Motor control method, apparatus, and system

Patent metadata

Field	Value
Publication number	US-10640224-B2
Application number	US-201816116279-A
Country	US
Kind code	B2
Filing date	Aug 29, 2018
Priority date	Mar 1, 2016
Publication date	May 5, 2020
Grant date	May 5, 2020

Abstract

A method for controlling a motor includes obtaining a present electrical parameter of a battery, calculating a compensation amount of a control signal of the motor according to the present electrical parameter, and modifying the control signal according to the compensation amount.

First claim

What is claimed is:

1. A method for controlling a motor comprising:
obtaining a present electrical parameter of a battery;
calculating a compensation amount of a control signal of the motor according to the present electrical parameter; and
modifying the control signal according to the compensation amount.

2. The method according to claim 1 , wherein the present electrical parameter includes at least one of a present charge quantity of the battery, a present voltage of the battery, a present output electrical current of the battery, or a present internal resistance of the battery.

3. The method according to claim 2 , wherein the control signal includes at least one of a control signal configured to control a rotation speed of the motor or a control signal configured to control an output power of the motor.

4. The method according to claim 3 , wherein:
the present electrical parameter of the battery includes the present voltage of the battery; and
calculating the compensation amount includes:
calculating the compensation amount of the control signal of the motor corresponding to a subsequent time point according to the present voltage of the battery and a preset voltage model including one-to-one correspondences between voltages of the battery and preset compensation amounts.

5. The method according to claim 4 , wherein modifying the control signal includes:
modifying, at a present time point, the control signal according to the compensation amount.

6. The method according to claim 3 , wherein:
the present electrical parameter of the battery includes the present voltage of the battery; and
calculating the compensation amount of the control signal of the motor includes:
calculating in real time the compensation amount of the control signal of the motor according to the present voltage of the battery.

7. The method according to claim 6 , wherein:
calculating in real time the compensation amount of the control signal includes:
calculating in real time a compensation amount of a voltage outputted to the motor according to the present voltage of the battery; and

modifying the control signal includes:
modifying an original voltage outputted to the motor according to the compensation amount of the voltage.

8. The method according to claim 7 , wherein the compensation amount of the voltage is determined according to a difference between a full voltage of the battery and the present voltage of the battery.

9. A method for controlling a motor comprising:
obtaining a present electrical parameter of a battery;
calculating a voltage compensation amount of the battery according to the present electrical parameter; and
compensating an output voltage of the battery according to the voltage compensation amount to maintain the output voltage of the battery stable.

10. The method according to claim 9 , wherein the present electrical parameter of the battery includes at least one of a present charge quantity of the battery, a present voltage of the battery, a present output electrical current of the battery, or a present internal resistance of the battery.

11. The method according to claim 10 , wherein:
the present electrical parameter of the battery includes the present voltage of the battery; and
calculating the voltage compensation amount of the battery includes:
calculating the voltage compensation amount of the battery according to the present voltage of the battery and a full voltage of the battery, the voltage compensation amount being equal to a difference between the full voltage and the present voltage.

12. An apparatus for controlling a motor comprising:
one or more processors configured to:
obtain a present electrical parameter of a battery;
calculate a compensation amount of a control signal of the motor according to the present electrical parameter; and
modify the control signal according to the compensation amount.

13. The apparatus according to claim 12 , further comprising:
an electrical parameter detection circuit electrically coupled to the one or more processors and configured to detect the present electrical parameter.

14. The apparatus according to claim 13 , wherein the electrical parameter detection circuit includes at least one of a coulometer, a voltage detection circuit, an electrical current detection circuit, or a resistance detection circuit.

15. The apparatus according to claim 14 , wherein the one or more processors are further configured to:
calculate the compensation amount of the control signal of the motor corresponding to a subsequent time point according to the present voltage of the battery and a preset voltage model including one-to-one correspondences between voltages of the battery and preset compensation amounts; and
modify, at a present time point, the control signal according to the compensation amount.

16. The apparatus according to claim 14 , wherein the one or more processors are further configured to:
calculate in real time the compensation amount of the control signal of the motor according to the present voltage of the battery.

17. The apparatus according to claim 16 , wherein the one or more processors are further configured to:
calculate in real time a compensation amount of a voltage outputted to the motor according to the present voltage of the battery; and
modify an original voltage outputted to the motor according to the compensation amount of the voltage outputted to the motor.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Zhou Changxing
• Lan Qiu
• Ni Jinyun

Classifications

• H02P2205/03

  Power loop, i.e. comparison of the motor power with a power reference · CPC title

• H02P2201/00

  Indexing scheme relating to controlling arrangements characterised by the converter used · CPC title

• H02P6/08

  Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence) · CPC title

• G01R31/389

  Measuring internal impedance, internal conductance or related variables · CPC title

• H02P27/14

  with three or more levels of voltage · CPC title