摘要：【中文】本发明提供一种结构伺服弹性试验开环扫频信号设计方法、存储介质及检测系统，设计方法包括以下步骤：确定开环扫频试验的扫频频点；计算各所述扫频频点的正弦扫频信号幅值；判断所述各扫频频点处正弦扫频信号的幅值是否大于执行机构的死区宽度：如果大于，则在该频点采用这一幅值的所述正弦扫频信号用于扫频试验；如果小于，则在该频点采用低频基础信号与所述正弦扫频信号的叠加，作为该频点的扫频信号。本发明能够在满足执行机构偏转速率约束的情况下克服执行机构的死区，解决了单独采用正弦信号进行扫频时执行机构偏转角度陷入死区之内，无法对飞行器结构产生激励的问题。 【EN】The invention provides a structural servo elasticity test open-loop frequency sweep signal design method, a storage medium and a detection system, wherein the design method comprises the following steps: determining a frequency sweeping frequency point of an open loop frequency sweeping test; calculating the sine frequency sweeping signal amplitude of each frequency sweeping frequency point; judging whether the amplitude of the sine frequency sweeping signal at each frequency sweeping frequency point is larger than the dead zone width of an actuating mechanism: if the frequency is larger than the preset frequency, the sine frequency sweeping signal with the amplitude is adopted at the frequency point for frequency sweeping test; if the frequency point is smaller than the preset frequency point, the superposition of the low-frequency basic signal and the sine frequency sweeping signal is adopted at the frequency point as the frequency sweeping signal of the frequency point. The invention can overcome the dead zone of the actuating mechanism under the condition of meeting the constraint of the deflection speed rate of the actuating mechanism, and solves the problem that the deflection angle of the actuating mechanism falls into the dead zone and cannot excite the aircraft structure when the sinusoidal signal is singly adopted for frequency sweeping.

摘要：【中文】本发明提供一种伺服机构简化模型的建模方法、存储介质及服务器。建模方法包括步骤：伺服机构简化模型幅相频特性期望值的确定；模型结构的分析确定；采用优化控制算法进行模型特征参数求解，以及模型幅相频特性的验证。该方法对目前通常采用的伺服机构简化模型的结构进行了改进，引入了幅相校正环节，保证简化模型在多个频段具有较高的建模精度；同时，将伺服结构简化模型的特征参数拟合问题转化为最优控制问题，避免了特征参数的试凑过程，显著提高了求解效率。 【EN】The invention provides a modeling method of a simplified model of a servo mechanism, a storage medium and a server. The modeling method comprises the following steps: determining an expected value of amplitude-phase-frequency characteristics of the simplified model of the servo mechanism; analyzing and determining a model structure; and solving the characteristic parameters of the model by adopting an optimization control algorithm, and verifying the amplitude-phase-frequency characteristics of the model. The method improves the structure of a servo mechanism simplified model which is usually adopted at present, introduces a phase-amplitude correction link, and ensures that the simplified model has higher modeling precision in a plurality of frequency bands; meanwhile, the characteristic parameter fitting problem of the servo structure simplified model is converted into the optimal control problem, the trial and error process of the characteristic parameters is avoided, and the solving efficiency is obviously improved.

摘要：【中文】本发明提出了一种确定永磁同步电机转子角度位置的方法、装置及永磁同步电机。永磁同步电机设置有多个霍尔位置传感器，以及设置有极对数为永磁同步电机的极对数的二倍的霍尔磁环，霍尔位置传感器用于输出霍尔位置信号，方法包括：在永磁同步电机上电且处于停止状态时，获取霍尔位置信号电平，根据霍尔位置信号电平确定初始霍尔角度位置以及初始扇区值；在初始霍尔角度位置的q轴方向加入电流以使永磁同步电机旋转，并记录扇区变化；根据扇区变化值，确定永磁同步电机的旋转方向以及霍尔位置标志位；根据霍尔位置标志位和初始霍尔角度位置，确定永磁同步电机的转子角度位置。 【EN】The invention provides a method and a device for determining the angle position of a rotor of a permanent magnet synchronous motor and the permanent magnet synchronous motor. The permanent magnet synchronous motor is provided with a plurality of Hall position sensors and a Hall magnetic ring with the number of pole pairs being twice that of the permanent magnet synchronous motor, the Hall position sensors are used for outputting Hall position signals, and the method comprises the following steps: when the permanent magnet synchronous motor is powered on and is in a stop state, acquiring a Hall position signal level, and determining an initial Hall angle position and an initial sector value according to the Hall position signal level; adding current in the q-axis direction of the initial Hall angle position to enable the permanent magnet synchronous motor to rotate, and recording the change of a sector; determining the rotation direction of the permanent magnet synchronous motor and a Hall position zone bit according to the sector change value; and determining the rotor angle position of the permanent magnet synchronous motor according to the Hall position mark bit and the initial Hall angle position.

摘要：【中文】本发明提出了一种确定永磁同步电机转子角度位置的方法、装置及永磁同步电机。电机设置有极对数为电机的极对数的二倍的霍尔磁环，方法包括：在永磁同步电机上电且处于停止状态时，获取霍尔位置信号电平，根据霍尔位置信号电平确定初始霍尔角度位置以及初始扇区值；在初始霍尔角度位置的q轴方向加入电流，判断初始扇区值是否发生变化；当发生变化时，记录扇区变化值，并根据扇区变化值确定永磁同步电机的旋转方向以及霍尔位置标志位；当未发生变化时，在初始霍尔角度位置分别加入正电压脉冲和负电压脉冲，获取并比较正电流峰值和负电流峰值，以确定霍尔位置标志位；根据霍尔位置标志位和初始霍尔角度位置，确定永磁同步电机的转子角度位置。 【EN】The invention provides a method and a device for determining the angle position of a rotor of a permanent magnet synchronous motor and the permanent magnet synchronous motor. The motor is provided with a Hall magnetic ring with the number of pole pairs being twice that of the motor, and the method comprises the following steps: when the permanent magnet synchronous motor is powered on and is in a stop state, acquiring a Hall position signal level, and determining an initial Hall angle position and an initial sector value according to the Hall position signal level; adding current in the q-axis direction of the initial Hall angle position, and judging whether the initial sector value changes or not; when the change occurs, recording a sector change value, and determining the rotation direction of the permanent magnet synchronous motor and the Hall position zone bit according to the sector change value; when the Hall position marker bit is not changed, respectively adding a positive voltage pulse and a negative voltage pulse at the initial Hall angle position, and acquiring and comparing a positive current peak value and a negative current peak value to determine the Hall position marker bit; and determining the rotor angle position of the permanent magnet synchronous motor according to the Hall position mark bit and the initial Hall angle position.

摘要：【中文】当对包括多个存储单元和多个字线的存储器件进行编程和验证时，首先对多个存储单元中的由多个字线中的第一字线控制的第一存储单元执行第一粗略编程然后，对多个存储单元中的由多个字线中的第二字线控制的第二存储单元执行第二粗略编程。接下来，使用第一粗略验证电流来确定第一存储单元是否通过了粗略验证，且使用第二粗略验证电流来确定第二存储单元是否通过了第二粗略验证，其中第二粗略验证电流小于第一粗略验证电流。 【EN】When programming and verifying a memory device including a plurality of memory cells and a plurality of word lines, first coarse programming is performed on a first memory cell controlled by a first word line of the plurality of memory cells and then second coarse programming is performed on a second memory cell controlled by a second word line of the plurality of memory cells. Next, a first coarse verify current is used to determine whether the first memory cell passed coarse verification, and a second coarse verify current is used to determine whether the second memory cell passed second coarse verification, wherein the second coarse verify current is less than the first coarse verify current.

摘要：【中文】本发明提供了一种转子角速度和转子位置检测方法、转子角速度和转子位置检测设备及计算机可读存储介质。其中，转子角速度和转子位置检测方法包括：随机生成一组当前正弦波周期、当前起始相位角和当前电压幅值；在一个当前正弦波周期内，按照正弦波信号规则向电机的d轴注入正弦电压，并记录至少两个时刻的第一q轴电流，其中，正弦电压的起始相位角为当前起始相位角，正弦电压的幅值为当前电压幅值；获取上一个正弦波周期内的至少两个第二q轴电流；根据至少两个第二q轴电流计算转子角速度和转子位置；当运行完一个当前正弦波周期，返回随机生成一组当前正弦波周期和当前电压幅值的步骤。本发明降低了高频电流噪音且计算负荷小。 【EN】The invention provides a rotor angular velocity and rotor position detection method, a rotor angular velocity and rotor position detection device and a computer readable storage medium. The rotor angular speed and rotor position detection method comprises the following steps: randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude; in a current sine wave period, injecting sine voltage to a d axis of the motor according to a sine wave signal rule, and recording first q axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude; acquiring at least two second q-axis currents in the last sine wave period; calculating the rotor angular speed and the rotor position according to the at least two second q-axis currents; and returning to the step of randomly generating a group of current sine wave periods and current voltage amplitudes when the operation of one current sine wave period is finished. The invention reduces the noise of high-frequency current and has small calculation load.

摘要：【中文】本发明提供了一种转子角速度和转子位置检测方法、转子角速度和转子位置检测设备及计算机可读存储介质。其中，转子角速度和转子位置检测方法包括：随机生成一组方波周期和电压绝对值；生成随机电压，按照预设规则确定随机电压的正负，随机电压的绝对值等于电压绝对值；在半个方波周期内向电机的d轴注入随机电压，并在注入随机电压的期间，记录一次q轴电流；根据q轴电流计算转子角速度和转子位置；当运行完半个方波周期，返回随机生成一组方波周期和电压绝对值的步骤。本发明提供的转子角速度和转子位置检测方法，以向电机的d轴注入随机频率方波电压并输出q轴电流的方式检测电机的转子角速度和转子位置，降低了高频电流噪音且计算负荷小。 【EN】The invention provides a rotor angular velocity and rotor position detection method, a rotor angular velocity and rotor position detection device and a computer readable storage medium. The rotor angular speed and rotor position detection method comprises the following steps: randomly generating a group of square wave periods and voltage absolute values; generating a random voltage, and determining the positive and negative of the random voltage according to a preset rule, wherein the absolute value of the random voltage is equal to the absolute value of the voltage; injecting random voltage into a d axis of the motor within a half square wave period, and recording q-axis current once during the period of injecting the random voltage; calculating the angular speed and the position of the rotor according to the q-axis current; and returning to the step of randomly generating a group of square wave periods and voltage absolute values after half square wave period operation. The rotor angular velocity and the rotor position of the motor are detected in a mode of injecting random frequency square wave voltage into a d axis of the motor and outputting q axis current, high frequency current noise is reduced, and calculation load is small.

摘要：【中文】本发明提供了一种转子角速度和转子位置检测方法、转子角速度和转子位置检测设备及计算机可读存储介质。其中，转子角速度和转子位置检测方法包括：随机生成一组方波周期、高电平和低电平，高电平和低电平互为相反数；在一个方波周期内按照方波信号规则向电机的d轴注入高电平和低电平，并在注入高电平的期间和注入低电平的期间，分别记录一次q轴电流；根据q轴电流计算转子角速度和转子位置；当运行完一个方波周期，返回随机生成一组方波周期、高电平和低电平的操作。本发明提供的转子角速度和转子位置检测方法，以向电机的d轴注入随机频率方波电压并输出q轴电流的方式检测电机的转子角速度和转子位置，降低了高频电流噪音且计算负荷小。 【EN】The invention provides a rotor angular velocity and rotor position detection method, a rotor angular velocity and rotor position detection device and a computer readable storage medium. The rotor angular speed and rotor position detection method comprises the following steps: randomly generating a group of square wave periods, high levels and low levels, wherein the high levels and the low levels are opposite numbers; injecting a high level and a low level into a d axis of the motor according to a square wave signal rule in a square wave period, and recording q axis current once during the period of injecting the high level and the period of injecting the low level respectively; calculating the angular speed and the position of the rotor according to the q-axis current; and returning to the operation of randomly generating a group of square wave periods, high level and low level when the operation is finished by one square wave period. The rotor angular velocity and the rotor position of the motor are detected in a mode of injecting random frequency square wave voltage into a d axis of the motor and outputting q axis current, high frequency current noise is reduced, and calculation load is small.

摘要：【中文】本发明提出了一种永磁同步电机控制方法、永磁同步电机控制装置、永磁同步电机及洗衣机。其中，永磁同步电机控制方法包括：利用随机周期的正弦波获取高频电压，并采样得到高频电流；根据高频电流获取永磁同步电机的转子角速度，进而获取永磁同步电机的转子位置。采用本发明的技术方案，基于随机频率(随机周期)正弦波电压注入进行永磁同步电机转子位置的估计，一方面，提供了一种可靠且低成本的无传感器的转子位置估计方法，另一方面，有效地解决了高频注入噪音问题，适用于对噪音要求较高的场合。 【EN】The invention provides a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control device, a permanent magnet synchronous motor and a washing machine. The control method of the permanent magnet synchronous motor comprises the following steps: acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.

摘要：【中文】本发明提供了一种滚筒洗衣机及其控制方法、控制装置和计算机可读存储介质，控制方法，包括：控制电机旋转；获取一个周期中电机或滚筒的最大位置θmax及最小位置θmin；设置参数θ1＝θ1+θ‑θmax，θ2＝θ2‑θmin，并返回控制电机旋转的步骤，其中，公式θ1＝θ1+θ‑θmax中等号左右两侧的θ1分别为一个周期的下一周期和一个周期中的第一预设位置，θ为电机或滚筒的最大预设位置，公式θ2＝θ2‑θmin中等号左右两侧的θ2为一个周期的下一周期和一个周期中的第二预设位置。本发明提供的控制方法，可以减小对衣物的磨损。 【EN】The invention provides a drum washing machine and a control method, a control device and a computer readable storage medium thereof, wherein the control method comprises the following steps: controlling the motor to rotate; acquiring the maximum position theta max and the minimum position theta min of the motor or the roller in one period; setting parameters theta 1 and theta 2-theta min, and returning to the step of controlling the rotation of the motor, wherein the theta 1 on the left side and the right side of the equal sign in the formula theta 1+ theta-theta max is respectively a next cycle of one cycle and a first preset position in one cycle, the theta is a maximum preset position of the motor or the roller, and the theta 2 on the left side and the right side of the equal sign in the formula theta 2-theta min is a next cycle of one cycle and a second preset position in one cycle. The control method provided by the invention can reduce the abrasion to the clothes.