CN115441784A - Method for applying motor to mechanical rotary switch - Google Patents

Abstract

The present application discloses a method for applying a motor to a mechanical rotary switch. A specific embodiment of the method includes: predefining the position when the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system as a gear position, and the position of the rotor If the number of poles is M, the angle value corresponding to each gear is 360/M; the value of the direct-axis current is the preset current value and the value of the quadrature-axis current is zero, and the rotor is driven to rotate to the nearest gear. That is, the initial gear position; the value of the quadrature axis current is controlled by magnetic guidance to zero, and by adjusting the magnitude of the direct axis current, the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate the resistance when turning the mechanical rotary switch; The current rotation angle, according to the current rotation angle and the angle value corresponding to each gear, calculates the number of gears of the rotor rotation. In this embodiment, the number of gears perceived by the user is the same as the number of gears calculated, and the motor is used to simulate a mechanical rotary switch.

Description

Method of applying motor to mechanical rotary switch

technical field

The present application relates to the field of motors, in particular to a method for applying a motor to a mechanical shift switch.

Background technique

Mechanical rotary switches are relatively common in our daily life. Users can clearly feel the existence of resistance when using the rotary switch. For example, the old fan circular twist mechanical shifter.

At present, mechanical rotary switches are more and more replaced by electronic switches. For example, an electronic switch with a selection button combined with a display. Or a pure touch screen electronic switch, the user only needs to slide and click on the touch screen to select the desired file.

The main function of the motor is to generate driving torque as a power source for electrical appliances or various machines. In reality, there is no documented method of simulating a mechanical rotary switch with a motor.

Contents of the invention

The purpose of this application is to creatively simulate a mechanical rotary switch with an electric motor.

The present application provides a method for applying a motor to a mechanical rotary switch. The method includes: predefining the position when the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system as a gear position, and the number of poles of the rotor is M, Then the angle value corresponding to each gear is 360/M; the value of the direct-axis current is the preset current value and the value of the quadrature-axis current is zero, and the rotor is driven to rotate to the nearest gear, which is the initial gear; Using magnetic guidance to control the value of the quadrature axis current to zero, by adjusting the magnitude of the direct axis current, the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate the resistance when turning the mechanical rotary switch; the current rotation angle of the rotor is detected, according to The current rotation angle and the angle value corresponding to each gear are used to calculate the number of gears the rotor rotates.

In some embodiments, the value of the quadrature-axis current controlled by magnetic guidance is zero, and by adjusting the magnitude of the direct-axis current, the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate the resistance when turning a mechanical rotary switch, including: The design current value is between two adjacent gears, and the sinusoidal current value or triangular current value is obtained by the sine wave transformation or triangular wave transformation in the interval of [0,180°] with the mechanical angle; the value of the quadrature axis current is controlled by magnetic guidance to zero , the value of the direct-axis current is the sinusoidal current value or the triangular current value, to adjust between two adjacent gears, the magnetic force that attracts each other between the rotor and the electromagnetic field is sinusoidal with the mechanical angle [0, 180°] wave curve or triangular wave curve to simulate the resistance when turning a mechanical rotary switch.

In some embodiments, the design current value is between two adjacent gears, and the sine wave in the [0, 180°] interval is transformed with the mechanical angle to obtain the sine current value, including: converting the sine wave in the [0, 180°] interval Normalizing to the mechanical angle between two adjacent gears to obtain a normalized sine wave; multiplying the normalized sine wave by a first preset coefficient to obtain a sinusoidal current value.

In some embodiments, the method further includes: taking the sum of the sinusoidal current value plus the preset current value as the value of the direct axis current.

In some embodiments, the method further includes: by adjusting the magnitude of the first preset coefficient, the magnitude of the sinusoidal current value is adjusted to adjust the mutual attraction between the rotor and the electromagnetic field between two adjacent gears. Magnet size.

In some embodiments, the design current value is transformed in a triangular wave according to the mechanical angle between two adjacent gears to obtain the triangular current value, which includes: multiplying the triangular wave by a second preset coefficient to obtain the triangular current value.

In some embodiments, the method further includes: taking the sum of the triangular current value plus the preset current value as the value of the direct axis current.

In some embodiments, the method further includes: adjusting the magnitude of the triangular current value by adjusting the magnitude of the second preset coefficient, so as to adjust the mutual attraction between the rotor and the electromagnetic field between two adjacent gears. Magnet size.

In some embodiments, the detecting the current rotation angle of the rotor, and calculating the number of gears of the rotor rotation according to the current rotation angle and the angle value corresponding to each gear, includes: using a position sensor to detect the rotation angle of the rotor Current rotation angle; if the current rotation angle falls within the interval [m*(360/M)-error, m*(360/M)+error], it means that the current gear is m, where error means allowed absolute error.

In some embodiments, the detecting the current rotation angle of the rotor, and calculating the number of gears of the rotor rotation according to the current rotation angle and the angle value corresponding to each gear, includes: using a position sensor to detect the rotation angle of the rotor Current rotation angle; divide the current rotation angle by 360/M, and the obtained value falls within the interval [n-perror,n+perror], indicating that the current gear is n, where perror represents the allowable percentage error .

The invention uses the motor as a mechanical rotary switch, and defines the position when the flux linkage of the motor rotor coincides with the A axis in the three-phase ABC coordinate system as a gear position. The number of poles of the motor is the total number of gears of the rotary switch. Field oriented control (FOC) is used to set the motor direct axis current to the preset current value and the quadrature axis current to zero to drive the rotor to the initial gear without external force. Then, by controlling the magnitude of the direct-axis current, the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate the resistance when turning the mechanical rotary switch. Make it obvious to the user that they have turned a gear. At the same time, the current rotation angle of the rotor is detected, and the number of gears that the rotary switch is rotated is calculated. The number of gears perceived by the user is the same as the number of gears calculated, which perfectly realizes the use of motors to simulate mechanical rotary switches.

Description of drawings

Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a block diagram of magnetic guidance control FOC in an embodiment of the present application;

Fig. 2 is a flowchart of a method for using a motor in a mechanical rotary switch in an embodiment of the present application;

Fig. 3 is a schematic diagram of the coincidence of the rotor flux linkage and the A axis in the three-phase ABC coordinate system in an embodiment of the present application;

Fig. 4 is the minimum torque curve corresponding to the sinusoidal current value when the motor pole number M=7 in one embodiment of the present application;

Fig. 5 is the minimum torque curve corresponding to the triangular current value of the direct axis current when the number of motor poles M=7 in one embodiment of the present application;

FIG. 6 is an angular distribution diagram of gear positions when the number of motor poles M=7 in an embodiment of the present application.

detailed description

The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

The motor in the technical solution of the present application refers to a three-phase motor, which includes but not limited to: a brushless DC motor and a permanent magnet synchronous motor. The above motor mainly includes a stator and a rotor. The rotor has permanent magnets. The number of rotor poles refers to the number of magnetic poles on the rotor. The magnetic poles are divided into N poles and S poles. Generally, one N pole and one S pole are called a pair of magnetic poles, that is, the number of poles is 1. There are multiples of 3 windings on the stator. Energizing the stator creates an electromagnet. Both the electromagnets of the stator and the permanent magnets on the rotor have the characteristics that the same sex repels each other and the opposite sex attracts each other.

Referring to FIG. 1 , this figure is a block diagram of magnetic guidance control FOC in an embodiment of the present application. The field-oriented control converts the control of the three-phase alternating current into the control of the q-axis quadrature-axis current that generates torque and the d-axis direct-axis current that generates the magnetic field through coordinate transformation, realizing independent control of torque and excitation.

In Figure 1, I _A , I _B , and I _C respectively represent the currents flowing into phase A, phase B, and phase _C of the three-phase windings in the motor stator, and the values of I _A , I _B , and IC are obtained through sampling resistors. During FOC control, the three-phase current is firstly subjected to Clark transformation. After Clark coordinate transformation, the three-phase currents I _A , I _B , and I _C are transformed into currents i _α , i _β in the two-phase stationary coordinate system αβ. Then, Park transform is performed on i _α and i _β . That is, it is converted from the two-phase stationary coordinate system αβ to the two-phase rotating coordinate system qd. Wherein, the rotating coordinate system qd is a coordinate system established on the rotor, and this coordinate system rotates synchronously with the rotor and rotates with the rotor. When performing Park transformation transformation, it is necessary to know the electrical angle θ of the current rotation of the rotor, and the electrical angle is obtained by a position sensor such as a magnetic encoder or a Hall sensor. Take the direction of the rotor magnetic field as the d-axis, and the direction perpendicular to the rotor magnetic field as the q-axis. After i _α and i _β are transformed by Park, the current component id of the _d -axis and the current component i _q of the q-axis are obtained.

Taking i _q and _id as the objects of feedback control, PI (proportional-integral, proportional-integral) control is adopted. Wherein, I _{q_Ref} and I _{d_Ref} are values of expected q-axis current and d-axis current respectively. i _q is controlled by PI to output q-axis voltage V _q , and i _d is controlled by PI to output d-axis voltage V _d . Perform Park inverse transformation on V _q and V _d to obtain the voltage V _α of the α-axis and the voltage V _β of the β-axis in the αβ coordinate system. Since the rotating coordinate system qd is established on the rotor, the electrical angle θ is also needed when performing Park inverse transformation. After that, SVPWM (Space Vector Pulse Width Modulation, Space Vector Pulse Width Modulation) control is performed on V _α and V _β to obtain the three-phase voltage of the three-phase winding, which is used to drive the motor. Among them, SVPWM is actually Clark inverse transform. Among them, SVPWM uses two adjacent vectors of 6 non-zero vectors to control the direction of the composite vector, and uses zero vectors to adjust the magnitude of the composite vector. That is, 6 non-zero vectors and 2 zero vectors are used as bases to form a vector formula to generate vectors pointing in any direction. In this way, SVPWM breaks away from the limited 6 directions, and creates an infinite number of continuous directions to fill the 360° vector, thereby controlling the direction of the electromagnetic field in the stator.

Continue to refer to FIG. 2 , which is a flowchart of a method for using a motor in a mechanical rotary switch in an embodiment of the present application.

Step 201, predefine the position where the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system as a gear, and the number of poles of the rotor is M, so the angle value corresponding to each gear is 360/M.

Referring to FIG. 3 , this figure is a schematic diagram showing that the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system in an embodiment of the present application. In this embodiment, the positive direction of the d-axis in the coordinate system qd is the direction in which the rotor magnetic pole S points to N, and the q-axis is perpendicular to the d-axis in terms of electrical angle. Among them, the d-axis is often called the direct axis, and the q-axis is often called the quadrature axis. As shown in Figure 3, when the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system, we define this position as the first gear. For the sake of schematic illustration, only a pair of magnetic pole rotors are shown in Figure 3. In fact, the rotor has multiple pairs of NS magnetic poles. When the rotor rotates once, the flux linkage of each pair of NS magnetic poles on the rotor will be consistent with the three-phase ABC coordinate system The A-axis coincides, so there are as many gears as there are pairs of NS magnetic poles on the rotor. Because of the number of rotor NS magnetic poles, it is also called the number of rotor poles. So the number of poles of the rotor is the total number of gears. Wherein, the number of poles of the rotor includes but not limited to: 6, 7, 8, 9 and so on. Assuming that the total number of gears of the rotor is M, and one revolution of the rotor is 360 degrees, the angle value corresponding to each gear is 360/M.

Step 202 , using magnetic guidance to control the direct-axis current to take a preset current value, and the quadrature-axis current to take a value of zero, and drive the rotor to rotate to the nearest gear, ie, the initial gear.

When the motor is started, the position of the rotor is uncertain. In order to facilitate precise control, the rotor is controlled to rotate to the nearest gear through the FOC magnetic guidance in Figure 1. That is, control the direct-axis current to the preset current value, and the quadrature-axis current to zero to generate an electromagnet, and use magnetic guidance to control the FOC to drive the rotor to rotate to the nearest gear position. Among them, the formulas for the values of direct axis current and quadrature axis current are deduced as follows:

I _A , I _B , and I _C are the currents of phase A, phase B, and phase C in the three-phase ABC coordinate system collected in real time through the sampling resistors. According to Kirchhoff's current law:

I _A +I _B +I _C ＝0

As shown in Figure 3, when the rotor flux linkage coincides with the A axis:

I _A =I _DC0

Among them, I _DC0 represents the preset current value flowing into the stator.

The transformation between the three-phase ABC coordinate system and the stationary coordinate system αβ is the Clark transformation, which satisfies the following transformation formula:

Among them, i _α is the current component of the α axis, and i _β is the current component of the β axis.

代入上述变换公式，得：Let I _A = I _DC0 ,

Substituting into the above transformation formula, we get:

i _α =I _A =I _DC0

Because of the Park transformation between the stationary two-phase αβ coordinate system and the rotating two-phase qd coordinate system, the following transformation formula needs to be satisfied:

i _d =i _α *cosθ+i _β *sinθ

i _q ＝-i _α *sinθ+i _β *cosθ

Among them, θ represents the electrical angle. Because the rotor flux linkage coincides with the A-axis in the three-phase ABC coordinate system, the electrical angle θ is zero, so θ=0, i _α =I _A =I _DC0 , i _β =0 are substituted into the above Park transformation formula to obtain:

i _d =I _DC0

i _q =0

Because the coordinate system qd is a rotating coordinate system established on the rotor, the direction of the rotor magnetic field is the d-axis, and the direction perpendicular to the rotor magnetic field is the q-axis. It can be seen from the above formula that it is only necessary to assign a certain current to the direct axis current and zero to the quadrature axis current. The stator generates an electromagnetic field under the action of the above current, and the permanent magnet on the rotor is under the action of the above electromagnetic field. , under the effect of same-sex repulsion and opposite-sex attraction of magnetic poles, it rotates by itself until it reaches the nearest gear, that is, the initial gear.

Step 203 , adopting magnetic guidance to control the quadrature axis current to be zero, adjusting the magnitude of the direct axis current to adjust the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field, simulating the resistance when turning the mechanical rotary switch.

Definition: when the d-axis current is the preset current value and the q-axis current is zero, the initial magnetic force of the rotor permanent magnet attracting the electromagnetic field is F ₀ .

If the d-axis current is kept at a preset current value and the q-axis current is zero, the initial magnetic force of the rotor permanent magnet and the electromagnetic field is always F ₀ . If the user manually rotates the rotor of the brushless DC motor at a constant speed, the required minimum torque is always F ₀ , which is a constant force. Obviously, this situation is not the real feel of turning the mechanical rotary switch by hand.

In this embodiment, in order to more delicately simulate the feel of a mechanical rotary switch, by adjusting the size of the d-axis current, the magnetic force between the rotor and the electromagnetic field is adjusted, thereby adjusting the resistance when twisting the rotor, which is equal to the minimum torque . According to the experimental data and actual experience, it is found that the minimum torque curve of the mechanical rotary switch is similar to the sine wave curve in the interval [0,180°]. Therefore, between two adjacent gears, let the d-axis current do sine wave transformation with the mechanical angle of rotation.

The number of poles of the motor is M, because the M magnetic poles on the rotor are evenly distributed, so the M gears are also evenly distributed on the rotor, and the angle value corresponding to each gear is 360/M. For a certain motor, the number of poles M is a known quantity and a constant.

Normalize the mechanical angle range between the two gears to [0,180°], and the normalized coefficient K is:

The normalized angle Angle _N of the Nth gear is:

Wherein, Angle represents the current rotation angle of the rotor between N-1 and N gears collected by the magnetic encoder, and the current rotation angle is a mechanical angle.

The formula for the d-axis current of the Nth gear is:

i _d ＝I _DC0 +C×sin(Angle _N )

Wherein, C is the first preset coefficient.

代入上一个公式，得到：Will

Substituting into the previous formula, we get:

The magnetic force between the rotor permanent magnet and the electromagnetic field generated by the d-axis current is linearly transformed with i _d , so the magnetic force F between the rotor and the electromagnetic field is:

Among them, L represents the linear _coefficient between the magnetic force of the electromagnetic _field generated by the rotor permanent magnet and id. F ₀ =L×I _DC0 represents the initial magnetic force of the rotor permanent magnet attracting the electromagnetic field when _{id =I DC0 and} i _q =0.

The magnetic force attracted between the rotor and the electromagnetic field is equal to the minimum torque required by the user to twist the rotor, and the minimum torque R is:

Fig. 4 is the minimum torque curve corresponding to the sinusoidal current value of the direct axis current when the number of poles of the motor is M=7. It can be seen from the curve in the figure that the initial magnetic force corresponding to the preset current value is F ₀ , which is also the minimum value of the minimum torque. When the user twists the rotor from one gear to the adjacent gear, the required minimum torque first increases from small to large, and then from large to small, showing a sine wave curve in the interval [0,180°], similar to the real torque. The feel of moving a mechanical rotary switch, the user can intuitively feel that a gear has been turned.

In this embodiment, the preset current value I _DC0 and/or the size of the first preset coefficient C can be adjusted to adjust the magnetic force between the two adjacent gears, the rotor and the electromagnetic field, that is, to adjust the minimum torque the size of.

In other optional implementations of this embodiment, the d-axis current is:

There is no initial magnetic force, and the corresponding minimum torque curve is sinusoidal.

In other embodiments, the triangular current value is obtained by multiplying the triangular wave by the second preset coefficient. The sum of the triangular current value plus the above-mentioned preset current value is used as the value of the direct axis current. The value of the quadrature-axis current is controlled by magnetic guidance, and the value of the direct-axis current is the above-mentioned triangular current value, so as to adjust the magnetic force between the two adjacent gears, the mutual attraction between the rotor and the electromagnetic field, and the triangular wave curve of the mechanical angle. to simulate minimum resistance when turning a mechanical rotary switch.

Referring to FIG. 5, FIG. 5 is the minimum torque curve corresponding to the triangular current value of the direct axis current when the number of poles of the motor is M=7. The initial magnetic force corresponding to the preset current value is F ₀ , which is also the minimum value of the minimum torque. In the figure, the minimum torque between two adjacent gears is a triangular curve composed of straight lines. The slope of the straight line is a second preset coefficient. When the user twists the rotor from one gear to the adjacent gear, the required minimum torque linearly increases from small to large, and then from large to small, similar to the feel of a real mechanical rotary switch, and the user can feel it intuitively until one gear is turned. The preset current value I _DC0 and/or the size of the second preset coefficient can be adjusted to adjust the magnetic force between the rotor and the electromagnetic field between two adjacent gears, that is, to adjust the minimum torque.

In step 204, the current rotation angle of the rotor is detected, and the number of gears of the rotor is calculated according to the current rotation angle and the angle value corresponding to each gear.

In this embodiment, the number of poles of the rotor is M, and the M magnets on the rotor are uniformly distributed, so that the gears of the mechanical switches simulated by the motor are also uniformly distributed. One rotation of the rotor is 360 degrees, and the rotation angle value is 360/M required to shift from a certain gear to the adjacent gear. The position sensor is used to detect the current rotation angle of the rotor. The current rotation angle refers to the mechanical angle; if the current rotation angle falls within the interval [m*(360/M)-error, m*(360/M)+error], it means The current gear is m, where error represents the allowable absolute error. The absolute error is one of the following: 3 degrees, 4 degrees, 5 degrees, 6 degrees.

In other embodiments, the current rotation angle of the rotor is detected by the magnetic encoder in the position sensor, and the current rotation angle refers to the mechanical angle; the current rotation angle is divided by 360/M, and the obtained value falls in [n-perror, n+perror] range, it means that the current gear is n, where perror means the allowable percentage error. The percentage error is one of the following: 1%, 2%, 3%, 4%, 5%.

Continuing to refer to FIG. 6 , which is an angular distribution diagram of gear positions when the number of motor poles M=7 in an embodiment of the present application. In the figure, the 360-degree circle is evenly divided into 7 parts with solid lines. The dotted lines on either side of the solid line indicate the allowable absolute error or percent error. If the calculation result falls between the two narrow dotted lines, it means that the calculated file number is the file number marked between the two dotted lines.

In this embodiment, since the current rotation angle of the rotor is continuously detected by the magnetic encoder at intervals, the current gear number is continuously calculated intermittently. Therefore, when the user's target rotation gear is 5, when the user twists the rotor to rotate to the 5th gear, the above scheme will calculate the gears of the rotor rotation as 0, 1, 2, 3, 4, and 5 in sequence. If the file number is transmitted to a device with a screen for display, the user can observe which file is currently turned in a more intuitive and real-time manner. Of course, in the process of twisting the rotor to shift gears, the user will feel the process of the resistance becoming larger and then smaller every time the user rotates a gear, so the user can silently count the rotations according to the change of the twisting force of the hand. number of files.

The above-mentioned preset interval time is the minimum pause time allowed to the user during the process of twisting the rotor. Once the current rotation angle values of the rotor detected twice before and after the preset interval time are equal, it is defaulted that the rotor remains still during the preset interval time, and the user has rotated to the target gear by default. For example, the above-mentioned preset interval time is 3 seconds, the user rotates from gear 0 to gear 1, pauses for 2 seconds, and then continues to rotate to gear 4, then the number of gears of the rotor calculated by the above scheme is 4. In other embodiments, the aforementioned preset interval time includes but is not limited to: 4 seconds, 5 seconds, and 6 seconds.

This paper proposes an original design of a mechanical rotary switch based on a motor. The field-oriented control FOC adopted is briefly described, allowing the rotor to rotate to the initial gear by itself. And the minimum torque between two adjacent gears is designed according to the sine wave transformation or triangular transformation in the [0,180°] interval. Allows the user to turn the rotor with the feel of turning a real mechanical rotary switch. The number of rotation stages perceived by the user is the same as the number of rotation stages of the rotor calculated according to the current rotation angle. Realized the perfect simulation of mechanical rotary switch with motor.

In this embodiment, after the motor calculates the gear number of the rotor, it needs to transmit the gear number to a related device for execution. The motor can be transmitted by wire or wirelessly. For example, the gear number is sent to other devices through the wireless communication module built in the motor. The wireless communication module includes but is not limited to: WIFI wireless communication module, 4G wireless communication module, 5G wireless communication module, and Bluetooth wireless communication module.

In other optional implementation manners of this embodiment, the motor has a built-in Bluetooth mesh module. The motor is an external rotor motor, which is used for the hub of a toy car. There is a cross-shaped hole in the middle of the above-mentioned rotor, which is used for inserting the axle. The above wheel hub motor is configured for the left front wheel hub and the right front wheel hub of the toy car. The left rear wheel hub and the right rear wheel hub of this toy car are common mechanical hubs. The above two left and right motors for the hub form a Bluetooth mesh network. After the above two left and right motors are turned on, they are in the gear shift mode by default, and any motor will calculate the gear number of the rotor in real time. If the gear number is not zero, a gear shift command will be generated, and the gear shift command will be passed through the above Bluetooth mesh The network sends to another motor for the hub. Then, both motors exit the gear shifting mode, and execute the program corresponding to the above gear shifting command.

The motor used in the mechanical rotary switch of the present application can be applied in various scenarios, trigger different operations, and realize different functions. For example, control the speed of the fan, control the blinking mode of the LED light, control the brightness of the light, control the speed of the toy car, etc.

In the above embodiments, the rotor rotates one revolution by default, but the technical solution of the present application supports the rotor rotating more than one revolution, and the corresponding total number of gears is not limited to the number of poles of the rotor. For example, the number of poles of the rotor is M, and the default is to support only one rotation of the rotor, so the total number of gears is M. If the rotor is supported to rotate n circles, the total number of gears is n×M.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principle. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but should also cover the technical solution formed by the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, a technical solution formed by replacing the above-mentioned features with technical features with similar functions disclosed in (but not limited to) this application.

Claims (10)

1. A method in which a motor is applied to a mechanical rotary switch, wherein the method comprises: Predefine the position when the rotor flux linkage coincides with the A axis in the three-phase ABC coordinate system is a gear position, and the number of poles of the rotor is M, so the angle value corresponding to each gear is 360/M; Using magnetic guide control, the value of the direct-axis current is the preset current value, and the value of the quadrature-axis current is zero, driving the rotor to rotate to the nearest gear, that is, the initial gear; Using magnetic guidance to control the value of the quadrature axis current to zero, by adjusting the magnitude of the direct axis current, the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate the resistance when turning the mechanical rotary switch; Detecting the current rotation angle of the rotor, and calculating the number of gears in which the rotor rotates according to the current rotation angle and the angle value corresponding to each gear. 2. The method according to claim 1, characterized in that, the value of the quadrature axis current controlled by magnetic guidance is zero, and by adjusting the magnitude of the direct axis current, the magnitude of the magnetic force between the rotor permanent magnet and the electromagnetic field is adjusted to simulate rotation Resistance when mechanically rotating the switch, including: The design current value is between two adjacent gears, and the sinusoidal current value or triangular current value is obtained by the sine wave transformation or triangular wave transformation in the range of [0,180°] with the mechanical angle; The value of the quadrature axis current is controlled by magnetic guidance to zero, and the value of the direct axis current is the sinusoidal current value or triangular current value, so as to adjust the magnetic force between the rotor and the electromagnetic field between two adjacent gears. The size varies with the mechanical angle in a sine wave curve or triangular wave curve in the interval [0,180°] to simulate the resistance when turning the mechanical rotary switch. 3. The method according to claim 2, wherein the design current value is between two adjacent gears, and the sinusoidal current value is obtained by a sine wave transformation in the interval [0, 180°] with the mechanical angle, including: Normalize the sine wave in the interval [0,180°] to the mechanical angle between two adjacent gears to obtain a normalized sine wave; The normalized sine wave is multiplied by a first preset coefficient to obtain a sine current value. 4. method according to claim 3, is characterized in that, described method also comprises: The sum of the sinusoidal current value plus the preset current value is used as the value of the direct axis current. 5. method according to claim 4, is characterized in that, described method also comprises: By adjusting the magnitude of the first preset coefficient and the magnitude of the sinusoidal current value, the magnitude of the magnetic force between the rotor and the electromagnetic field between two adjacent gears can be adjusted. 6. The method according to claim 2, characterized in that, the design current value is between two adjacent gears, and is transformed into a triangular wave with the mechanical angle to obtain a triangular current value, including: The triangular wave is multiplied by the second preset coefficient to obtain a triangular current value. 7. The method according to claim 6, further comprising: The sum of the triangular current value plus the preset current value is used as the value of the direct axis current. 8. The method according to claim 7, further comprising: By adjusting the size of the second preset coefficient and the value of the triangular current, the magnetic force between the rotor and the electromagnetic field between two adjacent gears can be adjusted. 9. The method according to claim 1, wherein the detecting the current rotation angle of the rotor, and calculating the number of gears of the rotor rotation according to the current rotation angle and the angle value corresponding to each gear, includes : using a position sensor to detect the current rotation angle of the rotor; If the current rotation angle falls within the interval [m*(360/M)-error, m*(360/M)+error], it means that the current gear is m, where error represents the allowable absolute error. 10. The method according to claim 1, wherein the detecting the current rotation angle of the rotor, and calculating the number of gears of the rotor rotation according to the current rotation angle and the angle value corresponding to each gear, includes : using a position sensor to detect the current rotation angle of the rotor; Divide the current rotation angle by 360/M, and if the obtained value falls within the interval [n-perror, n+perror], it means that the current gear is n, where perror represents the allowable percentage error.

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