CN117614316B - Cloud-control intelligent brushless motor driving system - Google Patents
Cloud-control intelligent brushless motor driving system Download PDFInfo
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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Abstract
The invention relates to the technical field of motor driving, in particular to a cloud control intelligent brushless motor driving system, which comprises: the brushless motor acquisition module acquires initial operation parameters of the brushless motor and stores the initial operation parameters to the cloud; the equipment acquisition module acquires equipment operation environment parameters and stores the parameters to the cloud; the control module calculates a position resistance value according to the real-time position parameter, calculates a position adjustment parameter with a preset position resistance value, calculates a water flow resistance value and a preset water flow resistance value according to the water flow speed value, calculates a water flow adjustment parameter, and adjusts an initial current value and an initial rotating speed value; the safety monitoring module monitors the actual current value and the adjusted current value in the second period of the brushless motor, compares and analyzes the actual rotating speed value and the adjusted rotating speed value of the brushless motor if the current analysis result is abnormal, detects faults of the brushless motor if the current or the rotating speed analysis result is abnormal, and maintains the brushless motor if the faults occur. The embodiment of the invention improves the precision control efficiency of the brushless motor.
Description
Technical Field
The invention relates to the technical field of motor driving, in particular to a cloud control intelligent brushless motor driving system.
Background
Compared with the traditional brush motor, the direct current brushless motor has the characteristics of high efficiency, environmental protection, energy saving, wide rotating speed range, long service life, small noise, small volume and the like. Along with the popularization of the environment protection and low carbon concepts, industrial robots, household appliances and other equipment tend to be efficient, energy-saving, miniaturized and intelligent, and a motor is used as an important component of an executive component and is required to have the characteristics of high precision, high speed and high efficiency, so that a direct current brushless motor is widely favored. Brushless dc motors are used for load, constant load and positioning purposes and are widely used in various applications, such as industrial control, automotive, aerospace, automation systems, healthcare facilities, etc. In the field of industrial control, the development of brushless direct current motors on a large scale and the gradual maturation of technologies are achieved, and the distribution range of driving systems thereof in industrial production is also widened, so that the development of industrial motors is gradually becoming the mainstream.
The patent document with the Chinese patent publication number CN112737427A discloses a high-speed direct current brushless motor driver, which comprises a power rectifying and filtering module, a control module, a power module, a rotor position detection module, a protection module and a user interface module, wherein the power rectifying and filtering module provides electric energy for the control module and the high-speed direct current brushless motor; the control module controls the power of the high-speed direct current brushless motor through the power module, and overcurrent protection is carried out on the high-speed direct current brushless motor through the protection module; the rotor position detection module detects and collects rotor position information when the high-speed direct current brushless motor works and feeds the rotor position information back to the control module; the user interface module is communicatively coupled to the power module.
In the prior art, a brushless motor needs an accurate control algorithm to realize accurate current and rotation speed control, and more complex modeling and calculation are needed for motor parameters.
Disclosure of Invention
Therefore, the invention provides a cloud control intelligent brushless motor driving system which can solve the problem of improving the accurate control efficiency of a brushless motor.
To achieve the above object, the present invention provides a cloud-controlled intelligent brushless motor driving system, comprising:
The brushless motor acquisition module is used for acquiring initial operation parameters of the brushless motor when the brushless motor driving equipment operates, wherein the initial operation parameters comprise an initial current value and an initial rotating speed value, and the initial current value and the initial rotating speed value are respectively sent to a cloud for storage;
The equipment acquisition module is used for acquiring environmental parameters of the equipment in real time during operation, wherein the environmental parameters comprise real-time position parameters of the equipment and water flow speed values of the positions of the equipment, and the real-time position parameters and the water flow speed values are respectively sent to a cloud for storage;
The control module is connected with the brushless motor acquisition module and the equipment acquisition module, and is used for calculating a position resistance value received by the equipment and a preset position resistance value according to the real-time position parameter in the cloud to obtain a position adjustment parameter, calculating a water flow resistance value received by the equipment and a preset water flow resistance value according to the water flow speed value to obtain a water flow adjustment parameter, and respectively adjusting the initial current value and the initial rotating speed value of the brushless motor according to the position adjustment parameter and the water flow adjustment parameter to obtain an adjustment current value and an adjustment rotating speed value;
The safety monitoring module is used for comparing and analyzing the actual current value of the brushless motor in the adjusted second period with the adjusted current value to obtain a current analysis result, comparing and analyzing the actual rotating speed value of the brushless motor in the adjusted second period with the adjusted rotating speed value to obtain a rotating speed analysis result if the current analysis result is not abnormal, detecting whether the brushless motor is faulty or not if the current analysis result is abnormal or if the rotating speed analysis result is abnormal, and maintaining if the brushless motor is faulty.
Further, the brushless motor acquisition module comprises a first acquisition unit, a processing unit and a first storage unit, wherein,
The first acquisition unit is used for measuring a plurality of current values in a first period of time when the brushless motor driving device operates through the current sensor and measuring a plurality of rotating speed values in the first period of time when the brushless motor driving device operates through the rotating speed sensor;
the processing unit is connected with the first acquisition unit and is used for removing abnormal values in the current values and the rotating speed values through a filtering algorithm, calculating the average value of the removed current values and the average value of the rotating speed values, and obtaining a current average value and a rotating speed average value;
The first storage unit is connected with the processing unit and used for storing the current average value as an initial current value and the rotating speed average value as an initial rotating speed value to the cloud.
Further, the device acquisition module comprises a second acquisition unit and a second storage unit, wherein,
The second acquisition unit takes the sea level as a reference plane, acquires the real-time position ordinate of the equipment based on the reference plane in real time through a position sensor, takes the real-time position ordinate as the real-time position parameter of the equipment, and acquires the water flow of the equipment in unit time at the position through a flow velocity sensor so as to calculate the water flow velocity value;
the second storage unit is connected with the second acquisition unit and used for storing the real-time position parameters and the corresponding water flow speed values thereof to the cloud.
Further, the control module comprises a calculation unit, a comparison unit and an adjustment unit, wherein,
The calculation unit is used for calculating the resistance born by the equipment according to the real-time position parameter in the cloud, the density of water, the gravity acceleration and the upper surface area of the equipment, taking the resistance as a position resistance value, calculating the resistance born by the equipment according to the water flow speed value, the density of water and the side surface area of the equipment, and taking the resistance as a water flow resistance value;
The comparison unit is connected with the calculation unit and used for comparing the position resistance value with a preset position resistance value, obtaining a position adjustment coefficient by calculating the ratio of the absolute value of the difference value of the position resistance value and the preset position resistance value to the preset position resistance value, comparing the water flow resistance value with the preset water flow resistance value, and obtaining a water flow adjustment coefficient by calculating the ratio of the absolute value of the difference value of the water flow resistance value and the preset water flow resistance value to the preset water flow resistance value;
The adjusting unit is connected with the comparing unit and used for adjusting the initial current value and the initial rotating speed value of the brushless motor through the position adjusting coefficient and the water flow adjusting coefficient to obtain a real-time current value and a real-time rotating speed value.
Further, the adjusting unit comprises a current adjusting subunit and a rotating speed adjusting subunit, wherein,
The current adjusting subunit is configured to adjust the initial current value of the brushless motor according to the position adjusting coefficient and the current adjusting coefficient, set the position adjusting coefficient to be K1, set the current adjusting coefficient to be K2, set the initial current value to be I1, and set the actual current value I2 to be；
The rotation speed adjusting subunit is configured to adjust the initial rotation speed value of the brushless motor according to the position adjusting coefficient and the water flow adjusting coefficient, set the position adjusting coefficient to be K1, set the water flow adjusting coefficient to be K2, set the initial rotation speed value to be V1, and set the actual rotation speed value V2 to be。
Further, the safety monitoring module comprises a drawing unit, a comparison unit and a motor adjusting unit, wherein,
The drawing unit is used for detecting the actual current value and the actual rotating speed value in real time in a second period of time, obtaining a plurality of actual current values and a plurality of actual rotating speed values, and drawing a current diagram and a rotating speed diagram according to the plurality of actual current values and the plurality of actual rotating speed values;
The comparison unit is connected with the drawing unit and used for comparing and analyzing the current diagram and the adjustment current diagram to obtain a current analysis result, and comparing the rotating speed diagram with the adjustment rotating speed diagram to obtain a rotating speed comparison result if the current analysis result is abnormal;
The motor adjusting unit is connected with the comparing unit, when the current analysis result or the rotating speed comparison result is abnormal, the surface area of the brushless motor is obtained through the image collecting device, the corrosion condition of the brushless motor is judged through the duty ratio of the corrosion area, the brushless motor is repaired when the corrosion of the surface of the brushless motor is abnormal, if the corrosion of the surface of the brushless motor is abnormal, the rotor of the brushless motor is detected, and when the detection result is that the fault occurs, the rotor of the brushless motor is repaired.
Further, the drawing unit includes a setup subunit and a drawing subunit, wherein,
The establishing subunit is used for establishing a rectangular coordinate system taking time as a horizontal axis and taking a current value or a rotating speed value as a vertical axis, and acquiring a current coordinate system and a rotating speed coordinate system;
The drawing subunit is connected with the establishing subunit and is used for drawing a plurality of actual current values in the current coordinate system in the form of points, connecting two adjacent points to obtain a current diagram, drawing a plurality of actual rotating speed values in the rotating speed coordinate system in the form of points, and connecting two adjacent points to obtain a rotating speed diagram.
Further, the comparison unit comprises a current comparison subunit and a rotation speed comparison subunit, wherein,
The current comparison subunit is configured to compare the amplitude in the current map with the amplitude variation range in the adjusted current map, and if the amplitude does not belong to the amplitude variation range, the current analysis result is abnormal;
And the rotating speed comparison subunit compares the rotating speed value trend shape in the rotating speed diagram with the rotating speed value trend shape in the rotating speed adjustment diagram in a similarity mode, and if the similarity result is smaller than a preset similarity, the rotating speed comparison result is abnormal.
Further, the motor adjusting unit comprises an acquisition subunit, an image analysis subunit and a corrosion judging subunit, wherein,
The acquisition subunit is used for acquiring the surface of the brushless motor through the image acquisition equipment to acquire a surface image;
The image analysis subunit is connected with the acquisition subunit and is used for converting the surface image into a gray image through image processing equipment, dividing the gray image at preset intervals to obtain a plurality of image areas, obtaining a plurality of gray values of the areas through a gray detection method, and extracting the areas with the gray values larger than the preset gray values to obtain an extraction area;
The corrosion judging subunit is connected with the image analyzing subunit and is used for calculating the duty ratio of the extraction area to the whole gray level image area, and if the duty ratio is larger than the preset duty ratio, the surface of the brushless motor is corroded abnormally;
And the corrosion repair subunit is connected with the corrosion judgment subunit and is used for repairing the corrosion part on the surface of the brushless motor by re-smearing anti-corrosion paint or filling the corrosion part.
Further, the motor adjusting unit further comprises a rotor detecting subunit and a rotor repairing subunit, wherein,
The rotor detection subunit is configured to perform magnetic field detection on the rotor through a magnetic force detection instrument, obtain a plurality of magnetic field intensity values, expand the rotor, establish a coordinate system with the longest length of an expanded surface of the rotor as a horizontal axis and the longitudinal diameter as a vertical axis, draw the plurality of magnetic field intensity values in the coordinate system, obtain a magnetic field distribution diagram, if a missing part is in the magnetic field distribution diagram, the rotor is a missing fault, and if a maximum magnetic field intensity value in the magnetic field distribution diagram is smaller than a standard magnetic field intensity value, the rotor is a magnetism weakening fault;
The rotor repairing subunit is connected with the rotor detecting subunit, and the rotor is replaced if the rotor is in a missing fault;
If the rotor is in a magnetic weakening fault, the rotor is placed in a complex magnetic device, the complex magnetic device is increased to a preset magnetic field from an initial magnetic field, a first time period is placed in the preset magnetic field, the preset magnetic field is adjusted to the initial magnetic field, the repair rotor is taken out, magnetic field detection is carried out on each part of the repair rotor through the magnetic force detection instrument, a plurality of magnetic field intensity values are obtained, the minimum value in the plurality of magnetic field intensity values is compared with the standard magnetic field intensity value, and if the magnetic field intensity minimum value is greater than or equal to the standard magnetic field intensity value, the repair of the rotor is completed.
Compared with the prior art, the brushless motor control system has the advantages that through the arrangement of the brushless motor acquisition module and the equipment acquisition module, the operation parameters of the brushless motor driving equipment are acquired in real time, the environment parameters of the equipment operation are acquired in real time, and are uploaded to the cloud for processing, the real-time monitoring and data storage of the operation state of the brushless motor and the real-time monitoring and data storage of the equipment operation environment are realized, the data are convenient to manage and analyze, the subsequent calculation and adjustment of the system are convenient, the position adjustment parameters are calculated and acquired through the arrangement of the control module according to the real-time position parameters of the equipment, the water flow resistance value and the preset position resistance value received by the equipment are calculated and acquired according to the water flow speed value, the initial current value and the initial rotation speed value are adjusted according to the actual situation, the better adjustment current value and the adjustment rotation speed value are acquired, the driving accuracy of the system is improved, the system is convenient to control the system, the comparison of the actual current value and the adjustment value in the second period after adjustment is convenient to calculate and the system is convenient to analyze if the analysis result is stable, and if the analysis result of the failure analysis occurs in the system is stable, and the failure analysis result is obtained when the failure analysis occurs.
In particular, through setting up first collection unit, gather in real time a plurality of current values and a plurality of rotational speed value in the first period of time when brushless motor drive equipment operates, thereby acquire the real-time running state of brushless motor, through setting up processing unit gets rid of the abnormal value in a plurality of current values and a plurality of rotational speed values of gathering through filtering algorithm, avoids the interference of abnormal value to data analysis for data analysis is more accurate, through setting up first memory cell will be the current average value as initial current value, will rotate speed average value as initial rotational speed value storage to the high in the clouds, realizes the remote storage and the control of data, makes the convenient subsequent data analysis of system and processing.
In particular, the calculation unit is arranged to calculate the resistance to the equipment according to the real-time position parameter of the equipment, the density of water, the gravity acceleration and the upper surface area of the equipment, and take the calculated resistance as a position resistance value, calculate the resistance to the equipment according to the water flow speed value at the position of the equipment, the density of water and the side area of the equipment, and take the calculated resistance as a water flow resistance value, so that the system can evaluate the resistance to the equipment more accurately, the comparison unit is arranged to compare the calculated position resistance value with a preset position resistance value, and obtain a position adjustment coefficient by calculating the ratio of the absolute value of the difference between the position resistance value and the preset position resistance value to the preset position resistance value, and compare the water flow resistance value with the preset water flow resistance value, and obtain a water flow adjustment coefficient by calculating the ratio of the absolute value of the difference between the water flow resistance value and the preset water flow resistance value to the preset water flow resistance value, so that the system can adjust the current value and the rotating speed value of the brushless motor more finely, and the initial current value and the initial rotating speed value of the brushless motor are adjusted by the position adjustment coefficient, and the current value of the system is adjusted, so that the running state of the system can be controlled more accurately.
In particular, the initial current value of the brushless motor is adjusted according to the position adjustment coefficient and the blood flow adjustment coefficient by arranging the current adjustment subunit, so that the system can control the current value of the brushless motor more accurately, and the running state of the brushless motor can be adjusted more effectively.
In particular, by setting the drawing unit, the system detects the actual current value and the actual rotation speed value in the second period in real time, acquires a plurality of actual current values and a plurality of actual rotation speed values, draws a current diagram and a rotation speed diagram according to the actual current values and the actual rotation speed values, so that the running state of the brushless motor is more intuitively understood, by setting the comparing unit, the current diagram and the adjustment current diagram are compared and analyzed, a current analysis result is acquired, when the current analysis result is abnormal, the rotation speed diagram is compared with the adjustment rotation speed diagram, and a rotation speed comparison result is acquired, so that the system more accurately analyzes the running state of the brushless motor, when the current analysis result or the rotation speed comparison result is abnormal, the motor adjusting unit is arranged to acquire the surface area of the brushless motor, the corrosion condition of the brushless motor is judged through the ratio of the corrosion area, when the surface corrosion of the brushless motor is abnormal, if the surface corrosion of the brushless motor is not abnormal, the rotor of the brushless motor is detected, and when the detection result is fault, the rotor of the brushless motor is repaired, so that the system more effectively ensures the safe running of the brushless motor, and the running safety of the brushless motor is improved.
In particular, by setting the current comparison subunit, the amplitude in the current diagram is compared with the amplitude variation range in the adjustment current diagram, if the amplitude does not belong to the amplitude variation range, the current analysis result is abnormal, so that the system can more accurately judge the current state of the brushless motor, by setting the rotating speed comparison subunit, the rotating speed value trend shape in the rotating speed diagram is compared with the rotating speed value trend shape in the adjustment rotating speed diagram in a similarity manner, and if the similarity result is smaller than the preset similarity, the rotating speed comparison result is abnormal, so that the system can more finely compare the rotating speed state of the brushless motor, and the accuracy and efficiency of the system are improved.
In particular, through setting up gather subunit, acquire the surface image on brushless motor surface to make the system know brushless motor's surface condition better, to follow-up right brushless motor surface corrosion condition analysis provides the basis, through setting up image analysis subunit turns into gray scale image with surface image, and divide into a plurality of regions, acquire the gray scale value of every region, thereby make the corrosion condition of judging brushless motor more accurately, improved the judgement efficiency of system, through setting up corrosion judgement subunit, calculate the ratio that draws the regional whole area that occupies, if the ratio is greater than the preset ratio, judge that brushless motor surface corrosion is unusual, thereby make the system confirm the restoration opportunity of brushless motor more accurately, through setting up corrosion restoration subunit, accomplish the restoration to the corrosion portion on surface, thereby guarantee more effectively the safe operation of brushless motor, improved the security in the brushless motor operation process.
Drawings
Fig. 1 is a block diagram of a cloud-controlled intelligent brushless motor driving system according to an embodiment of the present invention;
Fig. 2 is a second structural block diagram of a cloud-controlled intelligent brushless motor driving system according to an embodiment of the present invention;
fig. 3 is a third structural block diagram of a cloud-controlled intelligent brushless motor driving system according to an embodiment of the present invention;
fig. 4 is a fourth structural block diagram of a cloud-controlled intelligent brushless motor driving system according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, an embodiment of the present invention provides a cloud-controlled intelligent brushless motor driving system, including:
the brushless motor acquisition module 10 is configured to acquire initial operation parameters of the brushless motor when the brushless motor driving device operates, where the initial operation parameters include an initial current value and an initial rotation speed value, and send the initial current value and the initial rotation speed value to a cloud for storage;
The device acquisition module 20 is configured to acquire, in real time, an environmental parameter during operation of the device, where the environmental parameter includes a real-time position parameter of the device and a water flow velocity value of a position where the device is located, and send the real-time position parameter and the water flow velocity value to a cloud for storage respectively;
The control module 30 is connected with the brushless motor acquisition module 10 and the device acquisition module 20, and is used for calculating a position resistance value and a preset position resistance value received by the device according to the real-time position parameter in the cloud to obtain a position adjustment parameter, calculating a water flow resistance value and a preset water flow resistance value received by the device according to the water flow speed value to obtain a water flow adjustment parameter, and respectively adjusting the initial current value and the initial rotating speed value of the brushless motor according to the position adjustment parameter and the water flow adjustment parameter to obtain an adjustment current value and an adjustment rotating speed value;
The safety monitoring module 40 is configured to compare and analyze an actual current value of the brushless motor in the adjusted second period with the adjusted current value to obtain a current analysis result, compare and analyze an actual rotation speed value of the brushless motor in the adjusted second period with the adjusted rotation speed value if the current analysis result is not abnormal, obtain a rotation speed analysis result, detect whether the brushless motor is faulty if the current analysis result is abnormal or if the rotation speed analysis result is abnormal, and repair if the brushless motor is faulty.
Specifically, the embodiment of the invention collects the running parameters of the brushless motor driving device in real time and collects the environmental parameters of the running of the device in real time by setting the brushless motor collecting module 10 and the device collecting module 20, and uploads the collected running parameters to the cloud for processing, thereby realizing real-time monitoring and data storage of the running state of the brushless motor and real-time monitoring and data storage of the running environment of the device, facilitating management and analysis of data for subsequent calculation and adjustment of a system, calculating the position resistance value received by the device according to the real-time position parameters of the device by setting the control module 30 to obtain position adjustment parameters, calculating the water flow resistance value received by the device according to the water flow speed value calculating device to obtain water flow adjustment parameters according to the water flow resistance value received by the device and the preset water flow resistance value, and adjusting the initial current value and the initial rotation speed value according to actual conditions, thereby obtaining a better adjustment current value and adjustment rotation speed value, facilitating more efficient running of the brushless motor, improving the driving accuracy of the system, comparing the actual current value and the adjustment current value in a second period after adjustment by setting the safety monitoring module 40, obtaining the actual current value and the adjustment current value in a second period after adjustment, obtaining the analysis result when the analysis result is stable, and if the failure analysis result is obtained when the failure analysis occurs, and the failure analysis result occurs in time is ensured, and if the failure analysis result occurs in the analysis occurs.
Referring to fig. 2, the brushless motor acquisition module 10 includes a first acquisition unit 11, a processing unit 12, and a first storage unit 13, wherein,
The first collecting unit 11 is configured to measure, by means of a current sensor, a plurality of current values during a first period of time when the brushless motor driving apparatus is operating, and to measure, by means of a rotation speed sensor, a plurality of rotation speed values during a first period of time when the brushless motor driving apparatus is operating;
The processing unit 12 is connected with the first collecting unit 11, and is configured to remove abnormal values in the current values and the rotational speed values through a filtering algorithm, calculate average values of the removed current values and average values of the rotational speed values, and obtain a current average value and a rotational speed average value;
the first storage unit 13 is connected to the processing unit 12, and is configured to store the current average value as an initial current value and the rotation speed average value as an initial rotation speed value to the cloud.
Specifically, the filtering algorithm in the embodiment of the present invention may be: for the current value and the rotation speed value, firstly calculating a mean value (average) and a standard deviation (reflecting the degree of dispersion of data distribution) of each value;
a threshold is set, which may be typically set to several times, such as 3 times, the standard deviation;
For each acquired current value and rotation speed value, if the absolute value of the difference from the mean value is larger than a standard deviation (such as 3 times), the value is considered to be an abnormal value;
after the outliers are removed, the remaining current values and rotational speed values may be used for subsequent analysis and processing.
Specifically, in the embodiment of the present invention, the first collecting unit 11 is configured to collect, in real time, a plurality of current values and a plurality of rotation speed values in a first period of time when the brushless motor driving device operates, so as to obtain a real-time operation state of the brushless motor, and the processing unit 12 is configured to remove, through a filtering algorithm, an abnormal value in the collected plurality of current values and the plurality of rotation speed values, so as to avoid interference of the abnormal value on data analysis, so that the data analysis is more accurate, and the first storage unit 13 is configured to store, as an initial current value, a rotation speed average value as an initial rotation speed value to the cloud, so as to realize remote storage and monitoring of data, so that the system facilitates subsequent data analysis and processing.
Referring to fig. 3, the device acquisition module 20 includes a second acquisition unit 21 and a second storage unit 22, wherein,
The second acquisition unit 21 takes the sea level as a reference plane, acquires the real-time position ordinate of the equipment based on the reference plane in real time through a position sensor, takes the real-time position ordinate as the real-time position parameter of the equipment, and acquires the water flow rate of the equipment in unit time at the position through a flow rate sensor to calculate the water flow rate value;
the second storage unit 22 is connected to the second collection unit 21, and is configured to store the real-time position parameter and the corresponding water flow velocity value thereof to the cloud.
Specifically, in the embodiment of the invention, the second acquisition unit 21 is set to take the sea level as a reference plane, the real-time position ordinate of the device is obtained in real time through the position sensor, the vertical position information of the device is accurately obtained, the water flow rate in unit time of the device at the corresponding position is obtained through the flow rate sensor so as to calculate the water flow speed value, the water flow speed information of the position where the device is located is obtained, and the real-time position parameter and the corresponding water flow speed value are stored to the cloud by setting the second storage unit 22, so that the remote storage and monitoring of data are realized, and the system is convenient for subsequent data analysis and processing.
Referring to fig. 4, the control module 30 includes a calculating unit 31, a comparing unit 32 and an adjusting unit 33, wherein,
The calculating unit 31 is configured to calculate a resistance force received by the device according to the real-time position parameter in the cloud, the density of water, the gravity acceleration, and the upper surface area of the device, and take the calculated resistance force as a position resistance value, and calculate a resistance force received by the device according to the water flow velocity value, the density of water, and the side surface area of the device, and take the calculated resistance force as a water flow resistance value;
The comparing unit 32 is connected to the calculating unit 31, and is configured to compare the position resistance value with a preset position resistance value, obtain a position adjustment coefficient by calculating a ratio of an absolute value of a difference between the position resistance value and the preset position resistance value to the preset position resistance value, compare the water flow resistance value with a preset water flow resistance value, and obtain a water flow adjustment coefficient by calculating a ratio of an absolute value of a difference between the water flow resistance value and the preset water flow resistance value to the preset water flow resistance value;
the adjusting unit 33 is connected to the comparing unit 32, and is configured to adjust the initial current value and the initial rotation speed value of the brushless motor according to the position adjustment coefficient and the water flow adjustment coefficient, so as to obtain a real-time current value and a real-time rotation speed value.
Specifically, the embodiment of the invention calculates the resistance to be applied to the equipment according to the real-time position parameter of the equipment, the density of water, the gravity acceleration and the upper surface area of the equipment by setting the calculating unit 31, and uses the calculated resistance as a position resistance value, calculates the resistance to be applied to the equipment according to the water flow speed value at the position where the equipment is located, the density of water and the side area of the equipment, and uses the calculated resistance as a water flow resistance value, so that the system can evaluate the resistance to be applied to the equipment more accurately, compares the calculated position resistance value with a preset position resistance value by setting the comparing unit 32, obtains a position adjustment coefficient by calculating the ratio of the absolute value of the difference between the position resistance value and the preset position resistance value to the preset position resistance value, compares the water flow resistance value with the preset water flow resistance value, and obtains a water flow adjustment coefficient by calculating the ratio of the absolute value of the difference between the water flow resistance value and the preset water flow resistance value, thereby enabling the system to adjust the current value and the rotating speed value more finely, and the initial rotating speed value of the brushless motor can be obtained by setting the adjusting unit, and the initial rotating speed value of the brushless motor can be adjusted more accurately, and the running state of the system can be controlled more accurately.
In particular, the regulation unit comprises a current regulation subunit and a rotation speed regulation subunit, wherein,
The current adjusting subunit is configured to adjust the initial current value of the brushless motor according to the position adjusting coefficient and the current adjusting coefficient, set the position adjusting coefficient to be K1, set the current adjusting coefficient to be K2, set the initial current value to be I1, and set the actual current value I2 to be；
The rotation speed adjusting subunit is configured to adjust the initial rotation speed value of the brushless motor according to the position adjusting coefficient and the water flow adjusting coefficient, set the position adjusting coefficient to be K1, set the water flow adjusting coefficient to be K2, set the initial rotation speed value to be V1, and set the actual rotation speed value V2 to be。
Specifically, the embodiment of the invention adjusts the initial current value of the brushless motor according to the position adjustment coefficient and the blood flow adjustment coefficient by arranging the current adjustment subunit, so that the system can more accurately control the current value of the brushless motor, and further the running state of the brushless motor can be more effectively adjusted.
Referring to fig. 4, the safety monitoring module 40 includes a drawing unit 41, a comparing unit 42 and a motor adjusting unit 43, wherein,
The drawing unit 41 is configured to detect the actual current values and the actual rotation speed values in real time in a second period of time, obtain a plurality of actual current values and a plurality of actual rotation speed values, and draw a current map and a rotation speed map according to the plurality of actual current values and the plurality of actual rotation speed values;
the comparing unit 42 is connected to the drawing unit 41, and is configured to compare and analyze the current graph with an adjusted current graph to obtain a current analysis result, and if the current analysis result is abnormal, compare the rotation speed graph with the adjusted rotation speed graph to obtain a rotation speed comparison result;
The motor adjusting unit 43 is connected to the comparing unit 42, and obtains the surface area of the brushless motor through the image collecting device when the current analysis result or the rotation speed comparison result is abnormal, determines the corrosion condition of the brushless motor through the duty ratio of the corrosion area, repairs the brushless motor when the corrosion of the surface of the brushless motor is abnormal, detects the rotor of the brushless motor if the corrosion of the surface of the brushless motor is not abnormal, and repairs the rotor of the brushless motor when the detection result is that the fault occurs.
Specifically, the embodiment of the invention sets the drawing unit 41 to enable the system to detect the actual current value and the actual rotation speed value in the second period in real time, obtain a plurality of actual current values and a plurality of actual rotation speed values, draw a current diagram and a rotation speed diagram according to the actual current values and the actual rotation speed values, so that the operation state of the brushless motor can be more intuitively understood, compares and analyzes the current diagram and the adjustment current diagram by setting the comparison unit 42, obtains a current analysis result, compares the rotation speed diagram and the adjustment rotation speed diagram when the current analysis result is abnormal, and obtains a rotation speed comparison result, so that the system can more accurately analyze the operation state of the brushless motor, when the current analysis result or the rotation speed comparison result is abnormal, the motor adjustment unit 43 is set to obtain the surface area of the brushless motor, the corrosion condition of the brushless motor is judged by the duty ratio of the corrosion area, and the brushless motor is repaired when the surface corrosion of the brushless motor is abnormal, if the surface corrosion of the brushless motor is not abnormal, the rotor of the brushless motor is detected, and the brushless motor is repaired when the detection result is a fault, so that the safety of the brushless motor system can be more effectively ensured, and the safety in the operation process of the brushless motor is improved.
Specifically, the drawing unit 41 includes a setup subunit and a drawing subunit, wherein,
The establishing subunit is used for establishing a rectangular coordinate system taking time as a horizontal axis and taking a current value or a rotating speed value as a vertical axis, and acquiring a current coordinate system and a rotating speed coordinate system;
The drawing subunit is connected with the establishing subunit and is used for drawing a plurality of actual current values in the current coordinate system in the form of points, connecting two adjacent points to obtain a current diagram, drawing a plurality of actual rotating speed values in the rotating speed coordinate system in the form of points, and connecting two adjacent points to obtain a rotating speed diagram.
In particular, the comparison unit 42 comprises a current comparison subunit and a rotational speed comparison subunit, wherein,
The current comparison subunit is configured to compare the amplitude in the current map with the amplitude variation range in the adjusted current map, and if the amplitude does not belong to the amplitude variation range, the current analysis result is abnormal;
And the rotating speed comparison subunit compares the rotating speed value trend shape in the rotating speed diagram with the rotating speed value trend shape in the rotating speed adjustment diagram in a similarity mode, and if the similarity result is smaller than a preset similarity, the rotating speed comparison result is abnormal.
Specifically, in the embodiment of the invention, the image similarity comparison can be obtained by calculating an SSIM (structural similarity index), which is an index for measuring the visual similarity of two images, wherein the value of the SSIM is between-1 and 1, and the larger the value is, the more similar the two images are.
Specifically, the current comparison subunit is arranged to compare the amplitude in the current diagram with the amplitude variation range in the adjustment current diagram, if the amplitude does not belong to the amplitude variation range, the current analysis result is abnormal, so that the system can more accurately judge the current state of the brushless motor, and the rotating speed comparison subunit is arranged to compare the trend shape of the rotating speed value in the rotating speed diagram with the trend shape of the rotating speed value in the adjustment rotating speed diagram in a similarity manner, and if the similarity result is smaller than the preset similarity, the rotating speed comparison result is abnormal, so that the system can more finely compare the rotating speed state of the brushless motor, and the accuracy and efficiency of the system are improved.
Specifically, the motor adjusting unit 43 includes an acquisition subunit, an image analysis subunit, and a corrosion judging subunit, wherein,
The acquisition subunit is used for acquiring the surface of the brushless motor through the image acquisition equipment to acquire a surface image;
The image analysis subunit is connected with the acquisition subunit and is used for converting the surface image into a gray image through image processing equipment, dividing the gray image at preset intervals to obtain a plurality of image areas, obtaining a plurality of gray values of the areas through a gray detection method, and extracting the areas with the gray values larger than the preset gray values to obtain an extraction area;
The corrosion judging subunit is connected with the image analyzing subunit and is used for calculating the duty ratio of the extraction area to the whole gray level image area, and if the duty ratio is larger than the preset duty ratio, the surface of the brushless motor is corroded abnormally;
And the corrosion repair subunit is connected with the corrosion judgment subunit and is used for repairing the corrosion part on the surface of the brushless motor by re-smearing anti-corrosion paint or filling the corrosion part.
Specifically, the embodiment of the invention obtains the surface image of the surface of the brushless motor through the acquisition subunit, so that the system can better understand the surface state of the brushless motor, a basis is provided for the subsequent analysis of the corrosion condition of the surface of the brushless motor, the image analysis subunit is arranged to convert the surface image into the gray level image, a plurality of areas are divided, the gray level value of each area is obtained, so that the corrosion condition of the brushless motor can be accurately judged, the judging efficiency of the system is improved, the proportion of the whole area occupied by the extraction area is calculated through the corrosion judging subunit, if the proportion is larger than the preset proportion, the abnormal corrosion of the surface of the brushless motor is judged, so that the system can more accurately determine the repairing time of the brushless motor, the repairing of the corrosion part of the surface of the brushless motor is completed through the corrosion repairing subunit, the safe operation of the brushless motor is more effectively ensured, and the safety of the brushless motor in the operation process is improved.
Specifically, the motor adjusting unit 43 further includes a rotor detecting subunit and a rotor repairing subunit, wherein,
The rotor detection subunit is configured to perform magnetic field detection on the rotor through a magnetic force detection instrument, obtain a plurality of magnetic field intensity values, expand the rotor, establish a coordinate system with the longest length of an expanded surface of the rotor as a horizontal axis and the longitudinal diameter as a vertical axis, draw the plurality of magnetic field intensity values in the coordinate system, obtain a magnetic field distribution diagram, if a missing part is in the magnetic field distribution diagram, the rotor is a missing fault, and if a maximum magnetic field intensity value in the magnetic field distribution diagram is smaller than a standard magnetic field intensity value, the rotor is a magnetism weakening fault;
The rotor repairing subunit is connected with the rotor detecting subunit, and the rotor is replaced if the rotor is in a missing fault;
If the rotor is in a magnetic weakening fault, the rotor is placed in a complex magnetic device, the complex magnetic device is increased to a preset magnetic field from an initial magnetic field, a first time period is placed in the preset magnetic field, the preset magnetic field is adjusted to the initial magnetic field, the repair rotor is taken out, magnetic field detection is carried out on each part of the repair rotor through the magnetic force detection instrument, a plurality of magnetic field intensity values are obtained, the minimum value in the plurality of magnetic field intensity values is compared with the standard magnetic field intensity value, and if the magnetic field intensity minimum value is greater than or equal to the standard magnetic field intensity value, the repair of the rotor is completed.
Specifically, the rotor detection subunit is arranged, the magnetic force detection instrument is utilized to detect the magnetic field of the rotor, the magnetic field intensity value is obtained, and the magnetic field distribution diagram is drawn, so that the system can better know the magnetic field state of the rotor, if the magnetic field distribution diagram lacks part, the rotor is judged to be in a missing fault, and if the maximum magnetic field intensity value in the magnetic field distribution diagram is smaller than the standard magnetic field intensity value, the rotor is judged to be in a magnetic weakening fault, thereby more accurately determining the repair mode of the rotor, and if the rotor is in a missing fault, the rotor is replaced by arranging the rotor repair subunit; if the rotor is in a magnetic weakening fault, placing the rotor in a magnetic restoring device, increasing a magnetic field to a preset magnetic field, maintaining the preset magnetic field for a period of time, adjusting the magnetic field to an initial magnetic field, taking out the repaired rotor, detecting the magnetic field of each part through a magnetic detection instrument, acquiring a magnetic field intensity value, and comparing the magnetic field intensity value, and if the magnetic field intensity minimum value is greater than or equal to a standard magnetic field intensity value, repairing the rotor is completed, so that the safe operation of the motor is more effectively ensured, and the safety in the operation process of the brushless motor is improved.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A cloud-controlled intelligent brushless motor driving system, comprising:
The brushless motor acquisition module is used for acquiring initial operation parameters of the brushless motor when the brushless motor driving equipment operates, wherein the initial operation parameters comprise an initial current value and an initial rotating speed value, and the initial current value and the initial rotating speed value are respectively sent to a cloud for storage;
The equipment acquisition module is used for acquiring environmental parameters of the equipment in real time during operation, wherein the environmental parameters comprise real-time position parameters of the equipment and water flow speed values of the positions of the equipment, and the real-time position parameters and the water flow speed values are respectively sent to a cloud for storage;
The control module is connected with the brushless motor acquisition module and the equipment acquisition module, and is used for calculating a position resistance value received by the equipment and a preset position resistance value according to the real-time position parameter in the cloud to obtain a position adjustment parameter, calculating a water flow resistance value received by the equipment and a preset water flow resistance value according to the water flow speed value to obtain a water flow adjustment parameter, and respectively adjusting the initial current value and the initial rotating speed value of the brushless motor according to the position adjustment parameter and the water flow adjustment parameter to obtain an adjustment current value and an adjustment rotating speed value;
The safety monitoring module is used for comparing and analyzing the actual current value of the brushless motor in the adjusted second period with the adjusted current value to obtain a current analysis result, comparing and analyzing the actual rotating speed value of the brushless motor in the adjusted second period with the adjusted rotating speed value to obtain a rotating speed analysis result if the current analysis result is not abnormal, detecting whether the brushless motor is faulty or not if the current analysis result is abnormal or if the rotating speed analysis result is abnormal, and maintaining if the brushless motor is faulty.
2. The cloud-controlled intelligent brushless motor driving system according to claim 1, wherein the brushless motor acquisition module comprises a first acquisition unit, a processing unit and a first storage unit, wherein,
The first acquisition unit is used for measuring a plurality of current values in a first period of time when the brushless motor driving device operates through the current sensor and measuring a plurality of rotating speed values in the first period of time when the brushless motor driving device operates through the rotating speed sensor;
the processing unit is connected with the first acquisition unit and is used for removing abnormal values in the current values and the rotating speed values through a filtering algorithm, calculating the average value of the removed current values and the average value of the rotating speed values, and obtaining a current average value and a rotating speed average value;
The first storage unit is connected with the processing unit and used for storing the current average value as an initial current value and the rotating speed average value as an initial rotating speed value to the cloud.
3. The cloud-controlled intelligent brushless motor driving system according to claim 2, wherein the device acquisition module comprises a second acquisition unit and a second storage unit, wherein,
The second acquisition unit takes the sea level as a reference plane, acquires the real-time position ordinate of the equipment based on the reference plane in real time through a position sensor, takes the real-time position ordinate as the real-time position parameter of the equipment, and acquires the water flow of the equipment in unit time at the position through a flow velocity sensor so as to calculate the water flow velocity value;
the second storage unit is connected with the second acquisition unit and used for storing the real-time position parameters and the corresponding water flow speed values thereof to the cloud.
4. The cloud-controlled intelligent brushless motor driving system according to claim 3, wherein the control module comprises a calculation unit, a comparison unit and an adjustment unit, wherein,
The calculation unit is used for calculating the resistance born by the equipment according to the real-time position parameter in the cloud, the density of water, the gravity acceleration and the upper surface area of the equipment, taking the resistance as a position resistance value, calculating the resistance born by the equipment according to the water flow speed value, the density of water and the side surface area of the equipment, and taking the resistance as a water flow resistance value;
The comparison unit is connected with the calculation unit and used for comparing the position resistance value with a preset position resistance value, obtaining a position adjustment coefficient by calculating the ratio of the absolute value of the difference value of the position resistance value and the preset position resistance value to the preset position resistance value, comparing the water flow resistance value with the preset water flow resistance value, and obtaining a water flow adjustment coefficient by calculating the ratio of the absolute value of the difference value of the water flow resistance value and the preset water flow resistance value to the preset water flow resistance value;
The adjusting unit is connected with the comparing unit and used for adjusting the initial current value and the initial rotating speed value of the brushless motor through the position adjusting coefficient and the water flow adjusting coefficient to obtain a real-time current value and a real-time rotating speed value.
5. The cloud-controlled intelligent brushless motor driving system according to claim 4, wherein the adjusting unit comprises a current adjusting subunit and a rotation speed adjusting subunit, wherein,
The current adjusting subunit is configured to adjust the initial current value of the brushless motor according to the position adjusting coefficient and the current adjusting coefficient, set the position adjusting coefficient to be K1, set the current adjusting coefficient to be K2, set the initial current value to be I1, and set the actual current value I2 to be；
The rotation speed adjusting subunit is configured to adjust the initial rotation speed value of the brushless motor according to the position adjusting coefficient and the water flow adjusting coefficient, set the position adjusting coefficient to be K1, set the water flow adjusting coefficient to be K2, set the initial rotation speed value to be V1, and set the actual rotation speed value V2 to be。
6. The cloud-controlled intelligent brushless motor driving system according to claim 5, wherein the safety monitoring module comprises a drawing unit, a comparing unit and a motor adjusting unit, wherein,
The drawing unit is used for detecting the actual current value and the actual rotating speed value in real time in a second period of time, obtaining a plurality of actual current values and a plurality of actual rotating speed values, and drawing a current diagram and a rotating speed diagram according to the plurality of actual current values and the plurality of actual rotating speed values;
The comparison unit is connected with the drawing unit and used for comparing and analyzing the current diagram and the adjustment current diagram to obtain a current analysis result, and comparing the rotating speed diagram with the adjustment rotating speed diagram to obtain a rotating speed comparison result if the current analysis result is abnormal;
The motor adjusting unit is connected with the comparing unit, when the current analysis result or the rotating speed comparison result is abnormal, the surface area of the brushless motor is obtained through the image collecting device, the corrosion condition of the brushless motor is judged through the duty ratio of the corrosion area, the brushless motor is repaired when the corrosion of the surface of the brushless motor is abnormal, if the corrosion of the surface of the brushless motor is abnormal, the rotor of the brushless motor is detected, and when the detection result is that the fault occurs, the rotor of the brushless motor is repaired.
7. The cloud-controlled intelligent brushless motor driving system according to claim 6, wherein the drawing unit comprises a setup subunit and a drawing subunit, wherein,
The establishing subunit is used for establishing a rectangular coordinate system taking time as a horizontal axis and taking a current value or a rotating speed value as a vertical axis, and acquiring a current coordinate system and a rotating speed coordinate system;
The drawing subunit is connected with the establishing subunit and is used for drawing a plurality of actual current values in the current coordinate system in the form of points, connecting two adjacent points to obtain a current diagram, drawing a plurality of actual rotating speed values in the rotating speed coordinate system in the form of points, and connecting two adjacent points to obtain a rotating speed diagram.
8. The cloud-controlled intelligent brushless motor driving system according to claim 7, wherein the comparing unit comprises a current comparing subunit and a rotation speed comparing subunit, wherein,
The current comparison subunit is configured to compare the amplitude in the current map with the amplitude variation range in the adjusted current map, and if the amplitude does not belong to the amplitude variation range, the current analysis result is abnormal;
And the rotating speed comparison subunit compares the rotating speed value trend shape in the rotating speed diagram with the rotating speed value trend shape in the rotating speed adjustment diagram in a similarity mode, and if the similarity result is smaller than a preset similarity, the rotating speed comparison result is abnormal.
9. The cloud-controlled intelligent brushless motor driving system according to claim 8, wherein the motor adjusting unit comprises an acquisition sub-unit, an image analysis sub-unit, a corrosion judging sub-unit and a corrosion repairing sub-unit, wherein,
The acquisition subunit is used for acquiring the surface of the brushless motor through the image acquisition equipment to acquire a surface image;
The image analysis subunit is connected with the acquisition subunit and is used for converting the surface image into a gray image through image processing equipment, dividing the gray image at preset intervals to obtain a plurality of image areas, obtaining a plurality of gray values of the areas through a gray detection method, and extracting the areas with the gray values larger than the preset gray values to obtain an extraction area;
The corrosion judging subunit is connected with the image analyzing subunit and is used for calculating the duty ratio of the extraction area to the whole gray level image area, and if the duty ratio is larger than the preset duty ratio, the surface of the brushless motor is corroded abnormally;
And the corrosion repair subunit is connected with the corrosion judgment subunit and is used for repairing the corrosion part on the surface of the brushless motor by re-smearing anti-corrosion paint or filling the corrosion part.
10. The cloud-controlled intelligent brushless motor driving system according to claim 9, wherein the motor adjusting unit further comprises a rotor detecting sub-unit and a rotor repairing sub-unit, wherein,
The rotor detection subunit is configured to perform magnetic field detection on the rotor through a magnetic force detection instrument, obtain a plurality of magnetic field intensity values, expand the rotor, establish a coordinate system with the longest length of an expanded surface of the rotor as a horizontal axis and the longitudinal diameter as a vertical axis, draw the plurality of magnetic field intensity values in the coordinate system, obtain a magnetic field distribution diagram, if a missing part is in the magnetic field distribution diagram, the rotor is a missing fault, and if a maximum magnetic field intensity value in the magnetic field distribution diagram is smaller than a standard magnetic field intensity value, the rotor is a magnetism weakening fault;
The rotor repairing subunit is connected with the rotor detecting subunit, and the rotor is replaced if the rotor is in a missing fault;
If the rotor is in a magnetic weakening fault, the rotor is placed in a complex magnetic device, the complex magnetic device is increased to a preset magnetic field from an initial magnetic field, a first time period is placed in the preset magnetic field, the preset magnetic field is adjusted to the initial magnetic field, the repair rotor is taken out, magnetic field detection is carried out on each part of the repair rotor through the magnetic force detection instrument, a plurality of magnetic field intensity values are obtained, the minimum value in the plurality of magnetic field intensity values is compared with the standard magnetic field intensity value, and if the magnetic field intensity minimum value is greater than or equal to the standard magnetic field intensity value, the repair of the rotor is completed.
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| CN113922711A (en) * | 2021-09-02 | 2022-01-11 | 深圳动魅科技有限公司 | A brushless DC motor drive circuit |
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| CN114400928B (en) * | 2022-01-06 | 2024-05-03 | 广东和汇智能装备有限公司 | Cloud-control intelligent brushless motor driving system |
| CN115589177B (en) * | 2022-11-22 | 2023-03-03 | 深圳市锦锐科技股份有限公司 | Intelligent braking control method of brushless direct current motor |
| CN116699402B (en) * | 2023-08-02 | 2023-12-08 | 江苏一东航空机械有限公司 | Data processing method for DC brushless motor sensor |
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| CN103124155A (en) * | 2012-11-20 | 2013-05-29 | 上海硅力电子科技有限公司 | Brushless motor differential regulating drive controller, brushless motor differential regulating drive controller for cart and cart |
| CN113922711A (en) * | 2021-09-02 | 2022-01-11 | 深圳动魅科技有限公司 | A brushless DC motor drive circuit |
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