CN106936365A - The control method of motor in snowplough - Google Patents
The control method of motor in snowplough Download PDFInfo
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- CN106936365A CN106936365A CN201610756912.0A CN201610756912A CN106936365A CN 106936365 A CN106936365 A CN 106936365A CN 201610756912 A CN201610756912 A CN 201610756912A CN 106936365 A CN106936365 A CN 106936365A
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- 238000010408 sweeping Methods 0.000 abstract description 14
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The invention discloses the control method of motor in snowplough, including：Detect the rotating speed of motor；Judge the rotating speed of motor whether less than default first tachometer value；If the rotating speed of motor is less than default first tachometer value, reduce by the electric current of motor.The present invention is advantageous in that：For the difference of motor speed during sweeping away snow, regulation motor current value makes it be maintained within a certain range, so as to effectively overcome influence of the positive closing mode to electrical machinery life, improves service behaviour of the snowplough under thickness snow, case of heavy load.
Description
Technical Field
The invention relates to a motor control method, in particular to a control method of a motor in a snow sweeper.
Background
The snow sweeper is gradually popularized and applied as a common tool for clearing snow on a road surface in winter.
US6170179B1 discloses a snow sweeper, as shown in fig. 1, a motor (not shown), a battery assembly for supplying power to the motor, and a control circuit (not shown) for controlling the motor to operate are arranged in a body of the snow sweeper, the battery assembly is electrically connected with the motor through the control circuit, and the control circuit controls the motor to drive a snow sweeping roller 12(wheel) to rotate so as to realize a snow sweeping function.
When the snow sweeping roller 12 is subjected to small resistance, the motor can drive the snow sweeping roller 12 to rotate easily; in contrast, under the condition of thick snow cover and the like, the snow sweeping roller 12 is relatively large in resistance, the motor is heavy in load, and particularly when the snow sweeping roller 12 is locked, the motor is often in a dangerous overload state, however, the existing snow sweeping machine does not have a scheme of controlling the motor according to the actual condition of the snow sweeping roller 12, and the possibility of motor damage is greatly increased.
Often judge whether the motor is in safe operating state according to the electrical parameter among the prior art, in order to protect the motor, general design can be with the threshold value setting of electrical parameter at comparatively safe scope, so even when the motor appears the condition that briefly surpasss the threshold value, also can directly close the motor for protecting the motor, so, when the user utilizes the snowplow to clear up thicker snow, if do not master the speed that promotes the snowplow well, the phenomenon of stopping protection will frequently appear, the work efficiency is reduced, user experience has also been influenced simultaneously.
Disclosure of Invention
A method of controlling a motor in a snowplow, comprising: detecting the rotating speed of the motor; judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not; and if the rotating speed of the motor is less than the preset first rotating speed value, reducing the current passing through the motor.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not; and if the rotating speed of the motor is less than the preset second rotating speed value, maintaining the current of the motor at the first current value.
Further, still include: judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not; and if the rotating speed of the motor is less than or equal to a preset third rotating speed value, maintaining the current of the motor at a second current value.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not; if the rotating speed of the motor is smaller than a preset second rotating speed value, maintaining the current of the motor at a first current value; judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not; if the rotating speed of the motor is less than or equal to a preset third rotating speed value, maintaining the current of the motor at a second current value; the second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value; the first current value is greater than the second current value.
Further, the first current value with the value range of the second current value being more than 0.2 times is smaller than the first current value.
Further, the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is greater than 0 and less than or equal to 0.2.
Another method for controlling a motor in a snow blower includes: detecting the rotating speed of the motor; judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not; and if the rotating speed of the motor is less than the preset first rotating speed value, reducing the duty ratio of the signal for driving the motor.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not; and if the rotating speed of the motor is less than the preset second rotating speed value, reducing the duty ratio of a signal for driving the motor to maintain the current of the motor at the first current value.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset third rotating speed value or not; and if the rotating speed of the motor is less than the preset third rotating speed value, reducing the duty ratio of the signal for driving the motor to maintain the current of the motor at the second current value.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not; if the rotating speed of the motor is less than a preset second rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a first current value; judging whether the rotating speed of the motor is smaller than a preset third rotating speed value or not; if the rotating speed of the motor is less than a preset third rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a second current value; the second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value; the first current value is greater than the second current value.
Further, the first current value with the value range of the second current value being more than 0.2 times is smaller than the first current value.
Further, the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is greater than 0 and less than or equal to 0.2.
Another method for controlling a motor in a snow blower includes: detecting the rotating speed of the motor; and judging whether the rotating speed of the motor is equal to zero or not, and if the rotating speed of the motor is equal to zero, maintaining the current of the motor at a second set value.
Further, still include: detecting the working time of the motor; judging whether the working time of the motor is greater than the preset working time or not; and if the working time of the motor is longer than the preset working time, the motor is powered off.
Further, still include: judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not; and if the rotating speed of the motor is less than the preset first rotating speed value, reducing the current passing through the motor.
Further, judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not; if the rotating speed of the motor is less than a preset second rotating speed value, maintaining the current of the motor at a first set value; the first set value is greater than the second set value.
Further, still include: judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not; and if the rotating speed of the motor is less than or equal to a preset third rotating speed value, maintaining the current of the motor at a second set value.
Further, the preset working time is less than or equal to 3 seconds.
Further, the value range of the second set value is that the second set value which is more than 0.2 times is smaller than the first set value.
Further, the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is more than 0 and less than 0.2.
The invention has the advantages that: when the motor is in overload danger, the motor in the snow sweeper is controlled according to the actual condition of the snow sweeping roller, so that the possibility of damage of the motor is reduced.
When the snow sweeper cleans thicker accumulated snow, the control mode of maintaining the current of the motor at a set value is adopted, so that the frequent stop and start of the motor are avoided, and the working efficiency is improved while better user experience is brought.
Drawings
Fig. 1 is a schematic view of a snow sweeper structure disclosed in U.S. patent document US6170179B 1;
FIG. 2 is a schematic diagram of motor control in a snow plow, as an example;
FIG. 3 is a schematic diagram of a drive circuit for the motor;
FIG. 4 is a schematic flow chart diagram of one embodiment of a method of controlling a motor in a snowplow;
FIG. 5 is a schematic flow chart diagram of another embodiment of a method of controlling a motor in a snowplow;
FIG. 6 is a schematic flow chart diagram of another embodiment of a method of controlling a motor in a snowplow;
FIG. 7 is a schematic flow chart diagram of another embodiment of a method of controlling a motor in a snowplow;
FIG. 8 is a schematic flow chart diagram of another embodiment of a method of controlling a motor in a snowplow;
FIG. 9 is a schematic flow chart diagram of another embodiment of a method of controlling a motor in a snowplow;
FIG. 10 is a graph showing the relationship between motor speed, current and torque when the control method shown in FIG. 9 is used to control the motor of the snow sweeper in accordance with the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
The snowplow shown in fig. 1 includes a housing 16, a battery assembly, a motor located within the housing, and a control circuit, with the method described below being applied to control the motor using the control circuit. The control circuit can obtain the rotation speed of the motor and the current flowing through the motor and adjust the current flowing through the motor according to the rotation speed of the motor
As shown in the control schematic block diagram of the motor in the snow sweeper in figure 2,
the detection circuit 22 is used to detect the rotation speed of the motor 25 and the current flowing through the motor 25. Specifically, the detection circuit 22 includes a hall sensor for detecting the rotation speed of the motor 25 and a current sensor for detecting the current flowing through the motor 25. Of course, the current flowing through the motor 25 may be detected by other detection methods such as current detection resistor, and the present invention is not limited thereto.
The control circuit 21 includes a judgment module 211, a storage module 212, and a signal generation module 213. Wherein, the judging module 211 is used for receiving the rotation speed and current signals of the motor from the detecting circuit 22,
the storage module 212 is used for storing a preset motor speed value. For example, the second rotational speed value, the first rotational speed value and the third rotational speed value are stored.
The determining module 211 is used for comparing the rotation speed of the motor with the rotation speed value stored in the storage module 212. Specifically, the determining module 211 receives the motor speed detected by the detecting circuit 22 in real time, and compares the motor speed detected in real time with a preset motor speed stored in the storage module 212 to generate a corresponding determination result.
The signal generating module 213 is used for generating a control signal for driving the PWM circuit 23. Specifically, the signal generating module 213 generates a PWM signal with a corresponding duty ratio according to the determination result of the determining module 211, and the PWM signal enables the driving circuit 24 to operate to drive the motor 25 to rotate.
As shown in fig. 3, in the snow sweeper using the battery pack as a power supply, a three-phase brushless dc motor may be used, in which the armature winding A, B, C of the motor body forms a three-phase star connection, the driving circuit 24 includes six power tubes, and the on/off of the six power tubes is controlled by the control circuit 21 to output a driving signal to the motor 25, thereby driving the rotor of the motor to rotate and outputting power to the outside. Specifically, when AB is required to be turned on, the control circuit 21 outputs a control signal for turning on only the power transistors Q1 and Q4, and at this time, the other power transistors are kept off, and the current flows through the paths: u shape+→ Q1 → coil A → coil B → Q4 → U-Every time the rotor rotates 60 degrees of electric angle in space, the control signal is switched once, and the conduction sequence of the power tubes is as follows: Q1Q4, Q1Q2, Q3Q2, Q3Q6, Q5Q6, Q5Q 4.
The method for controlling the motor in the snow sweeper will be described in detail with reference to fig. 4 to 10.
Referring to fig. 4, as one embodiment of a method for controlling a motor in a snow sweeper, the method includes the steps of:
s401, detecting the rotating speed n of the motor;
s402, judging whether the rotating speed n of the motor is less than a second rotating speed value n or not2；
S403. if yes, maintaining the current I of the motor at a first current value (the current passing through the motor can be adjusted by adjusting the duty ratio of a driving motor signal);
s404, if not, increasing the duty ratio of a driving signal of the driving motor, and reducing the rotating speed of the motor;
s405, judging whether the rotating speed of the motor is smaller than a first rotating speed value;
s406, if yes, reducing the current I of the motor; specifically, until the motor current is reduced to a second current value;
and S407, if not, increasing the duty ratio of a driving signal of the driving motor, and reducing the rotating speed of the motor until the rotating speed of the motor is smaller than the first rotating speed value.
The second rotation speed value is greater than the first rotation speed value, the first rotation speed value can be selected according to the ratio of the difference value of the product of the voltage of a power supply battery in the snow sweeper, the current protection value of the motor and the internal resistance of the battery to the constant of the motor, and the first current value I1The current can be constant, and the value can be determined by the discharge capacity of the battery, the maximum current which can be borne by the motor, the maximum current value which can be borne by the driving circuit and the power of the whole motor.
Referring to fig. 5, as another embodiment of a control method of a motor in a snow sweeper, the method includes the following steps:
s501, detecting the rotating speed of a motor;
s502, judging whether the rotating speed of the motor is smaller than a first rotating speed value or not;
s503, if so, reducing the current passing through the motor (the current passing through the motor can be reduced by reducing the duty ratio of a driving signal for driving the motor);
s504, if not, the rotating speed of the motor can be reduced by improving the duty ratio of a driving signal of the driving motor until the rotating speed of the motor is smaller than a first rotating speed value;
s505, judging whether the rotating speed of the motor is smaller than a third rotating speed value;
s506, if so, maintaining the current of the motor at a second current value, wherein the motor is in a rotating blockage state, and the rotating speed of the motor is extremely small or zero; if not, returning to S504.
Wherein the first rotation speed value is greater than the third rotation speed value; the second current value may be a constant value, or may be a value in which the magnitude of the current changes from large to small.
Referring to fig. 6, as another embodiment of the control method of the motor in the snow sweeper, the method specifically includes the following steps:
s601, detecting a rotating speed value of a motor;
s602, judging whether the rotating speed value of the motor is smaller than a second rotating speed value or not;
s603, if so, maintaining the current of the motor at a first current value, and maintaining the current passing through the motor at the first current value by adjusting the duty ratio of a driving signal of the driving motor;
s604, if not, increasing the duty ratio of a driving signal of the driving motor until the rotating speed of the motor is smaller than a second rotating speed value;
s605, judging whether the rotating speed of the motor is smaller than a first rotating speed value;
s606, if yes, reducing the current of the motor (the current passing through the motor can be reduced by reducing the duty ratio of a driving signal for driving the motor);
s607, if not, increasing the duty ratio of a driving signal of the driving motor, and reducing the rotating speed of the motor until the rotating speed of the motor is less than a first rotating speed value;
s608, judging whether the rotating speed of the motor is smaller than a third rotating speed value;
s609, if so, maintaining the current of the motor at a second current value; if not, returning to S607.
The second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value; the selection of the rotating speed can be determined according to the ratio of the difference value of the product of the voltage of a power supply battery, the current protection value of the motor and the internal resistance of the battery in the snowplow and the constant of the motor.
The first current value is greater than the second current value. The first current value can be constant, the value of the first current value is determined by the discharge capacity of the battery, the maximum current which can be borne by the motor, the maximum current which can be borne by the driving circuit and the power of the whole motor, and the second current value can be a constant value or a value of which the current magnitude changes from large to small.
As a possible implementation manner, the value range of the second current value is greater than 0.2 times of the first current value and smaller than the first current value, when a user cleans up thick snow, the load of the snow sweeper is pulled back, and the motor can still be started continuously.
As a possible embodiment, the ratio of the second rotation speed value to the motor no-load rotation speed value is greater than 0.5 and less than or equal to 0.8, the ratio of the first rotation speed value to the motor no-load rotation speed value is less than or equal to 0.5 and greater than 0.2, and the ratio of the third rotation speed value to the motor no-load rotation speed value is less than or equal to 0.2 and greater than zero, wherein the motor no-load rotation speed value is the maximum rotation speed value of the motor when no torque is output.
Another method for controlling a motor in a snow blower includes: detecting the rotating speed of the motor; and judging whether the rotating speed of the motor is equal to zero or not, and if the rotating speed of the motor is equal to zero, maintaining the current of the motor at a second set value. When the rotating speed of the motor is zero, the motor is in a locked-rotor state, as an implementation mode, the current can be maintained at a second set value by adjusting the PWM duty ratio, a user removes the load of the motor, and the snow sweeper can be started continuously.
Referring to fig. 7, as another embodiment of the control method of the motor in the snow sweeper, the method specifically includes the following steps:
s701, detecting the rotating speed of a motor;
s702, judging whether the rotating speed of the motor is equal to zero or not,
s703, if yes, maintaining the current of the motor at a second set value;
s704, if not, increasing the duty ratio of the driving signal;
s705, detecting the working time of the motor;
s706, judging whether the working time of the motor is longer than the preset working time;
and S707, if so, stopping the motor, otherwise, returning to the S703. Referring to fig. 8, another embodiment of the control method for the motor in the snow sweeper specifically includes the following steps:
s801, detecting the rotating speed of a motor;
s802, judging whether the rotating speed of the motor is smaller than a second rotating speed value or not;
s803. if yes, the current of the motor is maintained at a first set value (the current passing through the motor can be maintained at the first set value by adjusting the duty ratio of a driving signal for driving the motor);
s804, if not, increasing the duty ratio of a driving signal of the driving motor until the rotating speed of the motor is less than a second rotating speed value;
s805, judging whether the rotating speed of the motor is smaller than a first rotating speed value or not;
s806, if yes, reducing the current of the motor (the current passing through the motor can be reduced by reducing the duty ratio of a driving signal for driving the motor);
s807, if not, increasing the duty ratio of a driving signal of the driving motor, and reducing the rotating speed of the motor until the rotating speed of the motor is smaller than a first rotating speed value;
s808, judging whether the rotating speed of the motor is less than a third rotating speed value;
s809, if yes, maintaining the current of the motor at a second set value; if not, returning to the step S807 until the rotating speed of the motor is less than the third rotating speed value;
s810, starting to record the working time of the motor when the rotating speed of the motor is smaller than a third rotating speed value;
s811, judging whether the working time of the motor is greater than the preset working time;
s812, if yes, stopping or restarting the motor after power failure; otherwise, returning to S809.
The second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value; the selection of the rotating speed can be determined according to the ratio of the difference value of the voltage of a power supply battery in the snow sweeper multiplied by the set current value and the internal resistance of the battery to a motor constant. The first set value is greater than the second set value. The first set value can be constant, the value of the first set value is determined by the discharge capacity of the battery, the maximum current which can be borne by the motor, the maximum current value which can be borne by the driving circuit and the power of the whole motor, and the second set value can be a constant value or a value of which the current changes from large to small.
As a possible implementation manner, the value range of the second set value is greater than 0.2 times of the first set value and less than the first set value, when a user cleans up thick snow, the load of the snow sweeper is pulled back, and the motor can still be started continuously.
As a possible embodiment, the ratio of the second rotation speed value to the motor no-load rotation speed value is greater than 0.5 and less than or equal to 0.8, the ratio of the first rotation speed value to the motor no-load rotation speed value is less than or equal to 0.5 and greater than 0.2, and the ratio of the third rotation speed value to the motor no-load rotation speed value is less than or equal to 0.2 and greater than zero, wherein the motor no-load rotation speed value is the maximum rotation speed value of the motor when no torque is output.
As a possible implementation mode, the preset working time is less than or equal to 3s, when the working time of the motor in the locked-rotor state exceeds the preset working time, the motor is powered off and stops working, and the motor can be prevented from being burnt out due to excessive heating in the locked-rotor state for a long time.
Referring to the flow shown in fig. 9, the control method takes the no-load rotation speed n in the snow sweeper0The motor of (2) is controlled as an example, and may specifically include:
s901, detecting the rotating speed n of a motor;
s902, judging whether the rotating speed of the motor meets n<0.8n0；
S903, if yes, maintaining the current of the motor at I1(first current value or first set value);
s904, if not, the duty ratio of a driving signal of the driving motor is increased;
s905, judging whether the rotating speed of the motor meets n<0.5 n0；
S906, if yes, reducing the current I of the motor;
s907, if not, increasing the duty ratio of a driving signal of the driving motor;
s908, judging whether the rotating speed of the motor meets n<0.2n0；
S909, if yes, keeping the current of the motor at I2(second current value or second set value), go to step S11;
s910, if not, increasing the duty ratio of a driving signal of the driving motor;
s911, judging whether the rotating speed of the motor meets n = 0;
s912, if yes, recording the working time t of the motor;
s913, if not, the duty ratio of the driving signal is increased;
s914, judging whether t satisfies t>t0(preset working time), if not, go to step S909;
and S915, if so, powering off the motor and stopping working.
As a possible implementation manner, the rotation speed of the motor may be directly detected by using another position sensor such as a hall sensor, or may be indirectly detected by detecting the rotation speed of the snow sweeping roller connected to the rotation shaft of the motor or the rotation speed of another transmission mechanism in transmission connection with the motor, by using a transmission ratio between the motor and the transmission mechanism, or by detecting another electrical parameter (such as a motor current or a motor voltage) related to the rotation speed of the motor.
And a judging module in a control circuit for controlling the motor compares the motor rotating speed obtained by direct detection or indirect detection with a second rotating speed value stored in the storage module, and then the signal generating module outputs a corresponding driving signal to perform Pulse Width Modulation (PWM), the current passing through the motor can be changed by adjusting the duty ratio of the driving signal of the driving motor, the current passing through the motor is increased by increasing the duty ratio of the driving signal, and the current passing through the motor is reduced by reducing the duty ratio of the driving signal.
Referring to fig. 10, when the control method of the embodiment is adopted to control the motor in the snow sweeper, the change curves of the rotating speed and the current of the motor along with the torque are shown. The torque of the motor is increased along with the increase of the load of the motor, when the snow sweeping roller 12 is subjected to smaller resistance, the load of the motor is smaller, the torque is smaller, along with the gradual increase of the resistance on the snow sweeping roller 12, the torque of the motor is gradually increased, the rotating speed of the motor is continuously reduced, when the position sensor detects that the rotating speed of the motor is smaller than a second rotating speed value, the duty ratio of the driving signal is adjusted to maintain the current of the motor at a first current value until the position sensor detects that the rotating speed of the motor is smaller than the first rotating speed value, and the duty ratio of the driving signal is adjusted to reduce the current of the motor until the position sensor detects that the rotating speed of the motor is smaller than a third rotating speed value. When the rotation speed of the motor is detected to be zero, the motor is overloaded and locked, the current of the motor is maintained at a second set value (namely a second current value), the working time of the motor in a locked-rotor state is detected, and if the working time exceeds the preset working time, the motor is powered off and stops working. The mode of controlling the motor according to the actual condition of the snow sweeping roller 12 greatly reduces the possibility of motor damage, can also avoid frequent stop and start of the motor, and brings better user experience.
The process of motor current regulation, that is, the process of PWM output signal change, can adjust the current value through the motor by adjusting the duty ratio of the PWM signal. As an alternative embodiment, the motor current is adjusted by adopting a PWM _ ON modulation mode, that is, in the 120-degree conduction interval, each power tube is constantly turned ON for 60 degrees, and then, the last 60 degrees are modulated by adopting PWM. Under the condition of motor load, the PWM _ ON modulation mode solves the problem of uneven heating of the MOS of the upper bridge and the lower bridge.
As a possible implementation mode, because the snow sweeper has poor working conditions and large load current, the current market switches with high voltage and large current are difficult to meet the requirements, and a mode of connecting a plurality of switches in parallel can be adopted to provide larger load current for the snow sweeper. Meanwhile, the multi-switch parallel connection mode can reduce the voltage drop and heating loss caused by larger on-state impedance when the switch is in an on state.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (20)
1. A method of controlling a motor in a snowplow, comprising:
detecting the rotating speed of the motor;
judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not;
and if the rotating speed of the motor is less than a preset first rotating speed value, reducing the current passing through the motor.
2. The control method of the motor in the snow sweeper according to claim 1,
further comprising:
judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not;
and if the rotating speed of the motor is less than a preset second rotating speed value, maintaining the current of the motor at a first current value.
3. The control method of the motor in the snow sweeper according to claim 1,
further comprising:
judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not;
and if the rotating speed of the motor is less than or equal to a preset third rotating speed value, maintaining the current of the motor at a second current value.
4. The control method of the motor in the snow sweeper according to claim 1,
further comprising:
judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not;
if the rotating speed of the motor is smaller than a preset second rotating speed value, maintaining the current of the motor at a first current value;
judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not;
if the rotating speed of the motor is less than or equal to a preset third rotating speed value, maintaining the current of the motor at a second current value;
wherein,
the second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value;
the first current value is greater than the second current value.
5. The control method of the motor in the snow sweeper according to any one of claims 1 to 4,
the value range of the second current value is that the first current value which is more than 0.2 times is smaller than the first current value.
6. The control method of the motor in the snow sweeper according to any one of claims 1 to 4,
the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is more than 0 and less than or equal to 0.2.
7. A method of controlling a motor in a snowplow, comprising:
detecting the rotating speed of the motor;
judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not;
and if the rotating speed of the motor is less than a preset first rotating speed value, reducing the duty ratio of a signal for driving the motor.
8. The control method of the motor in the snow sweeper according to claim 7,
further comprising:
judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not;
and if the rotating speed of the motor is less than a preset second rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a first current value.
9. The control method of the motor in the snow sweeper according to claim 7,
further comprising:
judging whether the rotating speed of the motor is smaller than a preset third rotating speed value or not;
and if the rotating speed of the motor is less than a preset third rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a second current value.
10. The control method of the motor in the snow sweeper according to claim 7,
further comprising:
judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not;
if the rotating speed of the motor is smaller than a preset second rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a first current value;
judging whether the rotating speed of the motor is smaller than a preset third rotating speed value or not;
if the rotating speed of the motor is less than a preset third rotating speed value, reducing the duty ratio of a signal for driving the motor to enable the current of the motor to be maintained at a second current value;
wherein,
the second rotating speed value is greater than the first rotating speed value, and the first rotating speed value is greater than the third rotating speed value;
the first current value is greater than the second current value.
11. A control method of a motor in a snow sweeper according to any one of claims 7 to 10,
the value range of the second current value is that the first current value which is more than 0.2 times is smaller than the first current value.
12. A control method of a motor in a snow sweeper according to any one of claims 7 to 10,
the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is more than 0 and less than or equal to 0.2.
13. A method of controlling a motor in a snowplow, comprising:
detecting the rotating speed of the motor;
determining whether the rotational speed of the motor is equal to zero,
and if the rotating speed of the motor is equal to zero, maintaining the current of the motor at a second set value.
14. The method of controlling a motor in a snow sweeper of claim 13, further comprising:
detecting the working time of the motor;
judging whether the working time of the motor is greater than the preset working time or not;
and if the working time of the motor is longer than the preset working time, the motor is powered off.
15. The method of controlling a motor in a snow sweeper of claim 13, further comprising:
judging whether the rotating speed of the motor is smaller than a preset first rotating speed value or not;
and if the rotating speed of the motor is less than a preset first rotating speed value, reducing the current passing through the motor.
16. The method for controlling a motor in a snow sweeper according to claim 13,
judging whether the rotating speed of the motor is smaller than a preset second rotating speed value or not;
if the rotating speed of the motor is smaller than a preset second rotating speed value, maintaining the current of the motor at a first set value;
the first set value is greater than the second set value.
17. The method of controlling a motor in a snow sweeper of claim 13, further comprising:
judging whether the rotating speed of the motor is less than or equal to a preset third rotating speed value or not;
and if the rotating speed of the motor is not more than a preset third rotating speed value, maintaining the current of the motor at a second set value.
18. A control method of a motor in a snow sweeper according to any one of claims 13 to 17,
the preset working time is less than or equal to 3 seconds.
19. A control method of a motor in a snow sweeper according to any one of claims 13 to 17,
the value range of the second set value is that the second set value which is more than 0.2 times is smaller than the first set value.
20. A control method of a motor in a snow sweeper according to any one of claims 13 to 17,
the value range of the ratio of the third rotating speed value to the motor no-load rotating speed is more than 0 and less than 0.2.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2015110266383 | 2015-12-31 | ||
| CN201511026638 | 2015-12-31 |
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| CN106936365A true CN106936365A (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610756912.0A Pending CN106936365A (en) | 2015-12-31 | 2016-08-26 | The control method of motor in snowplough |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107508509A (en) * | 2017-08-11 | 2017-12-22 | 常州机电职业技术学院 | Brushless direct current motor control method and device and low-speed heavy-load control method thereof |
| CN108490781A (en) * | 2018-03-21 | 2018-09-04 | 航天科工智能机器人有限责任公司 | Position closed loop feedback servo control method with self-locking performance transmission mechanism |
| CN109830939A (en) * | 2019-03-25 | 2019-05-31 | 江苏施依洛通风设备有限公司 | A kind of control method and system of rotor revolving speed |
| CN111483784A (en) * | 2019-01-28 | 2020-08-04 | 天下逻辑股份有限公司 | Safety type roller controller for logistics transmission system |
| CN111953267A (en) * | 2020-08-02 | 2020-11-17 | 珠海市一微半导体有限公司 | Locked rotor judging method and rotating speed control method of motor |
| CN114877461A (en) * | 2022-06-15 | 2022-08-09 | 中山大洋电机股份有限公司 | Control method of ventilation module, fresh air conditioner and fresh air conditioning device |
| CN116446326A (en) * | 2022-01-07 | 2023-07-18 | 南京泉峰科技有限公司 | Snow sweeping device, control method and snow sweeping machine |
| WO2025086344A1 (en) * | 2023-10-24 | 2025-05-01 | 深圳汉阳科技有限公司 | Speed adjustment method, self-moving device and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107508509A (en) * | 2017-08-11 | 2017-12-22 | 常州机电职业技术学院 | Brushless direct current motor control method and device and low-speed heavy-load control method thereof |
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| CN108490781A (en) * | 2018-03-21 | 2018-09-04 | 航天科工智能机器人有限责任公司 | Position closed loop feedback servo control method with self-locking performance transmission mechanism |
| CN111483784A (en) * | 2019-01-28 | 2020-08-04 | 天下逻辑股份有限公司 | Safety type roller controller for logistics transmission system |
| CN111483784B (en) * | 2019-01-28 | 2021-11-19 | 天下逻辑股份有限公司 | Safety type roller controller for logistics transmission system |
| CN109830939A (en) * | 2019-03-25 | 2019-05-31 | 江苏施依洛通风设备有限公司 | A kind of control method and system of rotor revolving speed |
| CN111953267A (en) * | 2020-08-02 | 2020-11-17 | 珠海市一微半导体有限公司 | Locked rotor judging method and rotating speed control method of motor |
| CN116446326A (en) * | 2022-01-07 | 2023-07-18 | 南京泉峰科技有限公司 | Snow sweeping device, control method and snow sweeping machine |
| CN114877461A (en) * | 2022-06-15 | 2022-08-09 | 中山大洋电机股份有限公司 | Control method of ventilation module, fresh air conditioner and fresh air conditioning device |
| CN114877461B (en) * | 2022-06-15 | 2024-03-15 | 中山大洋电机股份有限公司 | Control method of ventilation module, fresh air conditioner and fresh air conditioning device |
| WO2025086344A1 (en) * | 2023-10-24 | 2025-05-01 | 深圳汉阳科技有限公司 | Speed adjustment method, self-moving device and computer readable storage medium |
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Application publication date: 20170707 |