and even injuries caused by long hours.

[0003] There are two main types of riding lawn mowers based on their power source: gasoline-powered and lithium-ion rechargeable. Compared to gasoline-powered models, lithium-ion rechargeable models offer advantages such as zero emissions, zero fuel consumption, low noise, and easier maintenance.

[0004] Besides the kinetic energy consumed by the drive wheels, the primary energy consumed by a riding lawn mower during operation is the energy consumed by the mowing motor driving the blades. Existing riding lawn mowers generally offer multiple adjustment settings for the blade speed. Higher speeds increase mowing efficiency, but also increase motor power and energy consumption. Especially for lithium-ion rechargeable riding lawn mowers, the energy consumed by the blades affects the mower's range and charging frequency.

[0005] To increase the mowing area within a single travel path, riding lawn mowers typically mount a cutter blade on each side of the chassis. In actual mowing conditions, the loads faced by the two cutters are often different. If the control requirements for the heavy-load cutter blades are uniformly applied, the output torque for the light-load cutter blades will be excessive, resulting in wasted capacity. If the control requirements for the light-load cutter blades are uniformly applied, the output torque for the heavy-load cutter blades will be insufficient, making it impossible to cut some dense grass. Furthermore, in actual mowing conditions, grass growth in the area to be mowed may vary, with varying density. Consistently using a higher speed gear wastes capacity in thinly grassed areas, while using a lower speed gear results in ineffective mowing in dense areas. Manually switching gears requires constant assessment of grass conditions and operating conditions, while constantly adjusting gears to achieve the optimal balance between efficiency and range. This is technically challenging, cumbersome, and can lead to safety issues due to distractions.

[0006] Existing control methods are also unable to accurately adjust the motor parameters through load adaptive control to achieve adjustment of the motor energy output. In view of this, it is indeed necessary to provide an improved motor load adaptive control method and outdoor work vehicle to overcome the shortcomings of the previous technology.

[0007] [Application Contents]

[0008] In response to the deficiencies of the prior art, the purpose of this application is to provide a motor load adaptive closed-loop control method, a motor control device, and operating equipment that automatically adjusts output to improve endurance.

[0009] The technical solution adopted by this application to solve the existing technical problems is: a motor load adaptive closed-loop control method, which is applied to the control device of the lawn mowing motor to achieve closed-loop control of power, closed-loop control of speed, closed-loop control of current, or closed-loop control of torque.

[0010] The control method comprises the following steps:

[0011] Obtaining a corresponding relationship between the operating parameters of the mowing motor and the load, as well as upper and lower boundary thresholds of the load;

[0012] collecting operating parameters of the motor;

[0013] identifying a load of the motor based on operating parameters of the motor;

[0014] According to the corresponding relationship between the operating parameter and the load, if the operating parameter is greater than the upper boundary threshold of the load, the performance parameter of the motor is increased; if the operating parameter is less than the lower boundary threshold of the load, the performance parameter of the motor is reduced.

[0015] Optionally, the operating parameters of the motor include at least one of duty cycle, speed, current, and power, and the selected operating parameters may be one, multiple, or all.

[0016] Optionally, the performance parameters of the motor include at least one of speed, current, power, and torque, and the methods of increasing / decreasing the motor performance parameters include: increasing / decreasing the power of the motor, increasing / decreasing the speed of the motor, increasing / decreasing the current of the motor, and increasing / decreasing the torque of the motor.

[0017] Optionally, the correspondence between the operating parameters of the motor and the load includes a target control trajectory curve.

[0018] In one embodiment, the target control trajectory curve includes a trajectory curve in which the speed changes with at least one of duty cycle, current, and power.

[0019] In one embodiment, the target control trajectory curve includes a trajectory curve of current varying with at least one of duty cycle and rotation speed.

[0020] In one embodiment, the target control trajectory curve includes a trajectory curve of power varying with at least one of duty cycle and rotation speed.

[0021] In one embodiment, the target control trajectory curve includes a trajectory curve in which the torque changes with at least one of a duty cycle and a rotational speed.

[0022] Optionally, in the process of obtaining the target control trajectory curve of the correspondence between the motor operating parameters and the load, if the operating parameters only include the duty cycle, the data is measured by adopting an open-loop PWM (pulse width modulation) control method.

[0023] Optionally, in the process of obtaining the target control trajectory curve of the correspondence between the motor operating parameters and the load, if the operating parameters include at least one of the speed, current, and power, the data is measured by adopting a closed-loop control method.

[0024] Specifically, in the process of increasing / decreasing the performance parameters of the motor, at least one of the motor operating parameters is regulated to move to a target point on the target control trajectory curve by linear or curve fitting to achieve target trajectory curve control of the motor.

[0025] Specifically, before adjusting the performance parameters according to the corresponding relationship between the operating parameters and the load, the corresponding relationship between the performance parameters and the operating parameters of the lawn mowing motor is obtained.

[0026] In order to solve the problems in the prior art, the present application also provides an outdoor work vehicle, which is a riding lawn mower, comprising: a frame; an operating mechanism attached to the frame, comprising an operating motor and an output component driven by the operating motor to perform specific functional operations, the operating mechanism being a mowing mechanism, and the operating motor being a mowing motor; a controller component for controlling the operating state of the operating motor; the operating motor having a variety of operating parameters, and the controller component having a variety of control strategies corresponding to the various operating parameters for the operating motor; the controller component comprising an acquisition unit, an identification unit, a storage unit and a control unit; the acquisition unit is equipped with The device is configured to collect at least one of the operating parameters of the working motor during the operation of the working motor; the identification unit is configured to identify the load condition of the working motor based on the collected operating parameters; the storage unit is configured to pre-store the correspondence between the operating parameters of the working motor and the load changes and the upper and lower boundary thresholds of the operating parameters corresponding to the load; the control unit is configured to determine whether the detected actual load matches the actual operating parameters of the working motor according to the correspondence stored in the storage unit, and to adopt a matching control strategy to regulate the performance parameters of the working motor when the actual operating parameters do not fall within the upper and lower boundary thresholds of the preset operating parameters corresponding to the actual load.

[0027] The various operating parameters of the working motor include duty cycle parameters, speed parameters, current parameters and power parameters.

[0028] The performance parameters of the operating motor include speed parameters, current parameters, power parameters and torque parameters.

[0029] The control strategies matched with the working motor include speed closed-loop control strategy, current closed-loop control strategy, power closed-loop control strategy, torque closed-loop control strategy and PWM duty cycle open-loop control strategy.

[0030] The storage unit also stores a correspondence between performance parameters and operating parameters of the working motor.

[0031] The correspondence between the performance parameters and operating parameters of the operating motor includes a correspondence between speed and duty cycle, a correspondence between speed and current, and a correspondence between speed and power.

[0032] The correspondence between the performance parameters and operating parameters of the operating motor includes a correspondence between current and duty cycle and a correspondence between current and speed.

[0033] The correspondence between the performance parameters and operating parameters of the operating motor includes a correspondence between power and duty cycle and a correspondence between power and rotational speed.

[0034] The correspondence between the performance parameters and the operating parameters of the working motor includes a correspondence between torque and duty cycle and a correspondence between torque and speed.

[0035] Select speed or torque points under different operating parameter states, and / or select current or torque points, and / or select power or torque points, and perform straight line or curve fitting.

[0036] Select current or torque points under different operating parameter states, and / or select speed or speed points, and fit them through straight lines or curves.

[0037] Select power or torque points under different operating parameter states, and / or select speed or torque points, and perform straight line or curve fitting.

[0038] Select speed or torque points under different operating parameter states, and / or select power or torque points, and perform straight line or curve fitting.

[0039] The control unit increases the performance parameter of the working motor when it is determined that the actual operating parameter is greater than the upper limit threshold of the load.

[0040] The control unit reduces the performance parameter of the working motor when it is determined that the actual operating parameter is less than the lower limit threshold of the load.

[0041] The control unit determines whether the operating motor is currently in a speed regulation process before determining whether the actual operating parameter falls within the upper and lower boundary thresholds of the preset operating parameter corresponding to the actual load.

[0042] The control unit determines that the operating motor uses PID (proportional, integral, and differential control) to adjust the speed during the speed adjustment process.

[0043] The control unit determines that the working motor is not in the speed adjustment process, and determines the upper and lower boundaries of the working motor operating parameters by linear interpolation calculation or direct function method after looking up the current working motor performance parameters in the table.

[0044] Compared with the existing technology, the present application has the following beneficial effects: the motor load adaptive closed-loop control method of the present application, by collecting relevant parameters when the lawn mowing motor is running, identifies the actual load situation, realizes low power and low speed output when the load is low, and high power and high speed output when the load is high, and the motor control and output adjustment are more accurate, thereby achieving the effect of reducing invalid energy consumption and improving the endurance of the lawn mower; the control method does not require human participation, and the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance. [Brief Description of the Drawings]

[0045] The specific embodiments of the present application are further described in detail below with reference to the accompanying drawings:

[0046] FIG1 is a flow chart of a motor load adaptive speed closed-loop control method according to a first embodiment of the present application;

[0047] FIG2 is one of the optimal trajectory curves of the actual speed changing with the duty cycle in Example 1 of the present application;

[0048] FIG3 is a second optimal trajectory curve of the actual speed changing with the duty cycle according to the first embodiment of the present application;

[0049] FIG4 is a schematic diagram of the speed closed-loop control principle of Example 1 of the present application;

[0050] FIG5 is an optimal trajectory curve of actual speed versus current variation in Example 1 of the present application;

[0051] FIG6 is an optimal trajectory curve of actual speed versus power variation in Example 1 of the present application;

[0052] FIG7 is a flow chart of a motor load adaptive current closed-loop control method according to a second embodiment of the present application;

[0053] FIG8 is an optimal trajectory curve of actual current changing with duty cycle in Example 2 of the present application;

[0054] FIG9 is an optimal trajectory curve of actual current changing with speed according to Example 2 of the present application;

[0055] FIG10 is a schematic diagram of the speed closed-loop control principle of the second embodiment of the present application;

[0056] FIG11 is a flow chart of a motor load adaptive power closed-loop control method according to a third embodiment of the present application;

[0057] FIG12 is an optimal trajectory curve of actual power versus duty cycle in Example 3 of the present application;

[0058] FIG13 is an optimal trajectory curve of actual power versus speed variation in Example 3 of the present application;

[0059] FIG14 is a schematic diagram of a power closed-loop control principle of the third embodiment of the present application;

[0060] FIG15 is a flow chart of a motor load adaptive torque closed-loop control method according to a fourth embodiment of the present application;

[0061] FIG16 is a torque-duty cycle curve diagram of the fourth embodiment of the present application;

[0062] FIG17 is a graph showing the optimal trajectory of actual torque as the duty cycle changes according to the fourth embodiment of the present application;

[0063] FIG18 is a torque-speed efficiency MAP diagram of the fourth embodiment of the present application;

[0064] FIG19 is a graph showing the optimal trajectory of actual torque versus speed according to the fourth embodiment of the present application;

[0065] FIG20 is a flow chart of a motor load adaptive control method according to an embodiment of the present application;

[0066] FIG21 is a schematic diagram of the structure of a controller component of an outdoor work vehicle according to a fifth embodiment of the present application;

[0067] FIG22 is a schematic structural diagram of an outdoor work vehicle according to a fifth embodiment of the present application;

[0068] Figure 23 is a schematic structural diagram of the outdoor work vehicle of Example 5 of the present application. [Specific implementation method]

[0069] The present application will be further described in detail below with reference to the accompanying drawings and implementation methods.

[0070] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and "third" are used solely to facilitate the description of relevant parameters involved in this application and have no special meaning. Therefore, they should not be construed as limitations on this application.

[0071] Example 1

[0072] In response to the shortcomings of the existing technology, this embodiment provides a motor load adaptive speed closed-loop control method, which is applied to the motor control device to automatically adjust the output to improve the endurance effect. As shown in Figure 1, the method includes the following steps: collecting the operating parameters of the motor; then identifying the load of the motor based on the operating parameters of the motor; comparing the corresponding relationship between the operating parameters and the load, that is, finally comparing the relationship coordinates of the operating parameters as they change with the load to make a judgment; based on the relationship coordinates of the operating parameters and the load, the judgment result includes: if the operating parameter is greater than the upper limit threshold of the load, then the speed of the motor is increased; if the operating parameter is less than the lower limit threshold of the load, then the speed of the motor is reduced.

[0073] The step of collecting the motor operating parameters is used to obtain the motor operating conditions in real time, including the motor's duty cycle, current, power, etc.; the step of identifying the motor load is used to obtain the motor load conditions in real time, including high load, low load, load variation, etc. Before the step of collecting the motor operating parameters, the control method of this embodiment further includes the following steps: obtaining the corresponding relationship between the operating parameters and the load, that is, obtaining the relationship coordinates of the operating parameters as they change with the load, and obtaining the upper and lower boundary thresholds of the load, including the upper and lower boundary thresholds of the operating parameters after they change with the load.

[0074] Regarding the step of obtaining the corresponding relationship between the operating parameters and the load, and obtaining the upper and lower boundary thresholds of the load, this step is performed before the motor works, and the relationship coordinates and boundary thresholds can be obtained in the laboratory through testing and calculation and input into the control chip of the motor in advance. Regarding the steps of collecting the operating parameters of the motor, identifying the load of the motor, and making judgments by comparing the relationship coordinates of the operating parameters with the changes in the load, the above steps are performed when the motor is working, and the operating parameters, load conditions and judgment process are carried out in real time, thereby providing real-time feedback and controlling the operation of the motor. Specifically, the motor working means that the motor is driving the mower to cut grass. According to the motor's own parameters and working conditions, the relationship coordinates of the parameters and the load are compared during operation to make judgments, and the motor speed is controlled to increase or decrease in real time, so as to automatically adjust the output of the mowing motor to improve the endurance of the lawn mower.

[0075] The motor load adaptive speed closed-loop control method of the present application collects relevant parameters when the mowing motor is running, identifies the actual load situation, and achieves low power and low speed output when the load is low, and high power and high speed output when the load is high. The motor control and output adjustment are more accurate, thereby reducing ineffective energy consumption and improving the endurance of the lawn mower. The control method does not require human intervention, and the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance.

[0076] Preferably, the operating parameters include duty cycle or current or power, or the operating parameters include duty cycle, current and power simultaneously.

[0077] Preferably, in order to obtain the optimal trajectory curve of the actual speed changing with the duty cycle as shown in Figure 2, that is, when the operating parameters include or only include the duty cycle, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the measurement data can be controlled by using open-loop PWM (pulse width modulation), specifically including the following steps: Step 10, presetting the duty cycle d0% of the motor, and obtaining the speed characteristic curve corresponding to the motor by mapping; Step 20, presetting the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfying d1=d0+Δd, mapping the speed characteristic curve corresponding to the motor. line; Step 30, repeating Step 20 until the duty cycle of the motor is 100%, mapping the speed characteristic curve corresponding to the motor under all preset duty cycles; Step 40, mapping the speed-torque characteristic curve under different duty cycle states to the speed-duty cycle coordinate system; Step 50, selecting the speed point or torque point under different duty cycle states (selection principle: highest efficiency point, minimum current point, etc.), and then matching the torque and speed required by the motor (such as matching the maximum torque with the highest speed, matching the minimum torque with the lowest speed) to anchor the two ends of the optimal control trajectory and use straight line or curve fitting to obtain the required load adaptive control trajectory. Among them, the above-mentioned Δd can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fitting and the smoother the control trajectory transition, but the greater the resource consumption.

[0078] Preferably, in order to obtain the optimal trajectory curve of the actual speed changing with the duty cycle as shown in Figure 2, when the operating parameters include or only include the duty cycle, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the speed closed-loop control measurement data can be adopted, specifically including: step 10, presetting the motor speed n0%, mapping the speed characteristic curve corresponding to the motor, and recording the duty cycle under different torque scales; step 20, presetting the motor speed n1% and the speed variable Δn, and satisfying n1=n0+Δn, mapping the speed characteristic curve corresponding to the motor; step 30. Repeat step 20 until the motor reaches its maximum speed under no-load conditions, and plot the corresponding speed characteristic curves for the motor under all preset speeds. Step 40. Map the speed-torque characteristic curves under different speed conditions to a speed-duty cycle coordinate system. Step 50. Select speed or torque points under different duty cycle conditions (selection principles: highest efficiency point, minimum current point, etc.), then match the torque and speed required by the motor (e.g., maximum torque with highest speed, minimum torque with lowest speed), anchoring the two ends of the optimal control trajectory and using a straight line or curve fit to obtain the desired load-adaptive control trajectory. The above Δn can be adjusted based on actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fit and the smoother the control trajectory transition, but the greater the resource consumption.

[0079] Please refer to the speed closed-loop control principle of FIG4 . In this embodiment, the operation of the brushless DC motor (BLDC) is controlled by a speed feedback closed-loop.

[0080] Preferably, when the operating parameters include or only include the duty cycle, in the actual operation of the lawn mowing motor: the above control method starts by detecting the motor speed and obtaining the current duty cycle; then pre-processing the speed; then judging whether the current speed is in the speed adjustment process, if so, using PID (proportional, integral, differential control) to adjust the actual speed, and returning to the starting stage; if not, determining the upper and lower (load increase or decrease) boundaries of the duty cycle according to the current speed (linear interpolation calculation after table lookup or direct function method calculation), and proceeding to the next step; then judging whether the duty cycle is greater than the upper boundary of the load increase (the load increases), if so, setting a new target speed, that is, increasing the speed, and returning to the starting stage, if not, proceeding to the next step; then judging whether the duty cycle is less than the lower boundary of the load decrease (the load decreases), if so, setting a new target speed, that is, reducing the speed, and returning to the starting stage.

[0081] Regarding the method of obtaining the aforementioned optimal control trajectory, a mathematical tool (such as Matlab) can be used to fit the optimal trajectory curve. During the software control process, the speed and duty cycle of the current mowing motor are obtained in real time, the shortest distance between the current measurement point and the curve is calculated, and a point on the curve (the target point, the point with the shortest straight-line distance to the measurement point) is obtained. The current duty cycle and speed are moved along this straight line (actually a linear function) to the target point, thus achieving the optimal trajectory curve control of the mowing motor. If the above-mentioned point-to-curve distance calculation occupies too much CPU resources, the following simplified approximate calculation method can also be used: the two test points closest to the point (x0, y0) on the optimal trajectory curve, and the two test points are used to obtain the straight line Ax+By+C=0

[0082] The distance from the point to the line is

[0083] From a macro perspective, the speed and torque of the lawn mower motor always run on the optimal trajectory (there are fluctuations at the micro level). When the load is small, the speed is low, and when the load is large, the speed is high.

[0084] Preferably, in order to obtain the optimal trajectory curve of the actual speed changing with the current as shown in Figure 5, when the operating parameters include or only include the current, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the speed closed-loop control measurement data can be used, specifically including: step 10, presetting the motor speed n0%, and mapping the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; step 20, presetting the motor speed n1% and the speed variable Δn, and satisfying n1=n0+Δn, mapping the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; step 30, repeating step 20, until the motor speed reaches the maximum speed under no-load conditions, the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor at all preset speeds are measured and mapped; step 40, the speed-torque characteristic curve and current-torque characteristic curve under different speed conditions are mapped to the speed-current coordinate system; step 50, select a speed or torque point, select a current or torque point (selection principle: maximum efficiency point, torque-current optimal point MTPA, etc.), then match the maximum torque required by the motor with the maximum speed and maximum current, and match the minimum torque with the minimum speed and minimum current, to anchor the two ends of the optimal control trajectory and use a straight line or curve fit to obtain the required load adaptive control trajectory. The above Δn can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fit and the smoother the transition of the control trajectory, but the greater the resource consumption.

[0085] Preferably, when the operating parameters include or only include current, in the actual operation of the lawn mower motor: the above control method starts with detecting the motor speed and current; thereafter, the speed and current are pre-processed; thereafter, it is determined whether the current is in the speed adjustment process, if so, PID (proportional, integral, differential control) is used to adjust the actual speed, and the process returns to the starting stage; if not, the upper and lower (load increase or decrease) boundaries of the operating current are determined according to the current speed (linear interpolation calculation after table lookup or direct function method calculation), and the next step is continued; thereafter, it is determined whether the current is greater than the upper boundary of the load increase (the load increases), if so, a new target speed is set, that is, the speed is increased, and the process returns to the starting stage, if not, the next step is continued; thereafter, it is determined whether the current is less than the lower boundary of the load reduction (the load decreases), if so, a new target speed is set, that is, the speed is reduced, and the process returns to the starting stage.

[0086] Preferably, in order to obtain the optimal trajectory curve of the actual speed changing with power as shown in Figure 6, when the operating parameters include or only include power, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the speed closed-loop control measurement data can be used, specifically including: step 10, presetting the motor speed n0%, and mapping the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; step 20, presetting the motor speed n1% and the speed variable Δn, and satisfying n1=n0+Δn, mapping the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; step 30, repeating step 20, until the motor speed reaches the maximum speed under no-load conditions, and the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor at all preset speeds are measured and mapped; step 40, the speed-torque characteristic curve and power-torque characteristic curve under different speed conditions are mapped to the speed-power coordinate system; step 50, select a speed or torque point and a power or torque point (selection principle: maximum efficiency point, torque-power optimum point MTPP, etc.), then match the maximum torque required by the motor with the maximum speed and maximum power, and match the minimum torque with the minimum speed and minimum power, to anchor the two ends of the optimal control trajectory and use a straight line or curve fit to obtain the required load adaptive control trajectory. The above Δn can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fit and the smoother the control trajectory transition, but the greater the resource consumption.

[0087] Preferably, when the operating parameters include or only include power, in the actual operation of the lawn mower motor: the above control method starts with detecting the motor speed and power; then pre-processing the speed and power; then judging whether the current process is in the speed adjustment process, if so, using PID (proportional, integral, differential control) to adjust the actual speed, and returning to the starting stage; if not, determining the upper and lower (load increase or decrease) boundaries of the working power according to the current speed (linear interpolation calculation after table lookup or direct function method calculation), and proceeding to the next step; then judging whether the power is greater than the upper boundary of the load increase (the load increases), if so, setting a new target speed, that is, increasing the speed, and returning to the starting stage, if not, proceeding to the next step; then judging whether the power is less than the lower boundary of the load reduction (the load decreases), if so, setting a new target speed, that is, reducing the speed, and returning to the starting stage.

[0088] Preferably, when the operating parameters include duty cycle, current and power at the same time, based on the aforementioned method of associating the operating parameters including duty cycle or current or power, the three dimensions are integrated and associated so that the target speed is adjusted based on the upper and lower boundary thresholds of the duty cycle and / or current and / or power. In the actual operation of the lawn mower motor: the control method begins by detecting variables such as motor speed, current, voltage, pressure difference, and freewheeling time; then preprocessing the above variables; then determining whether the current is in the speed regulation process. If so, PID (proportional, integral, and differential control) is used to adjust the actual speed, and the process returns to the starting stage; if not, the upper and lower (load increase or decrease) boundaries of the duty cycle, current, and power (based on voltage, pressure difference, and freewheeling time) are determined based on the current speed (linear interpolation calculation after table lookup or direct function calculation), and the process continues to the next step; then determining whether the duty cycle is greater than the upper boundary of load increase and / or whether the current is greater than the upper boundary of load increase and / or whether the power is greater than the upper boundary of load increase (load increase); if so, setting a new target speed, i.e., increasing the speed, and returning to the starting stage; if not, continuing to the next step; then determining whether the duty cycle is less than the lower boundary of load decrease and / or whether the current is less than the lower boundary of load decrease and / or whether the power is less than the lower boundary of load decrease (load decrease); if so, setting a new target speed, i.e., decreasing the speed, and returning to the starting stage.

[0089] Example 2

[0090] In response to the deficiencies of the prior art, the second embodiment of the present invention provides a motor load adaptive current closed-loop control method, which is applied to a motor control device to automatically adjust the output to improve the endurance effect. As shown in Figure 7, the method includes the following steps: collecting the operating parameters of the motor, the operating parameters including duty cycle and / or speed, that is, there are three feasible modes for the operating parameters, including only duty cycle, only speed, and both duty cycle and speed; then identifying the load of the motor based on the operating parameters of the motor; comparing the corresponding relationship between the operating parameters and the load, that is, finally comparing the relationship coordinates of the operating parameters with the load to make a judgment. Based on the above-mentioned operating parameter-load relationship coordinates, the judgment results include: if the operating parameter is greater than the upper boundary threshold after the load increases, then the current of the motor is controlled to increase; if the operating parameter is less than the lower boundary threshold after the load decreases, then the current of the motor is controlled to decrease.

[0091] The step of collecting the motor's operating parameters is used to obtain the motor's operating conditions in real time, including the motor's duty cycle, current, power, etc.; the step of identifying the motor's load is used to obtain the motor's load conditions in real time, including high load, low load, and load variation. Before the step of collecting the motor's operating parameters, the control method of this embodiment further includes the following steps: obtaining a corresponding relationship between the operating parameters and the load, that is, obtaining the coordinates of the relationship between the operating parameters and the load, and obtaining upper and lower threshold values ​​of the load, including the upper and lower threshold values ​​of the operating parameters after the load variation.

[0092] Regarding the step of obtaining the corresponding relationship between the operating parameters and the load, and obtaining the upper and lower boundary thresholds of the load, this step is performed before the motor works. The relationship coordinates and boundary thresholds can be obtained in the laboratory through testing and calculation and input into the control chip of the motor. Regarding the steps of collecting the operating parameters of the motor, identifying the load of the motor, and judging by comparing the relationship coordinates of the operating parameters with the changes in the load, the above steps are performed when the motor is working. The operating parameters, load conditions and judgment process are carried out in real time, thereby providing real-time feedback and controlling the operation of the motor. Specifically, the working condition of the motor refers to the condition when the motor is driving the mower to cut grass. According to the motor's own parameters and working conditions, the parameter-load relationship coordinates are judged during operation, and the motor current is controlled to increase or decrease in real time, so as to automatically adjust the output of the mowing motor to improve the endurance of the lawn mower.

[0093] The motor load adaptive current closed-loop control method of the present application identifies the actual load situation by collecting relevant parameters when the lawn mower motor is running, and realizes low power and low speed output when the load is low, and high power and high speed output when the load is high. The motor control and output adjustment are more accurate, thereby reducing invalid energy consumption and improving the endurance of the lawn mower. The control method does not require human intervention, and the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance.

[0094] Preferably, when the operating parameters include or only include the duty cycle, the motor load adaptive current closed-loop control method specifically includes the following steps: step 10, obtaining the corresponding relationship between the duty cycle and the load, and obtaining the upper and lower boundary thresholds of the load; step 20, collecting the operating parameters of the motor, including detecting the current current and obtaining the current duty cycle; step 30, pre-processing the current, and identifying the load of the motor based on the duty cycle; step 40, judging whether the current is currently in the current regulation process of the motor, if so, using PID (proportional, integral, differential control) to regulate the current and return to step 20, if not, According to the current current, determine (calculate by linear interpolation after table lookup or by direct function method) the upper and lower (load increase or decrease) boundary thresholds of the duty cycle and go to step 50; in step 50, compare the corresponding relationship between the duty cycle and the load, and judge whether the duty cycle is greater than the upper boundary threshold of the load (the load increases). If so, set a new target current, that is, increase the current of the motor and return to step 20; if not, go to step 60; in step 60, judge whether the duty cycle is less than the lower boundary threshold of the load (the load decreases). If so, set a new target current, that is, reduce the current of the motor and return to step 20; if not, return to step 20.

[0095] Preferably, when the operating parameters include or only include the speed, the following steps are specifically included: Step 10, obtaining the corresponding relationship between the speed and the load, and obtaining the upper and lower boundary thresholds of the load; Step 20, collecting the operating parameters of the motor, including detecting the current current and speed; Step 30, preprocessing the current and speed, and identifying the load of the motor based on the speed; Step 40, judging whether the current is currently in the current regulation process of the motor, if so, using PID to adjust the current and return to step 20, if not, determining the upper and lower boundary thresholds of the speed according to the current current and going to step 50; Step 50, comparing the corresponding relationship between the speed and the load, judging whether the speed is greater than the upper boundary threshold of the load, if so, increasing the current of the motor and returning to step 20, if not, going to step 60; Step 60, judging whether the speed is less than the lower boundary threshold of the load, if so, reducing the current of the motor and returning to step 20, if not, returning to step 20.

[0096] Preferably, in order to obtain the optimal trajectory curve of the actual current changing with the duty cycle as shown in Figure 8, that is, when the operating parameters include or only include the duty cycle, in the step of obtaining the corresponding relationship between the duty cycle of the motor and the load, and obtaining the upper and lower boundary thresholds of the load, the measurement data can be controlled by using open-loop PWM (pulse width modulation), specifically including: step 10, presetting the duty cycle d0% of the motor, and obtaining the current characteristic curve corresponding to the motor by mapping; step 20, presetting the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfying d1=d0+Δd, and mapping the current characteristic curve corresponding to the motor; step 30. Repeat step 20 until the duty cycle of the motor reaches 100%, and plot the current characteristic curves corresponding to the motor under all preset duty cycles. Step 40. Map the current-torque characteristic curves under different duty cycle states to a current-duty cycle coordinate system. Step 50. Select current points or torque points under different duty cycle states (selection principle: highest efficiency point, optimal torque point or current point, etc.), then match the torque and current required by the motor (e.g., maximum torque with maximum current, minimum torque with minimum current), anchoring the two ends of the optimal control trajectory and using straight line or curve fitting to obtain the desired load adaptive control trajectory. The above Δd can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. A smaller value results in a more refined curve fit and a smoother control trajectory transition, but also increases resource consumption.

[0097] Preferably, in order to obtain the optimal trajectory curve of the actual current changing with the duty cycle as shown in Figure 8, that is, when the operating parameters include or only include the duty cycle, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the current closed-loop control measurement data can also be used, specifically including: step 10, presetting the current I0% of the motor, mapping the current characteristic curve corresponding to the motor, and recording the duty cycle under different torque scales; step 20, presetting the current I1% of the motor and the current variable ΔI, and satisfying I1=I0+ΔI, mapping the current characteristic curve corresponding to the motor characteristic curve; step 30, repeating step 20 until the motor is at the highest duty cycle of no-load current, and mapping the current characteristic curves corresponding to the motor under all preset currents; step 40, mapping the current-torque characteristic curves under different current states to the current-duty cycle coordinate system; step 50, selecting current or torque points under different duty cycle states (selection principle: highest efficiency point, minimum current point, etc.), and then matching the torque and current required by the motor (such as matching maximum torque with maximum current, matching minimum torque with minimum current), so as to anchor the two ends of the optimal control trajectory and use straight line or curve fitting to obtain the required load adaptive control trajectory.

[0098] Preferably, in order to obtain the optimal trajectory curve of the actual current changing with the speed as shown in Figure 9, that is, when the operating parameters include or only include the speed, in the step of obtaining the corresponding relationship between the speed of the motor and the load, and obtaining the upper and lower boundary thresholds of the load, the speed closed-loop control measurement data can be used, specifically including: step 10, presetting the speed of the motor n0%, and mapping the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; step 20, presetting the speed of the motor n1% and the speed variable Δn, and satisfying n1=n0+Δn, mapping the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; step 30, repeating step 20 until the speed of the motor is the highest speed under no-load state, mapping the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor under all preset speeds; step 40, comparing the speed-torque characteristic curve and current-torque characteristic curve under different speed states. The torque characteristic curve is mapped (coordinate transformed) to the speed-current coordinate system; step 50 selects the optimal speed or torque point and current or torque point (selection principle: maximum efficiency point, torque-current optimal point MTPA, etc.), and then matches the torque, speed, and current required by the motor (e.g., maximum torque matches maximum speed and minimum current, minimum torque matches minimum speed and minimum current) to anchor the two ends of the optimal control trajectory and use straight line or curve fitting to obtain the required load adaptive control trajectory. The above Δn can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fit and the smoother the control trajectory transition, but the greater the resource consumption.

[0099] Please refer to the current closed-loop control principle of FIG10 . In this embodiment, the operation of the brushless DC motor (BLDC) is controlled by a current feedback closed-loop.

[0100] Regarding the method for obtaining the aforementioned optimal control trajectory, for example, mathematical tools (such as Matlab) are used to fit the optimal trajectory curve. During the software control process, the current motor operating parameters are measured in real time, the shortest distance between the current measurement point and the curve is calculated, and a point on the curve (the target point with the shortest straight-line distance to the measurement point) is obtained. The current operating parameters such as speed, current, and duty cycle are moved along this straight line (actually a linear function) to the target point, achieving the optimal trajectory curve control of the motor.

[0101] Example 3

[0102] In response to the deficiencies of the prior art, the third embodiment of the present invention provides a motor load adaptive power closed-loop control method, which is applied to a motor control device to automatically adjust the output to improve the endurance effect. As shown in Figure 11, the method includes the following steps in sequence: obtaining the load adaptive control trajectory of the motor through the operating parameters of the motor; obtaining the correspondence between the operating parameters and the load of the motor and the upper and lower boundary thresholds of the load; collecting the operating parameters of the motor; identifying the load of the motor based on the operating parameters of the motor; comparing the correspondence between the operating parameters and the load, that is, finally comparing the relationship coordinates of the operating parameters with the load to make a judgment. Based on the above-mentioned operating parameter-load relationship coordinates, the judgment results include: if the operating parameter is greater than the upper boundary threshold of the load, then the power of the motor is increased; if the operating parameter is less than the lower boundary threshold of the load, then the power of the motor is reduced.

[0103] The step of collecting the operating parameters of the motor is used to obtain the motor operating conditions in real time, including the motor's duty cycle, current, power, etc.; the step of identifying the motor load is used to obtain the motor load conditions in real time, including high load, low load, load change, etc. Specifically, in the step of obtaining the corresponding relationship between the operating parameters and the motor load and the upper and lower boundary thresholds of the load: obtaining the corresponding relationship between the operating parameters and the load, that is, obtaining the relationship coordinates of the operating parameters changing with the load, and obtaining the upper and lower boundary thresholds of the load, including the upper and lower boundary thresholds of the operating parameters after the operating parameters change with the load.

[0104] Regarding the step of obtaining the corresponding relationship between the operating parameters and the load, and obtaining the upper and lower boundary thresholds of the load, this step is performed before the motor works, and the relationship coordinates and boundary thresholds can be obtained through testing and calculation. Regarding the steps of collecting the operating parameters of the motor, identifying the load of the motor, and judging the relationship coordinates of the operating parameters as they change with the load, the above steps are performed when the motor is working, and the operating parameters, load conditions and judgment process are carried out in real time, thereby providing real-time feedback and controlling the motor operation. Specifically, the motor working condition refers to the motor driving the mower to cut grass. According to the motor's own parameters and working conditions, the parameter-load relationship coordinates are judged during operation, and the motor power is controlled to increase or decrease in real time, so as to automatically adjust the output of the mowing motor to improve the endurance of the lawn mower.

[0105] The motor load adaptive power closed-loop control method of the present application collects relevant parameters when the mowing motor is running, identifies the actual load situation, and achieves low power and low speed output when the load is low, and high power and high speed output when the load is high. The motor control and output adjustment are more accurate, thereby reducing ineffective energy consumption and improving the endurance of the lawn mower. The control method does not require human intervention, and the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance.

[0106] Preferably, the method for obtaining the aforementioned optimal control trajectory, in obtaining the load adaptive control trajectory of the motor through the operating parameters of the motor, further includes the following steps: Step 10, selecting power or torque points under different operating parameters, and establishing a table (two-dimensional array) through each calibrated power or torque point; Step 20, checking which grid of the table (within the area surrounded by the four nearest calibration points) the current power and speed of the motor falls into, and thereby obtaining the upper and lower boundary thresholds of the speed of the motor after the load changes (linear interpolation method or direct function method); Step 30, when the actual speed of the motor exceeds the preset upper and lower boundary thresholds, resetting the new target power (on the optimal load trajectory); Step 40, using linear fitting or curve fitting to transition the actual duty cycle to the load adaptive control trajectory. From a macroscopic perspective, the speed and torque of the motor always run on the optimal trajectory (with fluctuations at the microscopic level), the power is low when the load is small, and the power is high when the load is large.

[0107] Preferably, the operating parameter includes a duty cycle or a rotational speed, or the operating parameter includes both a duty cycle and a rotational speed.

[0108] Preferably, in order to obtain the optimal trajectory curve of actual power changing with duty cycle as shown in FIG12, that is, when the operating parameters include or only include duty cycle, in the step of obtaining the relational coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the measurement data can be controlled by adopting open-loop PWM (pulse width modulation), specifically including: step 10, presetting the duty cycle d0% of the motor, and obtaining the power characteristic curve corresponding to the motor by mapping; step 20, presetting the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfying d1=d0+Δd, and mapping the power characteristic curve corresponding to the motor; step Step 30: Repeat step 20 until the duty cycle of the motor is 100%, and map the power characteristic curve corresponding to the motor under all preset duty cycles; Step 40: Map the power-torque characteristic curve under different duty cycle states to the power-duty cycle coordinate system; Step 50: Select the power point or torque point under different duty cycle states (selection principle: highest efficiency point, optimal torque / power point, etc.), and then match the torque and power required by the motor (such as maximum torque and maximum power matching, minimum torque and minimum power matching) to anchor the two ends of the optimal control trajectory and use a straight line or curve fitting to obtain the required load adaptive control trajectory. Among them, the above-mentioned Δd can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fitting and the smoother the control trajectory transition, but the greater the resource consumption.

[0109] Preferably, in order to obtain the optimal trajectory curve of the actual power changing with the duty cycle as shown in Figure 12, when the operating parameters include or only include the duty cycle, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the power closed-loop control measurement data can be used, specifically including: step 10, presetting the power P0% of the motor, mapping the power characteristic curve corresponding to the motor, and recording the duty cycle under different torque scales; step 20, presetting the power P1% and the power variable ΔP of the motor, and satisfying P1=P0+ΔP, and mapping the power characteristic curve corresponding to the motor; Step 30: Repeat step 20 until the motor is at the highest duty cycle at no-load power, and map the power characteristic curve corresponding to the motor under all preset powers; Step 40: Map the power-torque characteristic curve under different speed states to the power-duty cycle coordinate system; Step 50: Select the speed or torque point under different duty cycle states (selection principle: highest efficiency point, minimum current point, etc.), and then match the torque and power required by the motor (such as maximum torque and maximum power matching, minimum torque and minimum power matching) to anchor the two ends of the optimal control trajectory and use straight line or curve fitting to obtain the required load adaptive control trajectory. Among them, the above-mentioned ΔP can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fitting and the smoother the control trajectory transition, but the greater the resource consumption.

[0110] Please refer to the speed closed-loop control principle of FIG14 . In this embodiment, the operation of the brushless DC motor (BLDC) is controlled by a speed feedback closed-loop.

[0111] Preferably, when the operating parameters include or only include the duty cycle, in the actual operation of the lawn mower motor: the above control method starts by detecting power-related quantities (such as current, voltage and freewheeling time) to obtain the current duty cycle; then pre-processing the power-related quantities; then judging whether the current is in the power regulation process, if so, using PID (proportional, integral, differential control) to regulate the power, and returning to the starting stage; if not, determining the upper and lower (load increase or decrease) boundaries of the duty cycle based on the current power (linear interpolation calculation after table lookup or direct function method calculation), and proceeding to the next step; then judging whether the duty cycle is greater than the upper boundary of the load increase (the load increases), if so, setting a new target power, i.e. increasing the power, and returning to the starting stage, if not, proceeding to the next step; then judging whether the duty cycle is less than the lower boundary of the load decrease (the load decreases), if so, setting a new target link, i.e. reducing the power, and returning to the starting stage.

[0112] Regarding the method of obtaining the aforementioned optimal control trajectory, mathematical tools (such as Matlab) can also be used to fit the optimal trajectory curve.

[0113] Preferably, in order to obtain the optimal trajectory curve of actual power changing with speed as shown in Figure 13, when the operating parameters include or only include speed, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the speed closed-loop control measurement data can be used, specifically including: step 10, presetting the motor speed n0%, and mapping the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; step 20, presetting the motor speed n1% and speed variable Δn, and satisfying n1=n0+Δn, mapping the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; step 30, repeating step 20 , until the motor speed reaches the maximum no-load speed, and the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor at all preset speeds are measured and mapped; step 40, the speed-torque characteristic curve and power-torque characteristic curve under different speed states are mapped to the speed-power coordinate system; step 50, the optimal speed or torque point is selected, and the optimal power or torque point is selected (selection principle: maximum efficiency point, torque-power optimum point MTPP, etc.), and then the maximum torque required by the motor is matched with the maximum speed and maximum power, and the minimum torque is matched with the minimum speed and minimum power, so as to anchor the two ends of the optimal control trajectory and use straight line or curve fitting to obtain the required load adaptive control trajectory. The above-mentioned Δn can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fitting and the smoother the control trajectory transition, but the greater the resource consumption.

[0114] Preferably, when the operating parameters include or only include the speed, in the actual operation of the lawn mower motor: the above control method starts with detecting the motor speed and power; then pre-processing the speed and power; then judging whether the current process is in the power adjustment process, if so, using PID (proportional, integral, differential control) to adjust the actual power, and returning to the starting stage; if not, determining the upper and lower (load increase or decrease) boundaries of the operating speed based on the current power (linear interpolation calculation after table lookup or direct function method calculation), and proceeding to the next step; then judging whether the speed is less than the lower boundary of the load increase (the load increases), if so, setting a new target power, i.e. increasing the power, and returning to the starting stage, if not, proceeding to the next step; then judging whether the speed is greater than the upper boundary of the load decrease (the load decreases), if so, setting a new target power, i.e. reducing the power, and returning to the starting stage.

[0115] Preferably, when the operating parameters include both duty cycle and speed, based on the aforementioned method of associating operating parameters including duty cycle or speed, the two dimensions are integrated and associated so that the target power is adjusted based on the upper and lower boundary thresholds of the duty cycle and / or speed. In the actual operation of the lawn mower motor: the control method starts with detecting variables such as motor speed, current, voltage, pressure difference, and freewheeling time to obtain the current power and duty cycle; then preprocessing the above variables; then determining whether the current is in the power regulation process. If so, PID (proportional, integral, and differential control) is used to adjust the actual power, and the process returns to the starting stage; if not, the upper and lower (load increase and decrease) boundaries of the duty cycle, current, and speed are determined based on the current power (linear interpolation calculation after table lookup or direct function calculation) and the next step is continued; then determining whether the duty cycle is greater than the upper boundary of load increase and / or whether the current is greater than the upper boundary of load increase and / or whether the speed is less than the lower boundary of load increase (load increase); if so, a new target power is set, i.e., the power is increased, and the process returns to the starting stage; if not, the process continues to the next step; then determining whether the duty cycle is less than the lower boundary of load decrease and / or whether the current is less than the lower boundary of load decrease and / or whether the speed is greater than the upper boundary of load decrease (load decrease); if so, a new target power is set, i.e., the power is decreased, and the process returns to the starting stage.

[0116] Example 4

[0117] In view of the shortcomings of the prior art, the purpose of this application is to provide a motor load adaptive torque closed-loop control method, which is applied to a motor control device to automatically adjust the output to improve the endurance effect. As shown in Figure 15, the method includes the following steps: collecting the operating parameters of the motor; then identifying the load of the motor based on the operating parameters of the motor; comparing the corresponding relationship between the operating parameters and the load, that is, finally comparing the relationship coordinates of the operating parameters with the load to make a judgment. Based on the above-mentioned operating parameter-load relationship coordinates, the judgment results include: if the operating parameter is greater than the upper boundary threshold of the load, the torque of the motor is increased; if the operating parameter is less than the lower boundary threshold of the load, the torque of the motor is reduced.

[0118] The step of collecting the motor's operating parameters is used to obtain the motor's operating conditions in real time, including the motor's duty cycle, current, power, etc.; the step of identifying the motor's load is used to obtain the motor's load conditions in real time, including high load, low load, and load variation. Before the step of collecting the motor's operating parameters, the control method of this embodiment further includes the following steps: obtaining a corresponding relationship between the operating parameters and the load, that is, obtaining the coordinates of the relationship between the operating parameters and the load, and obtaining upper and lower threshold values ​​of the load, including the upper and lower threshold values ​​of the operating parameters after the load variation.

[0119] Regarding the step of obtaining the corresponding relationship between the operating parameters and the load, and obtaining the upper and lower boundary thresholds of the load, this step is performed before the motor works, and the relationship coordinates and boundary thresholds can be obtained through testing and calculation. Regarding the steps of collecting the operating parameters of the motor, identifying the load of the motor, and judging by comparing the relationship coordinates of the operating parameters with the load, the above steps are performed when the motor is working, and the operating parameters, load conditions and judgment process are carried out in real time, thereby providing real-time feedback and controlling the motor operation. Specifically, the motor working condition refers to the motor driving the mower to cut grass. According to the motor's own parameters and working conditions, the parameter-load relationship coordinates are judged during operation, and the motor torque is controlled to increase or decrease in real time, so as to automatically adjust the output of the mowing motor to improve the endurance of the lawn mower.

[0120] The motor load adaptive torque closed-loop control method of the present application identifies the actual load situation by collecting relevant parameters of the lawn mower motor during operation, thereby achieving low power and low speed output when the load is low and high power and high speed output when the load is high. The motor control and output adjustment are more accurate, thereby reducing ineffective energy consumption and improving the endurance of the lawn mower. The control method does not require human intervention, and the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance.

[0121] Preferably, the operating parameter includes a duty cycle or a rotational speed, or the operating parameter includes both a duty cycle and a rotational speed.

[0122] Preferably, in order to obtain the optimal trajectory curve of the actual torque changing with the duty cycle as shown in Figure 17, that is, when the operating parameters include or only include the duty cycle, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the measurement data can be controlled by adopting open-loop PWM (pulse width modulation), please refer to Figure 16, specifically including: step 10, presetting the duty cycle d0% of the motor, and obtaining the torque characteristic curve corresponding to the motor by mapping; step 20, presetting the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfying d1=d0+Δd, mapping the torque characteristic curve corresponding to the motor. Torque characteristic curve; Step 30, repeating step 20 until the duty cycle of the motor is 100%, mapping the torque characteristic curve corresponding to the motor under all preset duty cycles; Step 40, mapping the torque-speed characteristic curve under different duty cycle states to the torque-duty cycle coordinate system; Step 50, selecting the speed point or torque point under different duty cycle states (selection principle: highest efficiency point), and then matching the torque required by the motor with the duty cycle (such as matching the maximum torque with the maximum duty cycle, and matching the minimum torque with the minimum duty cycle) to anchor the two ends of the optimal control trajectory and use a straight line or curve fitting to obtain the required load adaptive control trajectory. Among them, the above-mentioned Δd can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fitting and the smoother the control trajectory transition, but the greater the resource consumption.

[0123] Preferably, in the motor load adaptive torque closed-loop control method of this embodiment, when the operating parameters include the duty cycle, the following steps are specifically included: Step 10, obtaining the corresponding relationship between the operating parameters and the load and the upper and lower boundary thresholds of the load; Step 20, collecting the operating parameters of the motor, including detecting the current speed; Step 30, pre-processing the speed, and identifying the load of the motor based on the operating parameters of the motor; Step 40, obtaining the optimal target duty cycle after index analysis based on the speed and target torque; Step 50, judging whether the current duty cycle of the motor is being adjusted, and if so, adjusting the current duty cycle (duty cycle ramp function) and returning to step 20, and if not, determining according to the current torque (lookup table The operating speed (calculated by linear interpolation or direct function method) and the upper and lower (load increase or decrease) boundary thresholds of the duty cycle are calculated and the process goes to step 60; in step 60, comparing the corresponding relationship between the operating parameters and the load, it is determined whether the duty cycle is greater than the upper boundary threshold of the load or whether the speed is less than the lower boundary threshold of the load (i.e., the load increases); if so, the torque of the motor is increased (a new target torque is set) and the process returns to step 20; if not, the process goes to step 70; in step 70, it is determined whether the duty cycle is less than the lower boundary threshold of the load or whether the speed is greater than the lower boundary threshold of the load (i.e., the load decreases); if so, the torque of the motor is reduced (a new target torque is set) and the process returns to step 20; if not, the process returns to step 20.

[0124] Preferably, in order to obtain the optimal trajectory curve of the actual torque changing with the speed as shown in Figure 19, when the operating parameters include or only include the speed, in the step of obtaining the relationship coordinates of the operating parameters changing with the load and the upper and lower boundary thresholds after the load changes, the speed closed-loop control measurement data can be used. Please refer to Figure 18, which specifically includes: Step 10, presetting the motor speed n0%, and mapping the torque-speed efficiency MAP diagram corresponding to the motor; Step 20, presetting the motor speed n1% and the speed variable Δn, and satisfying n1=n0+Δn, mapping the torque-speed efficiency MAP diagram corresponding to the motor; Step 30, repeating step 20 until The motor speed is the highest speed under no-load conditions, and the torque-speed efficiency MAP corresponding to the motor at all preset speeds is measured and mapped. Step 40: Contour the torque-speed efficiency MAP under different speed conditions according to efficiency to obtain a torque-speed-efficiency MAP. Step 50: Select the optimal speed or torque point, as well as the power or torque point (selection principle: maximum efficiency point, torque-current optimal point MTPA, etc.). Then, match the maximum torque required by the motor with the highest speed and highest efficiency, and the minimum torque with the lowest speed and highest efficiency, to anchor the two ends of the optimal control trajectory and use a straight line or curve fit to obtain the required load adaptive control trajectory. The above Δn can be adjusted according to actual product requirements, measurement accuracy, main control chip resources, etc. The smaller the value, the finer the curve fit and the smoother the control trajectory transition, but the greater the resource consumption.

[0125] Preferably, in the motor load adaptive torque closed-loop control method of this embodiment, when the operating parameters include the speed, the following steps are specifically included: step 10, obtaining the corresponding relationship between the operating parameters and the load and the upper and lower boundary thresholds of the load; step 20, collecting the operating parameters of the motor, including detecting the current speed and current; step 30, pre-processing the speed and current, and identifying the load of the motor based on the operating parameters of the motor; step 40, obtaining the optimal target current after index analysis based on the speed and target torque; step 50, judging whether the current is in the current regulation process of the motor, if so, adjusting the current current (current PID regulation) and returning to step 20, if not, determining according to the current torque ( After looking up the table, linear interpolation calculation or direct function method calculation) is performed on the operating speed and the upper and lower (load increase or decrease) boundary thresholds of the current and the process goes to step 60; in step 60, by comparing the corresponding relationship between the operating parameters and the load, it is determined whether the current is greater than the upper boundary threshold of the load or whether the speed is less than the lower boundary threshold of the load (i.e., the load increases); if so, the torque of the motor is increased (a new target torque is set) and the process returns to step 20; if not, the process goes to step 70; in step 70, it is determined whether the current is less than the lower boundary threshold of the load or whether the speed is greater than the lower boundary threshold of the load (i.e., the load decreases); if so, the torque of the motor is reduced (a new target torque is set) and the process returns to step 20; if not, the process returns to step 20.

[0126] Example 5

[0127] The present application provides a method for controlling a working motor. In the prior art, current riding lawn mowers control the mowing process according to a preset gear. This method cannot automatically adjust the mowing control method based on the actual working conditions, and manual intervention is required to adjust the mowing speed of the riding lawn mower. This mowing method makes the riding lawn mower unable to complete the task efficiently and may even cause the riding lawn mower to become blocked.

[0128] The following uses a riding lawn mower as an example. Two motors are located on the left and right sides of the bottom frame of a riding lawn mower. These motors drive the mowing tools, and the cut grass is discharged from left to right through the grooves connecting the blades to the right side of the mower. Each motor is independently controlled by an MCU and maintains a constant speed. Riding lawn mowers have high and low gear settings. High gear corresponds to a higher motor speed, while low gear corresponds to a lower motor speed. In a fixed gear, the motor speed decreases as the load increases and increases as the load decreases. This differs from actual operational requirements. Users expect the speed to increase with increasing load to maintain cutting efficiency and decrease with decreasing load to avoid wasted energy. In this case, the user must assess the operational situation and manually adjust the gear. For example, during the operation of a power tool, the motor load changes due to changes in grass density. Therefore, the power tool is configured with several gears, each with a corresponding motor speed or torque. According to the motor's own characteristics, the motor speed will change due to changes in load: as the grass density increases, the motor load increases, but the mower's speed remains at the preset speed, which cannot meet the operational requirements. That is, when the grass density increases, the motor must be adjusted to a higher speed to complete the task; correspondingly, when the grass density decreases, the motor load decreases, and the motor speed needs to be reduced. Otherwise, resources will be wasted and over-cutting may occur. In the above control method, the load and speed cannot be adaptively matched, which cannot meet the operational requirements and will also lead to normal resource waste.

[0129] In addition, when the power tool is in high gear mode, the high speed of the motor increases the amount of grass cut by the blade, and the corresponding grass discharge pressure is also high. This can cause grass blockage at the discharge point of the power tool, causing the lawn mower to stop. The mowing motor cannot automatically reduce speed to alleviate the grass blockage, which means that the grass blockage requires manual treatment. To more clearly illustrate the equipment anomalies caused by grass blockage, further examples of actual grass blockage are given. Assuming that the user is performing a lawn mowing operation, grass blockage often occurs in the following ways:

[0130] Example 1: Assume that the grass on the lawn is evenly distributed and the left and right mowers have the same speed. However, since the cut grass clippings are uniformly discharged from left to right, the right mower blades have to take on the task of removing the grass after the left blades have cut. Therefore, the power of the right mower motor is greater than that of the left. When the lawn grass density is high, the grass clippings increase, and the right mower motor has greater discharge pressure, which will cause the grass discharge to be blocked and cause the mower motor to stop.

[0131] Example 2: When the grass on the lawn is unevenly distributed, the load on the tool motor on the side with higher grass density is greater than that on the side with lower grass density. Assuming the load on the left side is greater than that on the right side, the power of the mower on the left side increases, and at the same time, there is more grass clippings. The grass discharge pressure on the right mower motor is greater, which will cause grass discharge blockage and the mower motor to stop.

[0132] Example 3: When a power tool is in motion, the motor load on one side may be greater than the other due to the direction of travel. For example, when the power tool turns right, the load on the right side will be greater than that on the left side. The power of the right mower increases, and the amount of grass clippings increases. The mower motor has a higher discharge pressure, which can also cause grass discharge blockage and motor shutdown.

[0133] In view of the problem that during the use of the above-mentioned riding lawn mower, the motor speed and motor load cannot be matched because the control mode of the mowing motor cannot be adjusted in real time, resulting in low mowing efficiency, an embodiment of the present application provides a control method for a riding lawn mower. By detecting the operating parameters and current load parameters of the mowing motor, if the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the mowing efficiency of the riding lawn mower.

[0134] The solutions in the embodiments of the present application can be implemented using various computer languages, for example, the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0135] The following is a brief description of the application environment of the riding lawn mower control method provided in an embodiment of the present application: A control method provided in an embodiment of the present application is applied to a mowing motor of a riding lawn mower, and the control system of the mowing motor includes: a detection module and a processor, and the detection module and the processor are connected.

[0136] The processor obtains preset operating parameters that match the current load parameters when the current load parameters obtained do not match the preset load parameters. After obtaining the preset operating data, the processor adjusts the current operating parameters according to the preset operating parameters to achieve matching between the current load parameters in the mowing motor and the preset load parameters. The processor can be a hardware module or a processing module in a server.

[0137] The detection module is used to detect the operating parameters and load conditions of the mowing motor during operation.

[0138] The control system mentioned in the embodiment of the present application can be deployed according to actual working requirements and working environment. For example, the drive module can control motors of multiple control directions, and the motors are used to control the operation of the working tool. Here, the working tool is a lawn mowing tool, and the motors include a left motor and a right motor. For example, the system provided by this application is not limited to this.

[0139] In the embodiment of the present application, when the system is deployed, the drive module may further include: a left mowing controller and a right mowing controller, the left mowing controller is connected to the left mowing motor, and the right mowing controller is connected to the right mowing motor; the left mowing motor can be located on the left side of the vehicle to control the operation mode of the left tool, and the right mowing motor can be located on the right side of the vehicle to control the operation mode of the right tool.

[0140] In an optional embodiment, the above-mentioned system can be deployed on the device side or on the server side. If deployed on the server side, only the transmission and detection modules need to be deployed on the device side, thereby further reducing the cost of the equipment. Furthermore, if deployed on the server side, multiple devices can be controlled in a linked manner, thereby improving the efficiency of the operation and the efficiency of centralized management. For example, the density of the lawn to be operated and the driving path are first detected, and then the main control console assigns tasks to each lawn mower in real time, and sets the speed to match the task of each lawn mower according to its task.

[0141] The following describes a method provided in an embodiment of the present application, using a processor in a control system as the execution subject, and applying it to a device that cannot adaptively control multiple mowing motors. The device control method provided in an embodiment of the present application includes the following steps 301 to 303:

[0142] Step 301: If the motor is running at the target operating parameters, the current load parameters of the motor and the preset load parameters matching the target operating parameters are collected.

[0143] The motor is used to control an operating mechanism in an outdoor operation vehicle, such as a motor for controlling mowing.

[0144] The motor of an outdoor work vehicle may include multiple motors, each of which may be configured with different preset operating parameters; each motor may control the outdoor work vehicle to complete work in different directions, and each motor may be configured with different work tools. For example, the equipment may include a left motor and a right motor, the left motor is responsible for controlling the tool to complete tasks on the left side of the equipment, and the right motor is responsible for controlling the tool to complete tasks on the right side of the equipment.

[0145] The operating parameters include at least one of a motor speed, a motor torque and a motor control signal.

[0146] The load parameter indicates the load borne by the motor during operation. This load parameter can be calculated based on the device's operating parameters and the motor current. The motor's actual operating state can vary due to various factors, including environmental, task, and device factors. For example, as the grass density increases during mowing, the motor load will increase, and the corresponding motor speed will need to increase accordingly to meet the task requirements.

[0147] In the example of this application, the device can be controlled to perform tasks with target operating parameters, and by setting preset load parameters that match the target operating parameters, it can be quantitatively and accurately judged whether the current load parameters match the target operating parameters, so that the operating parameters can be adjusted in a timely manner to improve the efficiency of the device.

[0148] The method provided in the embodiment of the present application can detect the current operating parameters and load parameters in real time, or can detect the current operating parameters and load parameters after activating the calibration function, or can automatically start the adaptive mode to detect the current operating parameters and load parameters after detecting other vehicle parameters, such as detecting a change in the vehicle's driving direction or a change in the mowing environment.

[0149] After obtaining the current operating parameters or load parameters, the embodiment of the present application can also perform a preliminary judgment. If the current operating parameter is greater than a preset threshold, or the load parameter is greater than a preset threshold, adjustment processing can be performed. For example, a prompt message can be generated, and the user can determine the next operation based on the prompt message, such as shutting down the machine, adjusting the machine, or conducting actual surveys to analyze the reasons for the data changes.

[0150] Step 302: If the current load parameter does not match the preset load parameter, find the preset operating parameter that matches the current load parameter.

[0151] The preset load parameters are set according to the current operating parameters of the motor, that is, the preset load parameters that match the current operating parameters; for example, if the current load parameter of the motor is less than the preset load parameter that matches the current speed, it indicates that the motor running speed is too low and needs to be accelerated. Here, you can refer to when mowing the lawn. After the grass density increases, although the motor running speed is constant, the motor current increases due to the increase in tool resistance, that is, the current load of the motor is greater than the preset load, so the motor needs a higher speed to complete the task.

[0152] Among them, the mapping relationship can set load parameters and preset operating parameter settings based on historical operating data, historical load data and other data, or it can be generated after training through a big data model.

[0153] The mapping relationship can be found in the local storage space to facilitate quick response to requests, and can also be found in the cloud, thereby further saving local device resources.

[0154] Through the mapping relationship between load parameters and preset operating parameters, the current load parameters and preset operating data can be matched quickly and accurately.

[0155] Step 303: Adjust the current operating parameters according to the preset operating parameters to achieve closed-loop control of the operating parameters.

[0156] According to the preset operating parameters, the current operating parameters can be adjusted directly through replacement processing or through difference compensation.

[0157] For example, motor operating parameters, including speed, can be adjusted by calculating a compensation speed. For example, the preset speed of the tool in the equipment is superimposed with the corresponding compensation speed of the actual speed to obtain the actual desired speed for each, thus achieving closed-loop control of the steering angle. By using compensation data, drastic changes in equipment operating parameters can be avoided, thereby reducing operational risks.

[0158] Correspondingly, if the difference between the preset operating parameters and the current operating parameters is small, the current operating parameters can be directly replaced by the preset parameters to complete the parameter adjustment.

[0159] After adjusting the operating parameters, the equipment is driven to work according to the adjusted operating parameters, and the load parameters of the equipment continue to be monitored. If the load parameters change, it is further determined whether the operating parameters need to be adjusted, thereby realizing closed-loop control of the operating parameters and improving the efficiency of equipment control.

[0160] For example, the controller of the device receives and analyzes the load of the left and / or right mowing motor, then matches the corresponding left and / or right mowing wheel target speed, and sends the target speed of the left and / or right drive wheel to the left and / or right drive controller. After receiving the target signal, the left / right drive controller performs closed-loop control of the speed of the left and / or right drive motor.

[0161] The control method in the above example can be applied to multiple motors. Multiple motors can be deployed on the same device or different devices. Each motor can be configured with a different control strategy, that is, different operating parameters, to achieve collaborative control to complete the task.

[0162] In an optional example, the method provided by this application can determine the control strategy by comprehensively considering environmental factors, task factors, equipment factors, and other factors when collaboratively controlling multiple motors. For example, if there are three devices, A, B, and C, the motors in each device can be driven to perform tasks according to the preset operation strategy. If device A is traveling on the left side of device B, and the two devices perform tasks in parallel, and device A discharges hay from left to right, the speed of the motor on the left side of device B needs to be increased to avoid hay accumulation; if device A is traveling in front of device C, and the two devices perform tasks in parallel, the speed of the motor on device C can be reduced, thereby achieving rough processing by the first device and fine processing by the following vehicle to complete the measurement task.

[0163] Taking the lawn mower motor including a left motor and a right motor, and the operating parameters including the motor speed as an example, the control method provided by the present application is explained, including the following steps: first, determine whether the matching function is started; if the matching function has been successfully started, then determine in turn whether the left motor speed and the right motor speed match the preset speed. This step can be used to determine whether the motor equipment is started and operated according to the preset control method; if the two match, then continue to determine whether the motor load matches the motor speed, that is, determine whether the speed of the left and right lawn mower motors is the same as the speed matched under the actual load; if the motor load and the motor speed do not match, then perform matching processing; for example, you can query the target speed that matches the motor load and adjust the motor speed; set the speed of the matched left and right lawn mowers as the target speed; after adjustment, the left and right lawn mowers perform speed matching adaptive control in real time at the given target speed.

[0164] The device control method provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of device control.

[0165] In an optional embodiment of the present application, before obtaining the current load parameter of the motor in step 301, the following steps are further included:

[0166] Step 401: Detect whether the adjustment function is activated.

[0167] The adjustment function can be activated by detecting whether the device receives an adjustment instruction, detecting whether an adjustment module is triggered, or detecting whether a parameter of the device exceeds a threshold.

[0168] For example, an adjustment instruction may be sent to the current device through the terminal device; or a key module in the current device may be triggered, where the key may include a physical hardware key and a virtual function key.

[0169] Step 402: If the adjustment function is activated, obtain the current operating parameters and load parameters of the motor in the device.

[0170] By activating the adjustment function, the embodiment of the present application can turn on or off the automatic matching of operating parameters and load parameters at any time, thereby improving the flexibility of equipment control. At the same time, it can also avoid the waste of resources and equipment damage caused by adjusting the operating parameters in scenarios where the operating parameters do not need to be adjusted.

[0171] In an optional embodiment of the present application, the above steps of finding the preset operating parameters that match the load parameters include steps 501 to 502:

[0172] Step 501: Obtain a first mapping relationship.

[0173] The first mapping relationship is used to indicate the relationship between at least one load parameter interval and an operating parameter value, and the load parameter interval includes multiple load parameter values.

[0174] For example, the first mapping relationship may indicate the relationship between the load current interval and the motor speed value.

[0175] Step 502: Determine a target interval that matches the target operating parameter according to the first mapping relationship.

[0176] After the target interval is determined, preset operating parameters matching the target interval are found.

[0177] The load current value is used as the horizontal coordinate and the motor speed is used as the vertical coordinate. The load current value is used to divide the four intervals. Each interval matches the corresponding motor speed. Among them, 0 to coordinate point A1 is the first interval. The speed value corresponding to this interval is B1. B1 can be the initial set speed. That is, if the current load current value is detected in the first area, the motor speed matched by the load current is determined to be B1. The settings of the remaining intervals are as shown in the first area and will not be repeated here.

[0178] Step 503: If the current load parameter of the motor does not fall within the target range, it is determined that the current load parameter does not match the preset load parameter.

[0179] That is, if the current load parameter does not match any load parameter in the target range, it is determined that the current load parameter does not match the preset load parameter.

[0180] The embodiment of the present application can quickly and accurately find the preset operating parameters by setting a mapping relationship between the load parameters and the operating parameters, thereby improving the efficiency of device control; at the same time, through the intervals of multiple threshold values ​​of the device, it can match load parameters of multiple values, further improving the flexibility of device control.

[0181] In an optional embodiment of the present application, based on the first mapping in step 501 above, finding the preset operating parameters that match the current load parameters further includes the following steps:

[0182] Step 601: Obtain the difference between the current load parameter and the preset load parameter;

[0183] Step 602: If the current load parameter is greater than the difference value of the preset load parameter, find an adjacent interval that is greater than the target interval;

[0184] Acquiring preset operating parameters that match the current load parameters based on the preset operating parameters matched by the adjacent intervals;

[0185] Step 603: If the current load parameter is smaller than the difference value of the preset load parameter, find an adjacent interval smaller than the target interval;

[0186] According to the preset operating parameters matched by the adjacent intervals, preset operating parameters matching the current load parameters are obtained.

[0187] Specific examples are listed here to illustrate how to implement logical control based on the mapping relationship in the embodiments of the present application: configure the initial operating parameters of the motor, such as the initial speed of the motor, and configure the mapping relationship between the motor operating parameters and the motor load parameters. Each interval uses a fixed value of the motor speed to set a motor current interval and a motor load interval that matches the motor speed; as shown in the table, the motor speed R1 matches the first interval in the load parameter, and the starting point of the interval in this area is the load parameter value T1 and the end point is the load parameter value T2; the mapping relationship can also include an overload load value to facilitate control of the motor speed and avoid motor overload and failure.

[0188] The control method is explained using the left motor as an example: During operation based on motor speed R1, the current load current of the motor is collected; based on the current current value and the preset speed, the current load parameter Tleft of the motor is calculated; and it is determined whether the current load reference Tleft is within the first load parameter interval:

[0189] If the target load parameter is in the first interval, the current speed R1 is marked as the target speed of the motor.

[0190] If not, determine whether the speed needs to be increased or decreased:

[0191] If T is greater than T2, it means that the current load of the mowing motor is too large, and the motor speed R1 needs to be increased. For example, the speed can be increased by increasing the speed expectation value of the speed loop through closed-loop control.

[0192] After the speed is increased, the updated speed value of the motor can be marked as speed R2. Continuing with the above-mentioned judgment logic, the preset load parameter interval, such as the second interval, matching the speed R2 is searched according to the preset relationship; the target load based on the speed R2 is detected, and it is determined whether the target load is within the second interval;

[0193] If the target load is in the second interval, the current speed R2 is marked as the target speed of the motor;

[0194] If not, continue to increase or decrease the speed until the current load is within the preset load range or the current load of the motor is overloaded, and finally obtain the load-matched left lawn mower speed Rleft.

[0195] The control logic of the right motor is similar to the control logic of the left motor mentioned above. It determines whether the speed needs to be increased or decreased based on the preset load and the current load, and finally obtains the right lawn mower speed that matches the load.

[0196] After determining the lawn mower speed that matches the load, the control logic processing can be ended.

[0197] In an optional embodiment, the method provided in the present application can also adjust the motor speed according to the weight relationship between the left motor and the right motor. If the load of the left motor is greater than that of the right motor, for example, the grass is discharged on the left side of the vehicle during the mowing task, then after the left and right speeds are determined as above, the motor speeds can be reconfigured according to the weights so that the speed of the left motor is greater than that of the right motor, thereby improving the control efficiency.

[0198] In an optional embodiment of the present application, the above steps of finding the preset operating parameters that match the load parameters include steps 701 to 703:

[0199] Step 701: Get the target direction.

[0200] The target direction is determined at least as a function of the load parameter or the environmental data or the driving direction.

[0201] For example, image recognition can be used to determine in which direction the current forage density is higher; or the vehicle's posture angle can be detected to determine the current vehicle's direction of travel.

[0202] Step 702: Determine the weight of each motor among the multiple motors according to the target direction and load parameters.

[0203] When determining the weight of each motor, the corresponding control direction of each motor can be obtained first. When analyzing whether the current motor's control direction matches the target direction, the higher the match, the higher the weight. Similarly, when determining the weight of each motor, the corresponding load parameters of each motor can be obtained first. When analyzing the current motor's load parameters, the higher the load, the higher the weight.

[0204] Correspondingly, the operating parameters, control direction or load parameters of the current motor may also be comprehensively considered to determine that the higher the weight of the current motor is.

[0205] After confirming the weight of each motor, the identification information of the motor can be generated through the motor's identity information and weight value, which is convenient for subsequent query and processing.

[0206] The identification information can be stored in the local storage module of the motor device or on the server side. If stored on the server side, the motors of multiple devices can be queried on the server side, which facilitates the coordinated control of the motors of multiple devices and improves management efficiency.

[0207] Step 703: Adjust the current operating parameters of the motor according to the weight and preset operating parameters.

[0208] According to the preset operating parameters and the adjustment weights, the operating parameters of the motors with larger weights are adjusted first, and the operating parameters of the remaining motors are adjusted based on the adjusted operating parameters of the motors with larger weights.

[0209] In the method provided in the embodiment of the present application, by setting weights of different motors, motors with higher weights are adjusted first, which can more efficiently adjust the operation of the equipment, improve the efficiency of equipment control, and save equipment operation resources.

[0210] In an optional embodiment of the present application, adjusting the current operating parameters of the motor in the above steps includes:

[0211] Step 801: Obtain the weight value of the current motor.

[0212] As described in step 702 , the weight value of the current motor may be confirmed by querying the identification information of the current motor. The identification information of the motor may be stored in a database of the current motor or may be centrally stored on a server.

[0213] Step 802: If the weight value of the current motor is greater than the weight values ​​of the other motors, find the preset operating parameters that match the current motor according to the load parameters.

[0214] To determine whether the weight value of the current motor is greater than the weight values ​​of the remaining motors, the weight values ​​of multiple motors can be compared one by one to determine the difference; or sequence information can be generated by pre-sorting the weight values ​​and then determined based on the sequence information.

[0215] Step 803: Adjust the operating parameters of the remaining motors according to the preset operating parameters matched by the current motor.

[0216] Adjusting the operating parameters of the remaining motors can be done by adjusting the control mode using the preset operating parameters of the current motor, obtaining the motor load again, and then adjusting; or adjusting the operating parameters first and then obtaining the motor load.

[0217] The operating parameters of the remaining motors may be adjusted based on a difference between a preset operating parameter and a current operating parameter, or based on a preset threshold value.

[0218] For example, the device motor includes a first motor and a second motor. According to the load parameters, the load of the first motor is greater than the load of the second motor. The weight of the first motor is set to be greater than the second motor, that is, the first motor is set as the main motor, and the first motor is adjusted according to the preset speed. Then, the other motor follows the first motor for adjustment, and the speed is adjusted by the preset difference.

[0219] The above-mentioned adjustment through preset difference can include setting a percentage. For example, the left motor is adjusted according to the preset motor speed, and the right motor is set according to the left motor speed after the percentage adjustment: Rright = Rleft + K*Rleft, Rright indicates the right motor speed, Rleft indicates the left motor speed, K is the difference parameter, and it is recommended to set the interval to 10%-30%, so that the higher the speed, the larger the speed difference can be set.

[0220] In an optional embodiment, the method provided in this application adjusts the current operating parameters in step 303, further comprising the following steps:

[0221] Step 901: Acquire the adjusted operating parameters, collect the current load parameters of the motor, and the Mth preset load parameters that match the adjusted operating parameters.

[0222] After adjusting the current operating parameters according to the preset operating parameters, the above steps 301 to 303 may be further repeated, ie, closed-loop processing, until the load is matched.

[0223] Step 902: If the Mth preset load parameter matches the current load, the adjusted operating parameter is marked as the target operating parameter, and this round of adjustment processing is stopped.

[0224] The operating parameters, motor current and motor load after the current matching process can be stored to facilitate subsequent statistical analysis of historical data and actual adjustment results based on big data, and to further optimize the above-mentioned first mapping relationship.

[0225] Step 903: If the Mth preset load parameter does not match the current load, perform the next round of adjustment until the current load parameter matches the preset load parameter, or the current load parameter is greater than or equal to the overload parameter.

[0226] The method provided in this application will continuously adjust the operating parameters of the motor in a closed-loop manner until the preset load parameters of the motor match the current load parameters, that is, the operating mode of the motor matches the operating mode required to perform the task: that is, when the motor load becomes larger, the speed increases, which is in line with the actual working conditions of the power tool and improves efficiency.

[0227] In an optional embodiment of the present application, based on adjusting the current operating parameters in step 303 above, the following steps are further included:

[0228] Step 1001: Determine a preset current value according to preset load parameters, and collect the current current value of the motor.

[0229] Since the load parameters can be set according to the current and speed, when the load and speed of the motor are determined, the preset current value of the motor can also be determined accordingly.

[0230] Step 1002: Based on the preset current value and current current value of the motor, the preset operating parameters and current operating parameters of the motor, a dual closed-loop control strategy of an operating parameter outer loop and a current inner loop is implemented to adjust the current operating parameters of the motor.

[0231] The inner loop control can dynamically adjust the current changes, and the outer loop control can dynamically adjust the operating parameter changes, ultimately achieving a match between the preset load parameters of the motor and the current load parameters.

[0232] In the example of this application, the speed control can be completed through dual closed-loop processing, including: after the processor obtains the target speed, the current and speed dual closed-loop control is adopted to adjust the motor speed, the current loop is the inner loop, and the speed loop is the outer loop: the actual speed fed back by the motor is received, and the actual speed is compared with the actual expected speed of the motor, the speed error of each wheel is obtained, and the speed error is sent to the processor so that the motor driver drives the corresponding motor to rotate, so as to realize the speed outer loop closed loop. For example, the current expected value I1 can be calculated according to the expected speed R1, and the voltage PWM duty cycle can be adjusted through the current loop. Both the speed loop and the current loop adopt PI feedback control to increase or decrease the speed of the motor.

[0233] The device control method provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of device control.

[0234] It should be understood that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0235] One embodiment of the present application provides a control device, comprising: a data acquisition module, a data matching module, and a data adjustment module;

[0236] a data acquisition module for acquiring, if the motor is operating at target operating parameters, current load parameters of the motor and preset load parameters matching the target operating parameters;

[0237] a data matching module, which obtains preset operating parameters that match the current load parameters if the current load parameters do not match the preset load parameters;

[0238] a data adjustment module, adjusting the current operating parameters according to the preset operating parameters to achieve matching between the current load parameters in the motor and the preset load parameters;

[0239] The motor is used to control a tool in the device, the operating parameter includes at least one of the motor speed, the motor torque and the motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

[0240] The equipment control device provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of equipment control.

[0241] For the specific limitations of the above-mentioned devices, please refer to the limitations of the device control method above and will not be repeated here. Each module in the above-mentioned device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software so that the processor can call and execute the operations corresponding to each of the above modules.

[0242] Example 6

[0243] Please refer to Figures 20-23. The present application also provides an outdoor work vehicle, which includes: a frame 1, an operating mechanism 12 connected to the frame 1, a drive mechanism 14, a supporting mechanism 100, a power supply system 102, and a control mechanism 16. The drive mechanism 14 includes a left drive assembly, a right drive assembly, and a travel wheel assembly 3; the control mechanism 16 is configured to include a left control assembly 161 and a right control assembly 162; the left control assembly 161 and the right control assembly 162 are respectively coupled to the left drive assembly and the right drive assembly to respectively control the operating status of the left drive assembly and the right drive assembly. The left control assembly 161 and the right control assembly 162 respectively include a left control lever 1611 and a right control lever 1621 and corresponding rotation detection components 163.

[0244] The outdoor working vehicle further includes a controller component. The working mechanism 12 includes a working motor and an output component driven by the working motor to perform specific functional operations. The controller component is used to control the operating state of the working motor.

[0245] The operating motor has a variety of operating parameters, and the controller component has a variety of control strategies corresponding to the operating parameters for the operating motor; the controller component includes an acquisition unit, an identification unit, a storage unit and a control unit.

[0246] The collecting unit is configured to collect at least one of the operating parameters of the working motor during the operation of the working motor, so as to obtain the operating status of the working motor, including the duty cycle, current, power, etc. of the working motor.

[0247] The identification unit is configured to identify the load of the operating motor based on the collected operating parameters, and is used to obtain the load conditions of the operating motor in real time, including high load, low load, load change, etc.

[0248] a storage unit configured to pre-store a correspondence between the operating parameters of the working motor and the load change, and upper and lower boundary thresholds of the operating parameters corresponding to the load;

[0249] The control unit is configured to determine whether the detected actual load matches the actual operating parameters of the working motor based on the corresponding relationship stored in the storage unit, and to adopt a matching control strategy to regulate the performance parameters of the working motor when the actual operating parameters do not fall within the upper and lower boundary thresholds of the preset operating parameters corresponding to the actual load.

[0250] The controller assembly provided herein is provided with the aforementioned unit module divisions for exemplary purposes only. The acquisition unit, identification unit, control unit, and storage unit may be integrated into a single unit module to implement numerical acquisition and motor control. Preferably, the acquisition unit, identification unit, control unit, and storage unit are integrated into a single-chip microcomputer (MCU).

[0251] This application collects relevant parameters of the lawn mower motor during operation to identify the actual load situation, achieves low power and low speed output when the load is low, and high power and high speed output when the load is high, and makes the motor control and output adjustment more accurate, thereby reducing ineffective energy consumption and improving the endurance of the lawn mower.

[0252] Specifically, the various operating parameters of the working motor include duty cycle parameters, speed parameters, current parameters and power parameters; the performance parameters of the working motor include speed parameters, current parameters, power parameters and torque parameters; the control strategies matching the working motor include speed closed-loop control strategy, current closed-loop control strategy, power closed-loop control strategy, torque closed-loop control strategy and PWM duty cycle open-loop control strategy.

[0253] The storage unit also stores the corresponding relationship between the performance parameters and the operating parameters of the working motor;

[0254] Exemplarily, the correspondence between the performance parameters and the operating parameters of the working motor includes the correspondence between the speed and the duty cycle, the correspondence between the speed and the current, and the correspondence between the speed and the power;

[0255] Exemplarily, the correspondence between the performance parameters and the operating parameters of the working motor includes the correspondence between current and duty cycle and the correspondence between current and speed;

[0256] Exemplarily, the correspondence between the performance parameters and the operating parameters of the working motor includes a correspondence between power and duty cycle and a correspondence between power and speed;

[0257] Exemplarily, the correspondence between the performance parameters and the operating parameters of the working motor includes a correspondence between torque and duty cycle and a correspondence between torque and speed.

[0258] Exemplarily, speed or torque points, and / or current or torque points, and / or power or torque points under different real-time operating parameter states are selected, and a desired target load adaptive control trajectory is obtained through straight line or curve fitting;

[0259] Exemplarily, current or torque points under different operating parameter states, and / or speed or speed points are selected, and a desired target load adaptive control trajectory is obtained by linear or curve fitting;

[0260] Exemplarily, power or torque points under different operating parameter states, and / or speed or torque points are selected, and a desired target load adaptive control trajectory is obtained by linear or curve fitting;

[0261] Exemplarily, speed or torque points under different operating parameter states, and / or power or torque points are selected, and a desired target load adaptive control trajectory is obtained through straight line or curve fitting.

[0262] Exemplarily, the control unit increases the performance parameter of the working motor when it is determined that the actual operating parameter is greater than the upper limit threshold of the load;

[0263] Exemplarily, the control unit reduces the performance parameter of the working motor when it is determined that the actual operating parameter is less than the lower limit threshold of the load.

[0264] The control unit determines whether the operating motor is currently in the process of speed regulation before determining whether the actual operating parameter falls within the upper and lower boundary thresholds of the preset operating parameter corresponding to the actual load;

[0265] If the control unit determines that the operating motor is in the process of adjusting the speed, the speed is adjusted using PID (proportional, integral, differential control);

[0266] If the control unit determines that the operating motor is not in the speed adjustment process, it determines the upper and lower boundaries of the operating motor operating parameters by linear interpolation calculation or direct function method after looking up the current operating motor performance parameter table, and proceeds to the next step.

[0267] In some embodiments, the working mechanism 12 of the outdoor work vehicle can be another work attachment, such as a snowplow. Strictly speaking, the outdoor work vehicle is no longer just a riding lawn mower, but a riding snowplow that can perform different tasks depending on the attached working mechanism 12. Of course, the outdoor work vehicle can also be other types of tools and equipment, such as agricultural equipment, cleaning equipment, and all-terrain vehicles.

[0268] The controller component of this embodiment includes a memory and a processor. The memory stores computer instructions. The processor is connected to the memory and is used to obtain and execute the computer instructions from the memory to implement the control method.

[0269] This application collects relevant parameters of the lawn mower motor during operation to identify the actual load situation, thereby achieving low power and low speed output when the load is low, and high power and high speed output when the load is high. The motor control and output adjustment are more accurate, thereby reducing ineffective energy consumption and improving the endurance of the lawn mower. Without the need for human intervention, the corresponding lawn mower is highly intelligent, easy to operate, and has good safety performance.

[0270] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0271] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-described embodiments, it should be understood by those skilled in the art that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. However, these modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A motor load adaptive control method, applied to a motor control device, comprising the following steps: Collecting operating parameters of the motor; identifying a load of the motor based on operating parameters of the motor; According to the corresponding relationship between the operating parameter and the load, if the operating parameter is greater than the upper boundary threshold of the load, the speed of the motor is increased, and if the operating parameter is less than the lower boundary threshold of the load, the speed of the motor is reduced; Before collecting the operating parameters of the motor, the method further includes: Obtain the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load.

2. The motor load adaptive control method according to claim 1, wherein the operating parameters include one or all of duty cycle, current and power.

3. The motor load adaptive control method according to claim 2, when the operating parameter includes a duty cycle, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the duty cycle d0% of the motor, and obtain the speed characteristic curve corresponding to the motor; Step 20, preset the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfy d1=d0+Δd, and obtain the speed characteristic curve corresponding to the motor; Step 30, repeating step 20 until the duty cycle of the motor is 100%, and obtaining the speed characteristic curve corresponding to the motor under all preset duty cycles; Step 40, mapping the speed-torque characteristic curves under different duty cycle states to a speed-duty cycle coordinate system; Step 50, selecting speed or torque points under different duty cycle states, and fitting them by straight line or curve.

4. The motor load adaptive control method according to claim 2, when the operating parameter includes a duty cycle, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the motor speed n0%, obtain the speed characteristic curve corresponding to the motor, and record the duty cycle under different torque scales; Step 20, preset the motor speed n1% and the speed variable Δn, and satisfy n1=n0+Δn, and obtain the speed characteristic curve corresponding to the motor; Step 30, repeating step 20 until the speed of the motor reaches the highest speed under no-load state, and obtaining the speed characteristic curve corresponding to the motor under all preset speeds; Step 40, mapping the speed-torque characteristic curves under different speed states to a speed-duty cycle coordinate system; Step 50, selecting speed or torque points under different duty cycle states, and fitting them by straight line or curve.

5. The motor load adaptive control method according to claim 2, when the operating parameter includes current, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the motor speed n0%, and obtain the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; Step 20, preset the speed n1% and speed variable Δn of the motor, and satisfy n1=n0+Δn, and obtain the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; Step 30, repeating step 20 until the speed of the motor reaches the highest speed under no-load state, and obtaining the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor at all preset speeds; Step 40, mapping the speed-torque characteristic curve and the current-torque characteristic curve under different speed states to a speed-current coordinate system; Step 50, select a speed or torque point, and select a current or torque point, and simulate the combine.

6. The motor load adaptive control method according to claim 2, when the operating parameter includes power, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the motor speed n0%, and obtain the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; Step 20, preset the speed n1% and speed variable Δn of the motor, and satisfy n1=n0+Δn, and obtain the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; Step 30, repeating step 20 until the speed of the motor reaches the highest speed under no-load state, and obtaining the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor at all preset speeds; Step 40, mapping the speed-torque characteristic curve and the power-torque characteristic curve under different speed states to a speed-power coordinate system; Step 50, selecting a speed or torque point, and selecting a power or torque point, by straight line or curve fitting.

7. A motor load adaptive control method, applied to a motor control device, comprising the following steps: Collecting operating parameters of the motor, wherein the operating parameters include duty cycle and / or rotation speed; identifying a load of the motor based on the operating parameters; According to the corresponding relationship between the operating parameter and the load, if the operating parameter is greater than the upper boundary threshold of the load, the current of the motor is increased, and if the operating parameter is less than the lower boundary threshold of the load, the current of the motor is reduced; Before collecting the operating parameters of the motor, the method further includes: Obtain the corresponding relationship between the operating parameters and the load, and obtain the upper and lower boundaries of the load Threshold.

8. The motor load adaptive control method according to claim 7, when the operating parameter includes the duty cycle, specifically comprises the following steps: Step 10, obtaining a corresponding relationship between the duty cycle and the load, and obtaining an upper and lower boundary threshold of the load; Step 20, collecting the operating parameters of the motor, including detecting the current current and obtaining the current duty cycle; Step 30, preprocessing the current and identifying the load of the motor based on the duty cycle; Step 40, determining whether the current is currently in the process of regulating the current of the motor, if so, using PID to regulate the current and returning to step 20, if not, determining the upper and lower boundary thresholds of the duty cycle according to the current current and going to step 50; Step 50, comparing the corresponding relationship between the duty cycle and the load, determining whether the duty cycle is greater than the upper boundary threshold of the load, if so, increasing the current of the motor and returning to step 20, if not, going to step 60; Step 60, determining whether the duty cycle is less than the lower boundary threshold of the load, if so, reducing the current of the motor and returning to step 20, if not, returning to step 20.

9. The motor load adaptive control method according to claim 7, when the operating parameter includes the speed, specifically comprises the following steps: Step 10, obtaining the corresponding relationship between the rotation speed and the load, and obtaining the upper and lower boundary thresholds of the load; Step 20, collecting the operating parameters of the motor, including detecting the current current and speed; Step 30, pre-processing the current and the speed, and identifying the load of the motor based on the speed; Step 40, determining whether the motor is currently in the current regulation process, if so, using PID to regulate the current and returning to step 20, if not, determining the upper and lower boundary thresholds of the rotation speed according to the current current and going to step 50; Step 50, comparing the corresponding relationship between the rotation speed and the load, determining whether the rotation speed is greater than the upper limit threshold of the load, if so, increasing the current of the motor and returning to step 20, if not, going to step 60; Step 60, determining whether the rotation speed is less than the lower boundary threshold of the load, if so, reducing the current of the motor and returning to step 20, if not, returning to step 20.

10. The motor load adaptive control method according to claim 7, when the operating parameter includes a duty cycle, obtaining the corresponding relationship between the duty cycle of the motor and the load, and obtaining the upper and lower boundary thresholds of the load, specifically includes: Step 10, preset the duty cycle d0% of the motor, and obtain the current characteristic curve corresponding to the motor; Step 20, preset the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfy d1=d0+Δd, and obtain the current characteristic curve corresponding to the motor; Step 30, repeating step 20 until the duty cycle of the motor is 100%, and obtaining the current characteristic curves corresponding to the motor under all preset duty cycles; Step 40, mapping the current-torque characteristic curves under different duty cycle states to a current-duty cycle coordinate system; Step 50, selecting current or torque points under different duty cycle states, and fitting them by straight line or curve.

11. The motor load adaptive control method according to claim 7, when the operating parameter includes a duty cycle, obtaining the corresponding relationship between the duty cycle of the motor and the load, and obtaining the upper and lower boundary thresholds of the load, specifically includes: Step 10, preset the current I0% of the motor, obtain the current characteristic curve corresponding to the motor, and record the duty cycle under different torque scales; Step 20, preset the current I1% and the current variable ΔI of the motor, and satisfy I1=I0+ΔI, and obtain the current characteristic curve corresponding to the motor; Step 30, repeating step 20 until the motor is at the highest no-load current duty cycle, and obtaining the current characteristic curve corresponding to the motor under all preset currents; Step 40, mapping the current-torque characteristic curves under different current states to a current-duty cycle coordinate system; Step 50, selecting current or torque points under different duty cycle states, and fitting them by straight line or curve.

12. The motor load adaptive control method according to claim 7, when the operating parameter includes the rotational speed, when obtaining the corresponding relationship between the rotational speed of the motor and the load, and obtaining the upper and lower boundary thresholds of the load, specifically includes: Step 10, presetting the speed of the motor to n0%, and obtaining the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; Step 20, preset the speed n1% and the speed variable Δn of the motor, and satisfy n1=n0+Δn, and obtain the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor; Step 30, repeating step 20 until the speed of the motor reaches the highest speed under no-load state, and obtaining the speed-torque characteristic curve and current-torque characteristic curve corresponding to the motor at all preset speeds; Step 40, mapping the speed-torque characteristic curve and the current-torque characteristic curve under different speed states to a speed-current coordinate system; Step 50, selecting a speed or torque point, and selecting a current or torque point, by straight line or curve fitting.

13. A motor load adaptive control method, applied to a motor control device, comprising the following steps: Obtaining a load adaptive control trajectory of the motor through operating parameters of the motor; Obtaining a corresponding relationship between the operating parameter and the load of the motor and an upper and lower boundary threshold value of the load; Collecting operating parameters of the motor; identifying a load of the motor based on operating parameters of the motor; According to the corresponding relationship between the operating parameter and the load, if the operating parameter is greater than the upper boundary threshold of the load, the power of the motor is increased; if the operating parameter is less than the lower boundary threshold of the load, the power of the motor is reduced.

14. The motor load adaptive control method according to claim 13, wherein the step of obtaining the load adaptive control trajectory of the motor through the operating parameters of the motor further comprises the following steps: Selecting power or torque points under different operating parameters, and establishing a table through each calibrated power or torque point; According to the current power and speed of the motor, check which grid of the table the motor falls into, and thereby obtain the upper and lower boundary thresholds of the speed of the motor after the load changes; When the actual speed of the motor exceeds the preset upper and lower boundary thresholds, a new target power is reset; The actual duty cycle is transitioned to the load adaptive control trajectory using linear fitting or curve fitting.

15. The motor load adaptive control method according to claim 13, wherein the operating parameters include duty cycle and / or rotation speed.

16. The motor load adaptive control method according to claim 15, when the operating parameter includes a duty cycle, the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load specifically includes: Step 10, preset the duty cycle d0% of the motor, and obtain the power characteristic curve corresponding to the motor; Step 20, preset the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfy d1=d0+Δd, and obtain the power characteristic curve corresponding to the motor; Step 30, repeating step 20 until the duty cycle of the motor is 100%, and obtaining power characteristic curves corresponding to the motor under all preset duty cycles; Step 40, mapping the power-torque characteristic curves under different duty cycle states to a power-duty cycle coordinate system; Step 50, selecting power or torque points under different duty cycle states, and fitting them by straight line or curve.

17. The motor load adaptive control method according to claim 15, when the operating parameter includes a duty cycle, the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load specifically includes: Step 10, preset the power P0% of the motor, obtain the speed characteristic curve corresponding to the motor, and record the duty cycle under different torque scales; Step 20, preset the power P1% and the power variable ΔP of the motor, and satisfy P1=P0+ΔP, and obtain the power characteristic curve corresponding to the motor; Step 30, repeating step 20 until the motor is at the highest duty cycle of no-load power, and obtaining the power characteristic curve corresponding to the motor under all preset powers; Step 40, mapping the power-torque characteristic curves under different power states to a power-duty cycle coordinate system; Step 50, selecting speed or torque points under different duty cycle states, and fitting them by straight line or curve.

18. The motor load adaptive control method according to claim 15, when the operating parameter includes the rotational speed, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the motor speed n0%, and obtain the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; Step 20, preset the speed n1% and speed variable Δn of the motor, and satisfy n1=n0+Δn, and obtain the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor; Step 30, repeating step 20 until the speed of the motor is at the maximum no-load speed, and obtaining the speed-torque characteristic curve and power-torque characteristic curve corresponding to the motor at all preset speeds; Step 40, mapping the speed-torque characteristic curve and the power-torque characteristic curve under different speed states to a speed-power coordinate system; Step 50, selecting a speed or torque point, and selecting a power or torque point, by straight line or curve fitting.

19. A motor load adaptive control method, applied to a motor control device, comprising the following steps: Collecting operating parameters of the motor; identifying a load of the motor based on operating parameters of the motor; According to the corresponding relationship between the operating parameter and the load, if the operating parameter is greater than the upper boundary threshold of the load, the torque of the motor is increased, and if the operating parameter is less than the lower boundary threshold of the load, the torque of the motor is reduced; Before collecting the operating parameters of the motor, the method further includes: Obtain the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load. 20 . The motor load adaptive control method according to claim 19 , wherein the operating parameters include duty cycle and / or rotation speed.

21. The motor load adaptive control method according to claim 20, when the operating parameter includes a duty cycle, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the duty cycle d0% of the motor, and obtain the torque characteristic curve corresponding to the motor; Step 20, preset the duty cycle d1% and the duty cycle variable Δd of the motor, and satisfy d1=d0+Δd, and obtain the torque characteristic curve corresponding to the motor; Step 30, repeating step 20 until the duty cycle of the motor is 100%, and obtaining the torque characteristic curves corresponding to the motor under all preset duty cycles; Step 40, mapping the torque-speed characteristic curves under different duty cycle states to a torque-duty cycle coordinate system; Step 50, selecting speed points or torque points under different duty cycle states, and fitting them by straight line or curve.

22. The motor load adaptive control method according to claim 20, when the operating parameter includes the duty cycle, specifically comprises the following steps: Step 10, obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load; Step 20, collecting the operating parameters of the motor, including detecting the current speed; Step 30, preprocessing the rotation speed, and identifying the load of the motor based on the operating parameters of the motor; Step 40, obtaining an optimal target duty cycle based on the rotational speed and the target torque; Step 50, determining whether the current state is in the duty cycle adjustment process of the motor, if so, adjusting the current duty cycle and returning to step 20, if not, determining the operating speed and the upper and lower boundary thresholds of the duty cycle according to the current torque and returning to step 60; Step 60, comparing the corresponding relationship between the operating parameters and the load, determining whether the duty cycle is Is the speed greater than the upper limit threshold of the load or is the speed less than the lower limit threshold of the load? If so, increase the torque of the motor and return to step 20; if not, go to step 70; Step 70, determining whether the duty cycle is less than the lower limit threshold of the load or whether the rotation speed is greater than the lower limit threshold of the load, if so, reducing the torque of the motor and returning to step 20, if not, returning to step 20.

23. The motor load adaptive control method according to claim 20, when the operating parameter includes the rotational speed, in the step of obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising: Step 10, preset the motor speed n0%, and obtain the torque-speed efficiency MAP diagram corresponding to the motor; Step 20, preset the motor speed n1% and the speed variable Δn, and satisfy n1=n0+Δn, and obtain the torque-speed efficiency MAP diagram corresponding to the motor; Step 30, repeating step 20 until the speed of the motor reaches the highest speed under no-load condition, and obtaining a torque-speed efficiency MAP diagram corresponding to the motor at all preset speeds; Step 40, drawing a contour map of the torque-speed efficiency MAP diagram under different speed states according to the efficiency to obtain a torque-speed efficiency MAP diagram; Step 50, selecting a speed or torque point, and selecting a power or torque point, by straight line or curve fitting.

24. The motor load adaptive control method according to claim 20, when the operating parameter includes the speed, specifically comprises the following steps: Step 10, obtaining the corresponding relationship between the operating parameter and the load and the upper and lower boundary thresholds of the load; Step 20, collecting the operating parameters of the motor, including detecting the current speed and current; Step 30, preprocessing the speed and current, and identifying the load of the motor based on the operating parameters of the motor; Step 40, obtaining an optimal target current based on the rotation speed and the target torque; Step 50, determining whether the current is currently in the current regulation process of the motor, if so, adjusting the current and returning to step 20, if not, determining the operating speed and the upper and lower boundary thresholds of the current according to the current torque and going to step 60; Step 60, comparing the corresponding relationship between the operating parameter and the load, determining whether the current is greater than the upper boundary threshold of the load or whether the speed is less than the lower boundary threshold of the load, if so, increasing the torque of the motor and returning to step 20, if not, going to step 70; Step 70, determining whether the current is less than the lower boundary threshold of the load or whether the rotation speed is greater than the lower boundary threshold of the load, if so, reducing the torque of the motor and returning to step 20, if not, returning to step 20.

25. A motor load adaptive control method, wherein: The control method is applied to a motor device and comprises the following steps: Obtaining the corresponding relationship between the operating parameters of the motor and the load and the upper and lower boundary thresholds of the load; Collecting operating parameters of the motor; identifying a load of the motor based on operating parameters of the motor; According to the corresponding relationship between the operating parameters of the motor and the load, if the operating parameters are greater than the upper boundary threshold of the load, the performance parameters of the motor are increased; if the operating parameters are less than the lower boundary threshold of the load, the performance parameters of the motor are reduced.

26. The motor load adaptive control method according to claim 25, wherein the operating parameters of the motor include at least one of duty cycle, speed, current and power.

27. The motor load adaptive control method according to claim 25, wherein the performance parameter of the motor comprises at least one of speed, current, power and torque, and the manner of increasing / decreasing the motor performance parameter comprises: Increase / decrease the power of the motor, increase / decrease the speed of the motor, increase / decrease the current of the motor, and increase / decrease the torque of the motor.

28. The motor load adaptive control method according to claim 26, wherein the correspondence between the motor operating parameters and the load comprises a target control trajectory curve.

29. The motor load adaptive control method according to claim 28, wherein the target control trajectory curve comprises a trajectory curve in which the speed varies with at least one of duty cycle, current, and power. 30 . The motor load adaptive control method according to claim 28 , wherein the target control trajectory curve comprises a trajectory curve of current varying with at least one of duty cycle and rotation speed.

31. The motor load adaptive control method according to claim 28, wherein the target control trajectory curve comprises a trajectory curve of power varying with at least one of duty cycle and rotation speed.

32. The motor load adaptive control method according to claim 28, wherein the target control trajectory curve comprises a trajectory curve of torque varying with at least one of duty cycle and rotation speed.

33. According to the motor load adaptive control method of claim 28, in the process of obtaining the target control trajectory curve of the correspondence between the motor operating parameters and the load, if the operating parameters only include the duty cycle, the data is measured by adopting an open-loop PWM (pulse width modulation) control method.

34. According to the motor load adaptive control method of claim 28, in the process of obtaining the target control trajectory curve of the correspondence between the motor operating parameters and the load, if the operating parameters include at least one of the speed, current, and power, the data is measured by adopting a closed-loop control method.

35. According to the motor load adaptive control method according to claim 28, in the process of increasing / decreasing the performance parameters of the motor, at least one of the motor operating parameters is regulated to move to the target point on the target control trajectory curve by straight line or curve fitting to achieve the target trajectory curve control of the motor.

31. An outdoor working vehicle, comprising: Frame; an operating mechanism, attached to the vehicle frame, comprising an operating motor and an output assembly driven by the operating motor to perform a specific functional operation; A controller component, used for controlling the operating state of the operating motor; The working motor has a variety of operating parameters, and the controller component has a variety of control strategies corresponding to the various operating parameters for the working motor; The controller assembly includes a collection unit, an identification unit, a storage unit and a control unit; The collecting unit is configured to collect at least one of the operating parameters of the working motor during the operation of the working motor; The identification unit is configured to identify the load condition of the operating motor based on the collected operating parameters; The storage unit is configured to pre-store the corresponding relationship between the operating parameters of the working motor and the load change and the upper and lower boundary thresholds of the operating parameters corresponding to the load; The control unit is configured to determine whether the detected actual load matches the actual operating parameters of the working motor based on the corresponding relationship stored in the storage unit, and to adopt a matching control strategy to regulate the performance parameters of the working motor when the actual operating parameters do not fall within the upper and lower boundary thresholds of the preset operating parameters corresponding to the actual load.

32. The outdoor working vehicle according to claim 31, characterized in that the various operating parameters of the working motor include duty cycle parameters, speed parameters, current parameters and power parameters.

33. The outdoor working vehicle according to claim 32, characterized in that the performance parameters of the working motor include speed parameters, current parameters, power parameters and torque parameters.

34. The outdoor work vehicle according to claim 33, characterized in that: The control strategies matched with the working motor include speed closed-loop control strategy, current closed-loop control strategy, power closed-loop control strategy, torque closed-loop control strategy and PWM duty cycle open-loop control strategy.

35. The outdoor work vehicle according to claim 34, characterized in that: The storage unit also stores the corresponding relationship between the performance parameters and the operating parameters of the working motor.

36. The outdoor work vehicle according to claim 35, characterized in that: The correspondence between the performance parameters and the operating parameters of the operating motor includes the correspondence between the speed and the duty cycle, the correspondence between the speed and the current, and the correspondence between the speed and the power.

37. The outdoor work vehicle according to claim 35, characterized in that: The correspondence between the performance parameters and the operating parameters of the working motor includes the correspondence between current and duty cycle and the correspondence between current and rotation speed.

38. The outdoor work vehicle according to claim 35, characterized in that: The correspondence between the performance parameters and the operating parameters of the working motor includes a correspondence between power and duty cycle and a correspondence between power and rotation speed.

39. The outdoor work vehicle according to claim 35, characterized in that: The correspondence between the performance parameters and the operating parameters of the working motor includes the correspondence between torque and duty cycle and the correspondence between torque and rotation speed.

40. The outdoor work vehicle according to claim 36, characterized in that: Select speed or torque points under different operating parameter states, and / or select current or torque points, and / or select power or torque points, and fit them by straight line or curve.

41. The outdoor work vehicle according to claim 37, characterized in that: Select current or torque points under different operating parameter states, and / or select speed or speed points, and fit them by straight line or curve.

42. The outdoor work vehicle according to claim 38, characterized in that: Select power or torque points under different operating parameter states, and / or select speed or torque points, and fit them by straight line or curve.

43. The outdoor work vehicle according to claim 39, characterized in that: Select speed or torque points under different operating parameter states, and / or select power or torque points, and fit them by straight line or curve.

44. The outdoor work vehicle according to claim 31, characterized in that: The control unit increases the performance parameter of the working motor when it is determined that the actual operating parameter is greater than the upper boundary threshold of the load.

45. The outdoor work vehicle according to claim 31, characterized in that: The control unit reduces the performance parameter of the working motor when it is determined that the actual operating parameter is less than a lower boundary threshold of the load.

46. ​​The outdoor work vehicle according to claim 35, characterized in that: The control unit determines whether the operating motor is currently in the process of speed regulation before determining whether the actual operating parameter falls within the upper and lower boundary thresholds of the preset operating parameter corresponding to the actual load.

47. The outdoor work vehicle according to claim 46, characterized in that: The control unit determines that the operating motor uses PID (proportional, integral, and differential control) to adjust the speed during the speed adjustment process.

48. The outdoor work vehicle according to claim 46, characterized in that: The control unit determines that the working motor is not in the speed adjustment process, and determines the upper and lower boundaries of the working motor operating parameters by linear interpolation calculation or direct function method calculation after looking up the table of current working motor performance parameters.

49. The outdoor work vehicle according to claim 31, characterized in that: The acquisition unit, identification unit, control unit and storage unit are integrated in the same single chip computer (MCU).

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