CN113839605B - Motor rotation speed control method and device - Google Patents
Motor rotation speed control method and device Download PDFInfo
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- CN113839605B CN113839605B CN202010583066.3A CN202010583066A CN113839605B CN 113839605 B CN113839605 B CN 113839605B CN 202010583066 A CN202010583066 A CN 202010583066A CN 113839605 B CN113839605 B CN 113839605B
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Classifications
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
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Abstract
The disclosure relates to a motor rotation speed control method and device. The method comprises the following steps: acquiring a current value of a motor in the running process of the motor; determining a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed; and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed. The motor speed control method and the motor speed control device can realize effective control of the motor speed on the basis of not increasing hardware such as a sensor, can effectively save cost and reduce waste of control resources.
Description
Technical Field
The disclosure relates to the technical field of electric equipment, in particular to a motor rotating speed control method and device.
Background
The motor is an important part of the electric tool, and different operation functions such as cutting, sawing, grinding, scraping and the like can be realized by configuring different working heads at the tail end of an output shaft of the motor so as to adapt to different working requirements. However, in the practical application process, the load applied to the working head is continuously changed, so that the rotation speed of the motor is correspondingly changed, and the working efficiency is reduced due to the change of the rotation speed. Therefore, in practical applications, the rotational speed of the motor needs to be controlled in real time to maintain a stable rotational speed.
In the prior art, a sensor (such as a hall sensor) is matched with a corresponding controller, the rotating speed of the motor is monitored in real time through the sensor, and the controller performs corresponding control according to the rotating speed measured by the sensor. However, the adoption of the motor speed stabilizing mode can lead to higher cost and waste of controller resources.
Disclosure of Invention
The present disclosure provides a motor rotation speed control method and apparatus to achieve rotation speed control of a motor with lower cost.
According to an aspect of the present disclosure, there is provided a motor rotation speed control method including:
acquiring a current value of a motor in the running process of the motor;
determining a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed;
and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
adjusting the voltage of the motor and enabling the motor to maintain the target rotating speed;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the correspondence relationship further includes a correspondence relationship between a current value and a voltage value in a state where the motor maintains the target rotation speed and the motor torque is a specific torque value.
In one possible implementation manner, before determining the target voltage value corresponding to the current value according to the predetermined correspondence between the current value and the voltage value of the motor, the method further includes:
acquiring a current torque value of a motor;
and determining the corresponding relation according to the current torque value and the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
regulating the voltage of the motor, keeping the motor at the target rotating speed, and controlling the motor torque to be kept at the specific torque value;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the determining the correspondence relationship according to the voltage values and the current values corresponding to the voltage values includes:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
In one possible implementation manner, according to a predetermined correspondence between a current value and a voltage value of the motor, determining the target voltage value corresponding to the current value includes:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
In one possible implementation, the adjusting the voltage of the motor and maintaining the motor at the target rotational speed includes:
and regulating the voltage of the motor by using a voltage stabilizing source and enabling the motor to maintain the target rotating speed.
In one possible implementation, the adjusting the voltage of the motor to the target voltage value, causing the motor to operate at the target rotational speed includes:
determining a specific duty ratio of the motor according to a current value of the motor in one period;
setting the duty ratio of the motor to the specific duty ratio, and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
According to a second aspect of the present disclosure, there is provided a motor rotation speed control apparatus for performing the above motor rotation speed control method, the apparatus comprising:
a current acquisition unit configured to acquire a present current value of the motor during operation of the motor;
the processing unit is configured to determine a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed; and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
adjusting the voltage of the motor and enabling the motor to maintain the target rotating speed;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the correspondence relationship further includes a correspondence relationship between a current value and a voltage value in a state where the motor maintains the target rotation speed and the motor torque is a specific torque value.
In one possible implementation manner, before the step of determining the target voltage value corresponding to the current value according to the predetermined correspondence between the current value and the voltage value of the motor, the processing unit further includes:
acquiring a current torque value of a motor;
and determining the corresponding relation according to the current torque value and the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
regulating the voltage of the motor, keeping the motor at the target rotating speed, and controlling the motor torque to be kept at the specific torque value;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the determining the correspondence relationship according to the voltage values and the current values corresponding to the voltage values includes:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
In one possible implementation manner, when the processing unit determines, according to a predetermined correspondence between a current value and a voltage value of the motor, a target voltage value corresponding to the current value, the implementation step includes:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
In one possible implementation, the adjusting the voltage of the motor and maintaining the motor at the target rotational speed includes:
and regulating the voltage of the motor by using a voltage stabilizing source and enabling the motor to maintain the target rotating speed.
In one possible implementation, the processing unit, when implementing the step of adjusting the voltage of the motor to the target voltage value to cause the motor to operate at the target rotational speed, includes:
determining a specific duty ratio of the motor according to a current value of the motor in one period;
setting the duty ratio of the motor to the specific duty ratio, and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
According to a third aspect of the present disclosure, there is provided a non-transitory computer readable storage medium, which when executed by a processor, causes the processor to perform a method according to any of the present disclosure.
According to the embodiments provided by the aspects of the present disclosure, a target voltage value that can enable a motor to maintain a target rotation speed may be determined according to a real-time current of the motor in combination with a correspondence between current and voltage at the target rotation speed of the motor; and further controlling the motor rotation speed to keep running at the target rotation speed by adjusting the voltage of the motor to the target voltage value. Therefore, the motor rotation speed can be effectively controlled on the basis of not increasing hardware such as a sensor, the cost can be effectively saved, and the waste of control resources is reduced.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow chart of a motor speed control method according to an embodiment of the present disclosure.
Fig. 2 is a schematic block diagram of a motor rotation speed control device according to an embodiment of the present disclosure.
Fig. 3 is a block diagram of a motor control apparatus provided according to an exemplary embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, the character "/" indicates that the front and rear associated objects are an "or" relationship.
The term "plurality" as used in the embodiments of the present disclosure refers to two or more. The first, second, etc. descriptions appearing in the embodiments of the present disclosure are for illustrative purposes only and are not intended to be order-dependent, nor is the number of specific limitations presented in the embodiments of the present disclosure to be construed as limiting the embodiments of the present disclosure.
Fig. 1 is a flow chart of a motor speed control method according to an embodiment of the present disclosure. The method may be applied to various electric tools using a motor, such as a mower, etc., and may be performed by a control device, such as a microprocessor, controller, etc., in the electric tool. Specifically, as shown in fig. 1, the method may include:
s110: the current value of the motor is obtained in the running process of the motor.
The current value refers to a real-time current value at the current moment in the running process of the motor, and can also be an average current value for a short period of time. In one embodiment of the disclosure, the current value may be obtained through an original current measurement component of a loop where the motor is located, or may be obtained through a current measurement component in an electric tool where the motor belongs, without adding additional complex devices such as a sensor, or adding control resources. For example, the current value may be measured using a sampling resistor included in the loop in which the motor is located, and a digital quantity of the current value is provided to the control device through the analog-to-digital conversion unit. Of course, in other embodiments of the present disclosure, the current value may be obtained in other manners, so long as the current value of the motor may be obtained in real time, which is not limited in the present disclosure.
S120: and determining a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps the target rotating speed.
Wherein the target voltage value refers to a voltage value satisfying the correspondence relation with the present current value even if the motor maintains a voltage value of a target rotation speed. Since the rotational speed of the motor can be maintained at the target rotational speed when the voltage value and the current value satisfy the correspondence, the target rotational speed can be maintained as long as the voltage value of the motor is controlled to be the target voltage value on the premise of current value determination.
The corresponding relation refers to the corresponding relation between the current value and the voltage value of the motor under the condition that the motor rotates at a certain target rotating speed. The target rotation speeds are different, the corresponding relations are also different, and in particular, the corresponding relations can be obtained according to the actually required target rotation speeds. For example, if the motor of the mower needs to be controlled to maintain the rotation speed at 3000 rotations, the corresponding relation between the current value and the voltage value of 3000 rotations can be selected.
In this case, the target voltage value required for controlling the motor to maintain the target rotation speed may be determined according to the correspondence and the obtained current value.
The correspondence relationship may be determined before the power tool starts to operate and stored in advance in a memory device or a control device of the power tool. The correspondence may also be obtained from a network or external storage device through a communication interface on the power tool.
In one embodiment of the disclosure, the correspondence may include determining in the following manner:
adjusting the voltage of the motor and enabling the motor to maintain the target rotating speed;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
Further, in an embodiment of the disclosure, the determining the correspondence relationship according to the voltage values and the current values corresponding to the voltage values may include:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
Correspondingly, in this example, the determining, according to the predetermined correspondence between the current value and the voltage value of the motor, the target voltage value corresponding to the current value may include:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
In another embodiment of the present disclosure, the correspondence may further include correspondence between a current value and a voltage value in a state where the motor maintains the target rotational speed and the motor torque is a specific torque value. In some practical applications, the motor (such as a mower) may be configured with different working heads to be suitable for different applications, so that the torque values of the motor in different applications are different. Under the same target rotating speed state, the torque values are different, and the corresponding relation between the current value and the voltage value of the motor is also different. Therefore, in this example, the torque value is combined to determine the correspondence relationship, so that the control of the motor rotation speed is more matched with the actual working environment.
In this case, before determining the target voltage value corresponding to the current value according to the predetermined correspondence between the current value and the voltage value of the motor, the method may further include:
acquiring a current torque value of a motor;
and determining the corresponding relation according to the current torque value and the target rotating speed.
The current torque value may be measured or calculated by an original torque measurement component in the electric tool to which the motor belongs, specifically, for example, the torque may be converted into an optical signal by a photoelectric element, and then converted into an electrical signal, and the electrical signal is provided to a control device of the motor by an analog-to-digital conversion unit, or may be calculated by a control device (a microcontroller, a microprocessor, etc.) of the motor itself according to the current output power of the motor and the target rotation speed, for example, by a torque calculation formula t=9550P/n, where P represents the output power of the motor, and n represents the target rotation speed of the motor. Of course, in other embodiments of the present disclosure, other torque measurement manners or calculation manners may be adopted to obtain the current torque value of the motor, and specifically, the present disclosure is not limited thereto.
For a motor with variable torque, corresponding relations can be determined according to the current torque value and the target rotating speed, and each group of target rotating speed and the current torque value correspond to one corresponding relation. For example, if the target rotation speed of the motor is 3000 revolutions and the current torque value is 100 nm, the corresponding relationship between the current value and the voltage value of the motor under the conditions of 3000 revolutions and 100 nm can be selected as the corresponding relationship for determining the target voltage value.
Correspondingly, in this example, the correspondence may be determined by:
regulating the voltage of the motor, keeping the motor at the target rotating speed, and controlling the motor torque to be kept at the specific torque value;
wherein a regulated voltage source may be utilized to regulate the voltage of the motor and maintain the target rotational speed of the motor.
The specific torque value is the current torque value of the motor, such as 100 nm, specifically, the power of the motor can be controlled by a control device of the motor so as to realize the control of the torque of the motor;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
Further, in an embodiment of the disclosure, the determining the correspondence relationship according to the voltage values and the current values corresponding to the voltage values may include:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
Correspondingly, in this example, the determining, according to the predetermined correspondence between the current value and the voltage value of the motor, the target voltage value corresponding to the current value may include:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
S130: and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
The voltage adjustment of the motor can be performed by a control device of the motor, extra hardware is not required to be added, and waste of control resources is not caused.
Further, in an embodiment of the present disclosure, a specific duty cycle of the motor, that is, a current actual duty cycle of the motor, may be determined according to a measured current value in a period and a correspondence between a pre-fitted current value and a duty cycle;
in order to enable the motor to always stably maintain the target rotating speed, the duty ratio of the motor can be set to be the specific duty ratio, and the voltage of the motor can be adjusted to be the target voltage value, so that the motor can stably run at the target rotating speed in each subsequent period, and the stable speed control of the motor is realized.
Based on the method provided by each embodiment, the disclosure further provides a motor rotation speed control device. Fig. 2 is a schematic block diagram of a motor rotation speed control device according to an embodiment of the present disclosure, and specifically, as shown in fig. 2, the device may include:
a current acquisition unit 101 configured to acquire a present current value of the motor during operation of the motor;
the processing unit 102 is configured to determine a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed; and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
adjusting the voltage of the motor and enabling the motor to maintain the target rotating speed;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the correspondence relationship further includes a correspondence relationship between a current value and a voltage value in a state where the motor maintains the target rotation speed and the motor torque is a specific torque value.
In one possible implementation manner, before the step of determining the target voltage value corresponding to the current value according to the predetermined correspondence between the current value and the voltage value of the motor, the processing unit 102 further includes:
acquiring a current torque value of a motor;
and determining the corresponding relation according to the current torque value and the target rotating speed.
In one possible implementation, the correspondence relationship includes determining in the following manner:
regulating the voltage of the motor, keeping the motor at the target rotating speed, and controlling the motor torque to be kept at the specific torque value;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
In one possible implementation manner, the determining the correspondence relationship according to the voltage values and the current values corresponding to the voltage values includes:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
In one possible implementation manner, when the processing unit 102 determines, according to the predetermined correspondence between the current value and the voltage value of the motor, the target voltage value corresponding to the current value, the implementation step includes:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
In one possible implementation, the adjusting the voltage of the motor and maintaining the motor at the target rotational speed includes:
and regulating the voltage of the motor by using a voltage stabilizing source and enabling the motor to maintain the target rotating speed.
In one possible implementation, the processing unit 102, when implementing the step of adjusting the voltage of the motor to the target voltage value, causes the motor to operate at the target rotational speed, includes:
determining a specific duty ratio of the motor according to a current value of the motor in one period;
setting the duty ratio of the motor to the specific duty ratio, and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Fig. 3 is a block diagram illustrating a motor control device 1900 according to an example embodiment. Referring to FIG. 3, device 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.
The apparatus 1900 may also include a power component 1926 configured to perform power management of the apparatus 1900, a wired or wireless network interface 1950 configured to connect the apparatus 1900 to a network, and an input/output (I/O) interface 1958. The device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of device 1900 to perform the above-described methods.
The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. A motor speed control method, the method comprising:
acquiring a current value of a motor in the running process of the motor;
determining a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed;
adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed,
wherein the correspondence relationship is determined by adopting the following method:
adjusting the voltage of the motor and enabling the motor to maintain the target rotating speed;
in the adjusting process, measuring a current value corresponding to each voltage value in the voltage values obtained by adjustment;
and determining the corresponding relation according to the voltage values and the current values corresponding to the voltage values.
2. The motor rotation speed control method according to claim 1, wherein the correspondence relationship further includes a correspondence relationship of a current value and a voltage value in a state where the motor maintains the target rotation speed and the motor torque is a specific torque value.
3. The motor rotation speed control method according to claim 2, wherein before determining the target voltage value corresponding to the present current value according to a predetermined correspondence relationship between the current value and the voltage value of the motor, the method further comprises:
acquiring a current torque value of a motor;
and determining the corresponding relation according to the current torque value and the target rotating speed.
4. The motor rotation speed control method according to claim 2, wherein the adjusting the voltage of the motor and causing the motor to maintain the target rotation speed includes: controlling the motor torque to remain at the specific torque value.
5. The motor rotation speed control method according to claim 1 or 4, wherein the determining the correspondence relationship from the respective voltage values and the current values corresponding to the respective voltage values includes:
fitting according to the voltage values and the current values corresponding to the voltage values to obtain a corresponding relation curve of the current values and the voltage values;
and determining a corresponding relation between the current value and the voltage value according to the corresponding relation curve.
6. The motor rotation speed control method according to claim 5, wherein determining the target voltage value corresponding to the present current value according to a predetermined correspondence between the current value and the voltage value of the motor comprises:
substituting the current value into the corresponding relation, and calculating to obtain a corresponding voltage value serving as the target voltage value.
7. The motor rotation speed control method according to claim 1, wherein the adjusting the voltage of the motor and causing the motor to maintain the target rotation speed includes:
and regulating the voltage of the motor by using a voltage stabilizing source and enabling the motor to maintain the target rotating speed.
8. The motor rotation speed control method according to claim 1, wherein the adjusting the voltage of the motor to the target voltage value to operate the motor at the target rotation speed includes:
determining a specific duty ratio of the motor according to a current value of the motor in one period;
setting the duty ratio of the motor to the specific duty ratio, and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
9. A motor speed control device for performing the motor speed control method according to any one of the preceding claims 1-8, the device comprising:
a current acquisition unit configured to acquire a present current value of the motor during operation of the motor;
the processing unit is configured to determine a target voltage value corresponding to the current value according to a predetermined corresponding relation between the current value and the voltage value of the motor, wherein the corresponding relation comprises a corresponding relation between the current value and the voltage value in a state that the motor keeps a target rotating speed; and adjusting the voltage of the motor to the target voltage value to enable the motor to operate at the target rotating speed.
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