Motor and control method and device thereof, storage medium and computer program product

Abstract

The invention belongs to the technical field of motors, and discloses a motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: obtaining the rotating speed of the motor under the condition that the motor needs to be started, and obtaining an output signal of a Hall position sensor unit; determining whether the motor is not started and is in a downwind state or not according to the rotating speed of the motor and an output signal of the Hall position sensor unit; if it is determined that the motor is not started and is in the downwind state, the output voltage of the inversion unit is controlled to be preset voltage so that the motor can rotate; and after the first set time, the output voltage of the inverter unit is adjusted, so that the motor is started downwind after speed reduction, and the motor runs after speed increase after downwind starting. According to the scheme, when the motor is started in the downwind state, the speed is reduced to the minimum value, then the motor is started in the downwind state, and the speed is increased to the target value after the motor is stabilized, so that the motor is started in a silent mode in the downwind state, rotating speed overshoot operation is avoided, and reliability and use experience are improved.

Description

Technical Field

[0001] The present invention belongs to the field of motor technology, and specifically relates to a motor control method, device, motor, storage medium and computer program product, and more particularly to a control method, device, motor, storage medium and computer program product suitable for adaptively starting and running a motor in a downwind state. Background Art

[0002] With the maturing development of home appliance technology, the rapid advancement of power electronics, and national energy efficiency upgrades, brushless DC motors (BLDCs), with their high efficiency and low noise, are becoming increasingly popular and widely used in home appliances. The operating principle of motors (such as BLDCs) is to use Hall effect sensors to determine rotor position, generating six PWM signals (pulse-width modulation signals, a square wave signal with a fixed period and adjustable width) to activate or deactivate the corresponding switches in the motor control module, such as the IPM (intelligent power module) or inverter, thereby forming a rotating magnetic field and driving the motor. However, if the motor is hard-started with a high current and then directly accelerated in a tailwind condition, it is prone to startup noise and speed overshoot.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The object of the present invention is to provide a motor control method, device, motor, storage medium and computer program product to solve the problem that if the motor is hard-started with a large current and then directly accelerated to run in a tailwind state, starting noise and speed overshoot are easily generated. When starting the motor in a tailwind state, the speed is first reduced to the minimum value and then started with the wind, and then the speed is increased to the target value after the start is stable, so as to ensure that the motor starts silently in a tailwind state and does not run with speed overshoot, thereby improving reliability and user experience.

[0005] The present invention provides a method for controlling a motor, wherein the motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the method for controlling the motor comprises: when it is necessary to start the motor, obtaining the rotational speed of the motor and obtaining the output signal of the Hall position sensor unit; determining whether the motor has not been started and is in a tailwind state according to the rotational speed of the motor and the output signal of the Hall position sensor unit; if it is determined that the motor has not been started and is in a tailwind state, controlling the output voltage of the inverter unit to a preset voltage so that the motor rotates; after a first set time, adjusting the output voltage of the inverter unit so that the motor is started with the tailwind after deceleration, and then speeding up the motor for operation after the motor is started with the tailwind.

[0006] In some embodiments, determining whether the motor is not started and is in a downwind state is performed based on the rotational speed of the motor and the output signal of the Hall position sensor unit, including: determining whether the rotational speed of the motor is 0, and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state; if it is determined that the rotational speed of the motor is 0, and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state, then determining that the motor is not started and is in a downwind state.

[0007] In some embodiments, the inverter unit has a switching tube module; controlling the output voltage of the inverter unit to be a preset voltage so that the motor rotates includes: outputting a PWM signal with a preset rotation duty cycle to the switching tube module of the inverter unit so that the output voltage of the inverter unit is a preset voltage, thereby causing the motor to rotate.

[0008] In some embodiments, the output voltage of the inverter unit is adjusted so that the motor starts with a tailwind after slowing down, and then speeds up and runs after the motor starts with a tailwind, including: limiting the output voltage of the inverter unit to reduce the speed of the motor; controlling the motor to start with a tailwind until the speed of the motor is reduced to a preset minimum speed of the motor; increasing the output voltage of the inverter unit to increase the speed of the motor after the motor starts with a tailwind for a second set time, or after the stability of the motor starting with a tailwind reaches a set level; controlling the motor to switch from the startup phase to the operation phase until the speed of the motor increases to the target speed of the motor, and running at the target speed of the motor in the operation phase.

[0009] In some embodiments, the inverter unit has a switching tube module; limiting the output voltage of the inverter unit to reduce the speed of the motor includes: after outputting a PWM signal with a preset rotation duty cycle to the switching tube module of the inverter unit, reducing the duty cycle of the PWM signal to reduce the output voltage of the inverter unit and reduce the speed of the motor; until the duty cycle of the PWM signal is reduced to a preset minimum duty cycle, the speed of the motor is reduced to the preset minimum speed of the motor.

[0010] In some embodiments, the inverter unit has a switching tube module; increasing the output voltage of the inverter unit to increase the speed of the motor includes: after outputting a PWM signal with a preset minimum duty cycle to the switching tube module of the inverter unit, increasing the duty cycle of the PWM signal, increasing the output voltage of the inverter unit, and increasing the speed of the motor; until the duty cycle of the PWM signal increases to a target duty cycle, the speed of the motor increases to the target speed of the motor.

[0011] Matching the above method, the present invention provides a control device for a motor on the other hand, wherein the motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the control device for the motor includes: an acquisition unit, configured to acquire the rotational speed of the motor and the output signal of the Hall position sensor unit when the motor needs to be started; a control unit, configured to determine whether the motor has not been started and is in a downwind state based on the rotational speed of the motor and the output signal of the Hall position sensor unit; the control unit is further configured to control the output voltage of the inverter unit to a preset voltage if it is determined that the motor has not been started and is in a downwind state, so as to make the motor rotate; after a first set time, adjust the output voltage of the inverter unit so that the motor is started with the downwind after deceleration, and then increase the speed and run after the motor is started with the downwind.

[0012] In some embodiments, the control unit determines whether the motor is not started and is in a downwind state based on the speed of the motor and the output signal of the Hall position sensor unit, including: determining whether the speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state; if it is determined that the speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state, then it is determined that the motor is not started and is in a downwind state.

[0013] In some embodiments, the inverter unit has a switching tube module; the control unit controls the output voltage of the inverter unit to be a preset voltage so that the motor rotates, including: outputting a PWM signal with a preset rotation duty cycle to the switching tube module of the inverter unit so that the output voltage of the inverter unit is a preset voltage, thereby causing the motor to rotate.

[0014] In some embodiments, the control unit adjusts the output voltage of the inverter unit so that the motor starts with a tailwind after slowing down, and speeds up the motor before running after the motor starts with a tailwind, including: limiting the output voltage of the inverter unit to reduce the speed of the motor; controlling the motor to start in a tailwind state until the speed of the motor is reduced to a preset minimum speed of the motor; increasing the output voltage of the inverter unit to increase the speed of the motor after the motor starts in a tailwind state for a second set time, or after the stability of the motor starting in a tailwind state reaches a set level; controlling the motor to switch from the starting stage to the running stage until the speed of the motor increases to the target speed of the motor, and running at the target speed of the motor in the running stage.

[0015] In some embodiments, the inverter unit has a switching tube module; the control unit limits the output voltage of the inverter unit to reduce the speed of the motor, including: after outputting a PWM signal with a preset rotation duty cycle to the switching tube module of the inverter unit, reducing the duty cycle of the PWM signal to reduce the output voltage of the inverter unit and reduce the speed of the motor; until the duty cycle of the PWM signal is reduced to a preset minimum duty cycle, the speed of the motor is reduced to the preset minimum speed of the motor.

[0016] In some embodiments, the inverter unit has a switching tube module; the control unit increases the output voltage of the inverter unit to increase the speed of the motor, including: after outputting a PWM signal with a preset minimum duty cycle to the switching tube module of the inverter unit, increasing the duty cycle of the PWM signal, increasing the output voltage of the inverter unit, and increasing the speed of the motor; until the duty cycle of the PWM signal increases to a target duty cycle, the speed of the motor increases to the target speed of the motor.

[0017] Matching the above device, the present invention further provides a motor, including: the control device of the motor described above.

[0018] In accordance with the above method, the present invention further provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the motor control method described above.

[0019] In accordance with the above method, the present invention further provides a computer program product, comprising a computer program, which implements the steps of the above motor control method when executed by a processor.

[0020] Therefore, according to the solution of the present invention, when it is necessary to start the motor, if it is determined that the motor has not started and is in a tailwind state, the starting speed of the motor is reduced by limiting the output voltage of the motor in the tailwind state (such as reducing the duty cycle of the PWM signal of the motor control module in the tailwind state to reduce the starting speed of the motor by limiting the output voltage of the motor); until the starting speed of the motor is reduced to the minimum operating speed of the motor, the motor is controlled to start with the tailwind; after the motor is started with the tailwind and the change in the motor speed within the set range is within the set speed error range, the speed of the motor is increased to the set target speed (such as increasing the duty cycle of the PWM signal of the motor control module to increase the speed of the motor to the set target speed), and the motor is controlled to switch from the starting stage to the running stage; thus, by starting the motor in the tailwind state, first reducing the speed to the minimum value and then starting with the tailwind, and then increasing the speed to the target value after the start is stable, it is ensured that the motor starts silently in the tailwind state and does not run at an overshoot speed, thereby improving reliability and user experience.

[0021] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0022] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a flow chart of an embodiment of a method for controlling a motor according to the present invention; Figure 2 Schematic diagram of a flow chart of an embodiment of the method of the present invention for determining whether the motor is not started and is in a downwind state; Figure 3 1 is a flow chart of an embodiment of the method for adjusting the output voltage of the inverter unit in the present invention; Figure 4 1 is a flow chart of an embodiment of the method for limiting the output voltage of the inverter unit in the present invention; Figure 5 1 is a flow chart of an embodiment of a method for increasing the output voltage of the inverter unit in the present invention; Figure 6 Schematic diagram of the structure of an embodiment of a motor control device of the present invention; Figure 7 This is a schematic diagram of the control waveform of the PWM signal for downwind start of the motor; Figure 8 A schematic diagram of the overall control flow of a control method for adaptively starting and operating a motor in a tailwind state; Figure 9This is a schematic diagram of the three-phase Hall sensor outputting six states of high and low levels when the motor rotates.

[0024] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows: 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Considering that if a motor is hard-started with a high current and then directly accelerated with a tailwind, it is likely to cause starting noise and speed overshoot, problems such as running. Therefore, when starting and accelerating the motor with a tailwind, it is necessary to pay attention to the switching control method between starting and running to avoid problems such as noise and speed overshoot caused by a hard start with a high current.

[0027] Therefore, the solution of the present invention proposes a control method for a motor, specifically a control method suitable for adaptively starting and running the motor in a tailwind state. The method controls the motor to start and run reliably and silently based on the tailwind state, so that the motor can start and run reliably and silently in a tailwind state, avoiding the problem of starting noise and speed overshoot caused by directly starting and running with the wind.

[0028] According to an embodiment of the present invention, a method for controlling a motor is provided. Figure 1 The flow chart of an embodiment of the method of the present invention is shown in FIG. The motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the inverter unit of the motor is such as an IPM module or a three-phase inverter module; the Hall position sensor unit is such as three Hall position sensors, which are used to determine the rotor position of the motor. In the solution of the present invention, Figure 1 As shown, the motor control method includes: steps S110 to S140.

[0029] In step S110, if the motor needs to be started, the motor speed is obtained and the output signal of the Hall position sensor unit is obtained; that is, if the motor is not started, the output signal of the Hall position sensor unit is obtained. The situation where the motor needs to be started, for example, is when a start command for the motor is received.

[0030] At step S120, based on the rotational speed of the motor and the output signal of the Hall position sensor unit, it is determined whether the motor is not started and is in a downwind state; that is, when the motor is not started, the output signal of the Hall position sensor unit is used to determine whether the motor is in a downwind state.

[0031] At step S130, if it is determined that the motor is not started and is in a tailwind state, the output voltage of the inverter unit is controlled to a preset voltage to start the motor rotating; the preset voltage is a voltage that can start the motor rotating from zero speed. In the present invention, controlling the output voltage of the inverter unit is used as an example; however, controlling the output current of the inverter unit is also possible. Of course, if it is determined that the motor is started, the motor is controlled to continue running (i.e., run according to the preset operating mode); if it is determined that the motor is in a headwind state, the motor is controlled to continue starting (i.e., start according to the preset starting mode).

[0032] At step S140, after the output voltage of the inverter unit is controlled to be a preset voltage for a first set time, that is, after the motor is started, the output voltage of the inverter unit is adjusted so that the motor is started with the wind after the speed is reduced, and then the motor is increased in speed and then operated after the motor is started with the wind. That is, if it is determined that the motor is in a tailwind state when the motor has not started, the output voltage of the inverter unit is controlled so that the speed of the motor is reduced before the motor is started with the wind, and then the speed of the motor is increased in speed and then operated after the motor is started with the wind. The first set time is the time it takes for the inverter unit to output the preset voltage so that the rotor of the motor can rotate.

[0033] In order to solve the problems of noise and speed overshoot caused by direct high-current downwind starting of brushless DC motors in downwind state, the present invention proposes a control scheme for the motor to be adaptively started and run in downwind state, specifically a control scheme suitable for the motor to be adaptively started and run in downwind state, by adjusting the duty cycle output of the PWM signal used to control the on or off of the corresponding switch tube in the motor control module such as the IPM module (intelligent power module) or inverter, to adaptively adjust the motor speed, and realize adaptive downwind smooth starting and operation after the speed is slowly reduced, so as to control the motor to start and run reliably and silently based on the downwind state, thereby solving the problems of starting noise and speed overshoot of the motor in the downwind state. Among them, adaptive downwind means that the motor itself can adapt to the state without stopping and starting gently under different downwind speeds, avoiding direct control of the motor brake stop and then start control.

[0034] In some embodiments, the specific process of determining whether the motor is not started and is in a tailwind state based on the rotational speed of the motor and the output signal of the Hall position sensor unit in step S120 is described in the following exemplary embodiment.

[0035] The following combination Figure 2 The flowchart of an embodiment of the method of the present invention for determining whether the motor is not started and is in a downwind state is shown, further illustrating the specific process of determining whether the motor is not started and is in a downwind state in step S120, including: steps S210 to S220.

[0036] Step S210 , determining whether the rotation speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a tailwind state.

[0037] Step S220: If it is determined that the speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state, it is determined that the motor is not started and is in a downwind state.

[0038] In the solution of the present invention, based on the rotational speed of the motor and the output signal of the Hall position sensor unit, it is possible to accurately determine whether the motor has not been started and is in a tailwind state, and when it is determined that the motor has not been started and is in a tailwind state, the motor is controlled to start and run reliably and silently based on the tailwind state, so that during the application of the brushless DC motor, the motor can be started and run reliably and silently in a tailwind state, avoiding the problem of starting noise and speed overshoot caused by direct tailwind starting and running.

[0039] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0040] In step S130, the output voltage of the inverter unit is controlled to be a preset voltage so that the motor rotates, including: outputting a PWM signal with a preset rotation duty cycle to the switch tube module of the inverter unit so that the output voltage of the inverter unit is a preset voltage, so that the motor rotates; wherein the preset voltage is a voltage that can cause the motor to rotate.

[0041] The solution of the present invention proposes a control method for adaptively starting and running a motor in a tailwind state. By adjusting the duty cycle output of the PWM signal, a control strategy is implemented to limit the voltage and speed reduction before starting the motor in a tailwind state, thereby achieving low-noise and silent starting and stable operation of the motor in a tailwind state, and avoiding the problems of starting noise and overshoot operation of the motor caused by the tailwind state.

[0042] In some embodiments, in step S140, the output voltage of the inverter unit is adjusted so that the motor is started with the wind after slowing down, and the motor is then accelerated and operated after starting with the wind. For a specific process, see the following exemplary description.

[0043] The following combination Figure 3 The flowchart of an embodiment of adjusting the output voltage of the inverter unit in the method of the present invention further illustrates the specific process of adjusting the output voltage of the inverter unit in step S140, including: steps S310 to S340.

[0044] Step S310: limiting the output voltage of the inverter unit to reduce the rotation speed of the motor.

[0045] Step S320: until the rotation speed of the motor decreases to a preset minimum rotation speed of the motor, the motor is controlled to start in a tailwind state, specifically, the motor is controlled to start in an adaptive tailwind state.

[0046] Step S330, after the motor starts for a second set time in a tailwind state, or after the stability of the motor starting in a tailwind state reaches a set level, increase the output voltage of the inverter unit to increase the speed of the motor; wherein the second set time is the time it takes for the motor to start in an adaptive tailwind state and reach a preset stability level.

[0047] Step S340 : After the rotation speed of the motor increases to the target rotation speed of the motor, the motor is controlled to switch from the startup phase to the operation phase, and the motor is operated at the target rotation speed of the motor in the operation phase.

[0048] Commonly used brushless DC motors are hard-started with a large current in a tailwind condition, which may cause noise and speed overshoot problems. The solution of the present invention adaptively adjusts the motor speed by adjusting the duty cycle output of the PWM signal used to control the opening or closing of the corresponding switch tube in the motor control module such as the IPM module (intelligent power module) or the inverter, so as to achieve adaptive and smooth start and operation with a tailwind after the speed is slowly reduced. On the one hand, it can ensure that the motor starts with low noise in a tailwind condition without starting noise; on the other hand, it can ensure that there is no speed overshoot after the motor is started in a tailwind condition.

[0049] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0050] The specific process of limiting the output voltage of the inverter unit in step S310 to reduce the rotation speed of the motor is described in the following exemplary embodiment.

[0051] The following combination Figure 4 The flowchart of an embodiment of limiting the output voltage of the inverter unit in the method of the present invention further illustrates the specific process of limiting the output voltage of the inverter unit in step S310, including: steps S410 to S420.

[0052] Step S410: After outputting a PWM signal with a preset rotation duty cycle to the switch tube module of the inverter unit, reducing the duty cycle of the PWM signal to reduce the output voltage of the inverter unit and reduce the speed of the motor.

[0053] In step S420 , when the duty cycle of the PWM signal decreases to a preset minimum duty cycle, the rotational speed of the motor decreases to a preset minimum rotational speed of the motor.

[0054] Figure 7 This is a schematic diagram of the control waveform of the PWM signal for downwind starting of the motor, specifically a schematic diagram of the PWM control waveform for downwind starting of the brushless DC motor. Figure 7 In the example shown, in the tailwind state, the duty cycle of the PWM signal is reduced in stage a to limit the motor output voltage, thereby reducing the motor speed; in stage b, the motor speed is reduced to the minimum starting speed of the motor (that is, the minimum operating speed of the motor). In the a phase, under the tailwind condition, the motor limits the starting operating voltage of the motor by reducing the duty cycle of the PWM signal, so that the motor starts at the minimum speed in the b phase to adapt to the current tailwind condition. The motor is controlled to run at the minimum speed, the speed frequency becomes smaller, and the speed waveform feedback is the current minimum speed of the motor. The motor is not affected by the external tailwind condition and operates normally; the noise problem caused by the direct starting and switching of the motor with large current under the tailwind condition is avoided; the main control chip (such as MCU) in the motor control module is responsible for calculating the data of the collected FG feedback signal and outputting six PWM signals such as PWM1 signal, PWM2 signal, PWM3 signal, PWM4 signal, PWM5 signal, and PWM6 signal to realize the closed-loop reduction or increase of the duty cycle of the PWM signal (a square wave signal with a fixed period and adjustable width, i.e., pulse width modulation signal). The specific function is to drive the motor control module such as the IPM module (intelligent power module) or the inverter (i.e., three-phase inverter module) to output a voltage with variable frequency and voltage amplitude to drive the motor to rotate, so that the motor speed reaches the corresponding set target speed. Among them, realizing closed-loop adjustment of the duty cycle of the PWM signal to reduce or increase it means that the main control chip MCU converts the received Hall signal into a rotation speed to judge the motor's tailwind speed in the tailwind state, and realizes precise adjustment of the duty cycle of the PWM signal to control the motor out of the tailwind state, thus forming a closed-loop control of the tailwind speed.

[0055] Figure 8The figure is a schematic diagram of the overall control flow of a control method for adaptively starting and running a motor in a tailwind state, specifically a schematic diagram of the overall control flow of a brushless DC motor starting in a tailwind state. Figure 8 As shown in Figure 1, the overall control process of the brushless DC motor downwind start includes: Step 1: The MCU chip is powered and working normally. No PWM signal is sent first, and the motor is not controlled, that is, it is in the unstarted state; however, it can be judged whether it is in a stationary state or in a tailwind state based on the received Hall signal feedback. If it is determined that the motor is not started and is in a tailwind state, the duty cycle of the PWM signal is gradually reduced to reduce the motor starting speed by limiting the voltage, and then step 2 is executed. That is, in the tailwind state, the duty cycle of the PWM signal is reduced in stage a to limit the motor output voltage and thus limit the speed reduction. Among them, the MCU controls the duty cycle of the PWM signal by judging the speed of the motor Hall feedback to reduce it. Not started means that the motor has no PWM control, but the MCU is powered and working normally. After the motor is in the tailwind state and the Hall sensing is on, the corresponding speed is the tailwind speed, not 0 speed; uncertain speed means that the corresponding tailwind wind force is different, resulting in different tailwind speeds; for example, if the tailwind speed is greater than the minimum set starting speed, it is necessary to control the motor PWM duty cycle to gradually decrease, limit the motor output voltage, and make the motor controlled speed run at the set minimum speed to avoid the motor being uncontrolled after starting at the minimum speed and still being affected by the external tailwind, resulting in speed overshoot and fluctuation.

[0056] The motor uses the Hall position sensor to determine the rotor position. The six signal sequences output by the three Hall position sensors are different in the tailwind and headwind states, which can be used to determine whether the motor is in the tailwind state or the headwind state. The rotor of the brushless DC motor is installed with N / S permanent magnets alternately. The three Hall sensors U\V\W are close to the rotor side, and the electrical angle difference between them is 120 degrees. When the motor rotates, the three-phase Hall sensor outputs six states of high and low levels (such as Figure 9 ); To judge the wind direction, the three Hall outputs 011→001→101→100→110→010 are transformed and given to the chip. The chip receives the Hall signal transformation and can judge that the motor is in the wind direction; the three Hall outputs 010→110→100→101→001→011 are transformed and given to the chip. The chip receives the Hall signal transformation and can judge that the motor is in the wind direction. Figure 9 This is a schematic diagram of the three-phase Hall sensor outputting six states of high and low levels when the motor rotates.

[0057] Step 2: After limiting the motor output voltage to a minimum, start at the minimum speed to adapt to the current tailwind state, and then execute step 3. That is, in stage b, the motor speed is reduced to the minimum starting speed of the motor.

[0058] The solution of the present invention is to start the motor with a tailwind, limit the voltage to reduce the speed, adjust the duty cycle of PWM, and start the motor at a low speed and silently with a lower limit voltage in a tailwind state without any starting noise; after starting, the speed gear switches and increases, and there is no speed overshoot or overspeed phenomenon. Therefore, the solution of the present invention uses the duty cycle output of the PWM signal to adaptively control the motor speed, so that after the motor speed slowly decreases in a tailwind state, it can adaptively start and run smoothly with a tailwind; on the one hand, it can ensure that the motor starts at a low speed and silently with a lower limit voltage in a tailwind state without any starting noise; on the other hand, it can ensure that the speed of the motor increases after starting in a tailwind state without any speed overshoot phenomenon.

[0059] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0060] For the specific process of increasing the output voltage of the inverter unit in step S330 to increase the rotation speed of the motor, please refer to the following exemplary description.

[0061] The following combination Figure 5 The flowchart of an embodiment of increasing the output voltage of the inverter unit in the method of the present invention further illustrates the specific process of increasing the output voltage of the inverter unit in step S330, including: steps S510 to S520.

[0062] Step S510 , after outputting a PWM signal with a preset minimum duty cycle to the switch tube module of the inverter unit, increasing the duty cycle of the PWM signal, increasing the output voltage of the inverter unit, and increasing the speed of the motor.

[0063] In step S520 , when the duty cycle of the PWM signal increases to a target duty cycle, the rotational speed of the motor increases to a target rotational speed of the motor.

[0064] like Figure 8 As shown in the figure, the overall control process of the brushless DC motor downwind starting also includes: Step 3: After the motor starts and stabilizes, increase the duty cycle of the PWM signal to bring the motor speed up to the set target speed for normal operation. In stage C, by increasing the duty cycle of the PWM signal, the motor starts at minimum speed and reaches the target speed. The MCU converts the motor's Hall effect waveform feedback into speed. If the speed is within the normal setting range, it determines that the speed is stable after startup. If the MCU determines that the current speed is less than the externally set target speed, it increases the duty cycle of the six PWM output signals to increase the motor speed.

[0065] See also Figure 7In the example shown, in the tailwind state, the duty cycle of the PWM signal is reduced in stage a to limit the motor output voltage, thereby reducing the motor speed; in stage b, the motor speed is reduced to the minimum starting speed of the motor (that is, the minimum operating speed of the motor); in stage c, the duty cycle of the PWM signal is increased to start the motor with the minimum speed in the tailwind and reach the target speed, thereby solving the problem of noise and speed overshoot caused by direct starting of the motor with a large current in the tailwind state.

[0066] like Figure 7 As shown, waveform 1 (the speed feedback waveform) reflects the motor speed in terms of frequency, i.e., n = 60f (frequency) / P (number of motor pole pairs). Waveform 2 (the PWM waveform) represents the duty cycle of a single pulse-width modulation signal from a motor control module, such as an IPM (Intelligent Power Module) or inverter. This PWM signal turns on and off the corresponding switches in the motor control module, such as the IPM (Intelligent Power Module) or inverter, to form a rotating magnetic flux and drive the motor. The duty cycle refers to the percentage of a high-level signal (or power-on time) within a pulse cycle. Speed ​​calculation is done using n = 60f / p, where f is the frequency of a single Hall effect output waveform and p is the number of motor pole pairs. The chip calculates motor speed by receiving the Hall effect output frequency. The speed feedback waveform here refers to the waveform of a single Hall effect sensor output. Within the PWM cycle duty cycle, the cycle duty cycle refers to the percentage of a high-level signal (or power-on time) within a pulse cycle.

[0067] See also Figure 7 and Figure 8In the example shown, the overall control process for a brushless DC motor starting with a tailwind can be divided into three stages: stage a, stage b, and stage c. In stage a, when the motor is in the tailwind state, the motor connection to the wind rotor is affected by external wind or other factors, resulting in the motor not starting. However, the motor is driven by the wind rotor, and the motor outputs an FG speed signal (Frequency Generator), indicating that the motor is in the tailwind state. This is because the motor is actually used in a complete load with a wind rotor, and the motor is only in the tailwind state when it is affected by the external wind rotor. The speed frequency and FG speed signal are both output signals from a single Hall effect signal. The frequency is the frequency of the corresponding Hall effect signal, which can be converted to the corresponding motor speed after chip acquisition. In stage c, after the motor adapts to the tailwind start, the duty cycle of the PWM signal is increased, increasing the motor speed frequency, bringing the motor speed up to the set target speed, and preventing speed overshoot in the tailwind state. The MCU is responsible for calculating the data from the collected FG feedback signal and outputting six PWM signals, such as PWM1, PWM2, PWM3, PWM4, PWM5, and PWM6, to achieve closed-loop adjustment of the PWM signal's duty cycle (a square wave signal with a fixed period and adjustable width, i.e., a pulse-width modulation signal). Specifically, this is used to drive a motor control module, such as an IPM module (intelligent power module) or an inverter (i.e., a three-phase inverter module), to output a voltage with variable frequency and voltage amplitude, thereby driving the motor to rotate and reach the corresponding set target speed. To achieve closed-loop adjustment of the PWM signal's duty cycle, the main control chip MCU, in the tailwind state, converts the received Hall signal into a speed to determine the motor's tailwind speed. This allows for precise adjustment of the PWM signal's duty cycle to control the motor from the tailwind state, thus forming a closed-loop control of the tailwind speed.

[0068] Ultimately, the system achieves adaptive start-up and operation in tailwind conditions through three phases (Phase A, Phase B, and Phase C). In Phase A, when the motor is not issuing a PWM signal to drive it, it first determines it is in a tailwind state using Hall effect signals. The MCU then issues a signal to reduce the PWM duty cycle to limit the output frequency and voltage of the three-phase inverter module, allowing the motor to operate at the minimum starting voltage and avoiding startup noise. In Phase B, the system adapts to the current tailwind condition by starting at minimum speed. The motor is controlled and unaffected by the tailwind, running at the minimum target speed and gradually stabilizing. In Phase C, the PWM duty cycle is increased to drive the three-phase inverter module to output a large voltage with variable frequency and amplitude, controlling the motor speed to the target high speed. This allows for speed switching after startup without overshoot or overspeeding.

[0069] The technical solution of this embodiment is adopted. When it is necessary to start the motor, if it is determined that the motor has not started and is in a tailwind state, the starting speed of the motor is reduced by limiting the output voltage of the motor in the tailwind state (such as reducing the duty cycle of the PWM signal of the motor control module in the tailwind state to reduce the starting speed of the motor by limiting the output voltage of the motor); until the starting speed of the motor is reduced to the minimum operating speed of the motor, the motor is controlled to start with the tailwind; after the motor is started with the tailwind and the change in the motor speed within the set range is within the set speed error range, the speed of the motor is increased to the set target speed (such as increasing the duty cycle of the PWM signal of the motor control module to increase the speed of the motor to the set target speed), and the motor is controlled to switch from the starting stage to the running stage; thus, when starting the motor in the tailwind state, the speed is first reduced to the minimum value and then started with the tailwind, and then the speed is increased to the target value after the start is stable, so as to ensure that the motor starts silently in the tailwind state and does not run at an overshoot speed, thereby improving reliability and user experience.

[0070] According to an embodiment of the present invention, a motor control device corresponding to the motor control method is also provided. Figure 6 The structure diagram of an embodiment of the device of the present invention is shown in FIG. The motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the inverter unit of the motor is such as an IPM module or a three-phase inverter module; the Hall position sensor unit is such as three Hall position sensors, which are used to determine the rotor position of the motor. In the solution of the present invention, Figure 6 As shown, the motor control device includes: an acquisition unit 102 and a control unit 104.

[0071] The acquisition unit 102 is configured to acquire the motor speed and the output signal of the Hall effect position sensor unit when the motor needs to be started. In other words, the acquisition unit 102 is also configured to acquire the output signal of the Hall effect position sensor unit when the motor is not started. The need to start the motor may be, for example, when a start command for the motor is received. The specific functions and processing of the acquisition unit 102 are described in step S110.

[0072] The control unit 104 is configured to determine whether the motor is not started and is in a tailwind state based on the motor speed and the output signal of the Hall position sensor unit. In other words, the control unit 104 is further configured to determine whether the motor is in a tailwind state based on the output signal of the Hall position sensor unit when the motor is not started. The specific functions and processing of the control unit 104 are described in step S120.

[0073] The control unit 104 is further configured to, if it is determined that the motor has not started and is in a tailwind state, control the output voltage of the inverter unit to a preset voltage to enable the motor to rotate; wherein the preset voltage is a voltage that can enable the motor to start rotating from 0 speed. In the solution of the present invention, controlling the output voltage of the inverter unit is used as an example. Of course, controlling the output current of the inverter unit is also possible. Of course, the control unit 104 is also configured to control the motor to continue running (i.e., run according to a preset operating mode) if it is determined that the motor has started, and to control the motor to continue starting (i.e., start according to a preset starting mode) if it is determined that the motor is in a headwind state. The specific functions and processing of the control unit 104 are also shown in step S130.

[0074] After controlling the output voltage of the inverter unit to be a preset voltage for the first set time, that is, after the motor is rotated, the output voltage of the inverter unit is adjusted so that the motor is started with the wind after slowing down, and the motor is accelerated and operated after the motor is started with the wind. That is to say, when the motor is not started, if it is determined that the motor is in a tailwind state, the output voltage of the inverter unit is controlled so that the speed of the motor is slowed down and the motor is started with the wind, and the speed of the motor is accelerated and operated after the motor is started with the wind. Among them, the first set time is the time for the inverter unit to output the preset voltage so that the rotor of the motor can rotate. For the specific functions and processing of the control unit 104, please refer to step S140.

[0075] In response to the problems of noise and speed overshoot caused by direct high-current downwind starting of a brushless DC motor in a downwind state, the present invention proposes a control scheme for the motor to be adaptively started in a downwind state, specifically a control scheme suitable for the motor to be adaptively started and run in a downwind state. The scheme adaptively adjusts the motor speed by adjusting the duty cycle output of the PWM signal used to control the on or off of the corresponding switching tube in the motor control module such as the IPM module (intelligent power module) or the inverter, and realizes adaptive downwind smooth starting and operation after the speed is slowly reduced, so as to control the motor to start and run reliably and silently based on the downwind state, thereby solving the problems of starting noise and speed overshoot of the motor in the downwind state.

[0076] In some embodiments, the control unit 104 determines whether the motor is not started and is in a tailwind state based on the rotational speed of the motor and the output signal of the Hall position sensor unit, including: The control unit 104 is further configured to determine whether the motor speed is 0 and the output signal of the Hall effect sensor unit is the same as the preset output signal of the Hall effect sensor unit when the motor is in a tailwind state. The specific functions and processing of the control unit 104 are also described in step S210.

[0077] The control unit 104 is further configured to determine that the motor is not started and is in a tailwind state if it is determined that the motor speed is 0 and the output signal of the Hall effect position sensor unit is the same as the preset output signal of the Hall effect position sensor unit when the motor is in a tailwind state. The specific functions and processing of the control unit 104 are further described in step S220.

[0078] In the solution of the present invention, based on the rotational speed of the motor and the output signal of the Hall position sensor unit, it is possible to accurately determine whether the motor has not been started and is in a tailwind state, and when it is determined that the motor has not been started and is in a tailwind state, the motor is controlled to start and run reliably and silently based on the tailwind state, so that during the application of the brushless DC motor, the motor can be started and run reliably and silently in a tailwind state, avoiding the problem of starting noise and speed overshoot caused by direct tailwind starting and running.

[0079] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0080] The control unit 104 controls the output voltage of the inverter unit to be a preset voltage so as to rotate the motor, including: The control unit 104 is specifically further configured to output a PWM signal with a preset rotation duty cycle to the switch tube module of the inverter unit, so that the output voltage of the inverter unit is a preset voltage, so that the motor rotates; wherein the preset voltage is a voltage that can cause the motor to rotate.

[0081] The solution of the present invention proposes a control method for adaptively starting and running a motor in a tailwind state. By adjusting the duty cycle output of the PWM signal, a control strategy is implemented to limit the voltage and speed reduction before starting the motor in a tailwind state, thereby achieving low-noise and silent starting and stable operation of the motor in a tailwind state, and avoiding the problems of starting noise and overshoot operation of the motor caused by the tailwind state.

[0082] In some embodiments, the control unit 104 adjusts the output voltage of the inverter unit so that the motor is started with a tailwind after being decelerated, and then increases the speed of the motor before running after the tailwind is started, including: The control unit 104 is further configured to limit the output voltage of the inverter unit to reduce the speed of the motor. The specific functions and processing of the control unit 104 are also shown in step S310.

[0083] The control unit 104 is further configured to control the motor to start in a tailwind state until the motor speed decreases to a preset minimum speed of the motor, specifically to control the motor to start in an adaptive tailwind state. The specific functions and processing of the control unit 104 are further described in step S320.

[0084] The control unit 104 is further configured to increase the output voltage of the inverter unit to increase the speed of the motor after the motor starts in a tailwind state for a second set time, or after the motor starts in a tailwind state with a set degree of stability. The second set time is the time it takes for the motor to start in a tailwind state and reach a preset degree of stability. The specific functions and processing of the control unit 104 are further described in step S330.

[0085] The control unit 104 is further configured to control the motor to switch from the startup phase to the operation phase after the motor speed reaches the target speed of the motor, and to operate at the target speed of the motor during the operation phase. The specific functions and processing of the control unit 104 are further described in step S340.

[0086] Commonly used brushless DC motors are hard-started with a large current in a tailwind condition, which may cause noise and speed overshoot problems. The solution of the present invention adaptively adjusts the motor speed by adjusting the duty cycle output of the PWM signal used to control the opening or closing of the corresponding switch tube in the motor control module such as the IPM module (intelligent power module) or the inverter, so as to achieve adaptive and smooth start and operation with a tailwind after the speed is slowly reduced. On the one hand, it can ensure that the motor starts with low noise in a tailwind condition without starting noise; on the other hand, it can ensure that there is no speed overshoot after the motor is started in a tailwind condition.

[0087] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0088] The control unit 104 limits the output voltage of the inverter unit to reduce the speed of the motor, including: The control unit 104 is further configured to, after outputting a PWM signal having a preset rotational duty cycle to the switching module of the inverter unit, reduce the duty cycle of the PWM signal to reduce the output voltage of the inverter unit and thereby reduce the speed of the motor. The specific functions and processing of the control unit 104 are further described in step S410.

[0089] The control unit 104 is further configured to reduce the speed of the motor to a preset minimum speed of the motor until the duty cycle of the PWM signal decreases to a preset minimum duty cycle. The specific functions and processing of the control unit 104 are further described in step S420.

[0090] Figure 7 This is a schematic diagram of the control waveform of the PWM signal for downwind starting of the motor, specifically a schematic diagram of the PWM control waveform for downwind starting of the brushless DC motor. Figure 7 In the example shown, in the tailwind state, the duty cycle of the PWM signal is reduced in stage a to limit the motor output voltage, thereby reducing the motor speed; in stage b, the motor speed is reduced to the minimum starting speed of the motor (that is, the minimum operating speed of the motor). In the a phase, under the tailwind condition, the motor limits the starting operating voltage of the motor by reducing the duty cycle of the PWM signal, so that the motor starts at the minimum speed in the b phase to adapt to the current tailwind condition. The motor is controlled to run at the minimum speed, the speed frequency becomes smaller, and the speed waveform feedback is the current minimum speed of the motor. The motor is not affected by the external tailwind condition and operates normally; the noise problem caused by the direct starting and switching of the motor with large current under the tailwind condition is avoided; the main control chip (such as MCU) in the motor control module is responsible for calculating the data of the collected FG feedback signal and outputting six PWM signals such as PWM1 signal, PWM2 signal, PWM3 signal, PWM4 signal, PWM5 signal, and PWM6 signal to realize the closed-loop reduction or increase of the duty cycle of the PWM signal (a square wave signal with a fixed period and adjustable width, i.e., pulse width modulation signal). The specific function is to drive the motor control module such as the IPM module (intelligent power module) or the inverter (i.e., three-phase inverter module) to output a voltage with variable frequency and voltage amplitude to drive the motor to rotate, so that the motor speed reaches the corresponding set target speed.

[0091] Figure 8 The figure is a schematic diagram of the overall control flow of a control method for adaptively starting and running a motor in a tailwind state, specifically a schematic diagram of the overall control flow of a brushless DC motor starting in a tailwind state. Figure 8 As shown in Figure 1, the overall control process of the brushless DC motor downwind start includes: Step 1: If the motor is determined to be not started and in a tailwind state, the duty cycle of the PWM signal is gradually reduced to reduce the motor's starting speed by limiting the voltage, and then step 2 is executed. Specifically, in the tailwind state, in stage a, the duty cycle of the PWM signal is reduced to limit the motor output voltage, thereby limiting the speed reduction. The motor uses Hall position sensors to determine rotor position. The six signals output by the three Hall position sensors differ in sequence between the tailwind and headwind states, which determines whether the motor is in a tailwind or headwind state.

[0092] Step 2: After limiting the motor output voltage to a minimum, start at the minimum speed to adapt to the current tailwind state, and then execute step 3. That is, in stage b, the motor speed is reduced to the minimum starting speed of the motor.

[0093] The solution of the present invention is to start the motor with a tailwind, limit the voltage to reduce the speed, adjust the duty cycle of PWM, and start the motor at a low speed and silently with a lower limit voltage in a tailwind state without any starting noise; after starting, the speed gear switches and increases, and there is no speed overshoot or overspeed phenomenon. Therefore, the solution of the present invention uses the duty cycle output of the PWM signal to adaptively control the motor speed, so that after the motor speed slowly decreases in a tailwind state, it can adaptively start and run smoothly with a tailwind; on the one hand, it can ensure that the motor starts at a low speed and silently with a lower limit voltage in a tailwind state without any starting noise; on the other hand, it can ensure that the speed of the motor increases after starting in a tailwind state without any speed overshoot phenomenon.

[0094] In some embodiments, the inverter unit has a switch tube module, such as six IGBT tubes in a three-phase inverter bridge.

[0095] The control unit 104 increases the output voltage of the inverter unit to increase the speed of the motor, including: The control unit 104 is further configured to, after outputting a PWM signal having a preset minimum duty cycle to the switching module of the inverter unit, increase the duty cycle of the PWM signal, thereby increasing the output voltage of the inverter unit and the speed of the motor. The specific functions and processing of the control unit 104 are further described in step S510.

[0096] The control unit 104 is further configured to increase the speed of the motor to the target speed of the motor until the duty cycle of the PWM signal increases to the target duty cycle. The specific functions and processing of the control unit 104 are also shown in step S520.

[0097] like Figure 8 As shown in the figure, the overall control process of the brushless DC motor downwind starting also includes: Step 3: After the motor starts and stabilizes, increase the duty cycle of the PWM signal so that the motor speed rises to the set target speed for normal operation. That is, in stage C, by increasing the duty cycle of the PWM signal, the motor starts at the minimum speed and reaches the target speed.

[0098] See also Figure 7In the example shown, in the tailwind state, the duty cycle of the PWM signal is reduced in stage a to limit the motor output voltage, thereby reducing the motor speed; in stage b, the motor speed is reduced to the minimum starting speed of the motor (that is, the minimum operating speed of the motor); in stage c, the duty cycle of the PWM signal is increased to start the motor with the minimum speed in the tailwind and reach the target speed, thereby solving the problem of noise and speed overshoot caused by direct starting of the motor with a large current in the tailwind state.

[0099] like Figure 7 As shown, waveform 1 (the speed feedback waveform) reflects the motor speed in frequency, i.e., speed n = 60f (frequency) / P (number of motor pole pairs). Waveform 2 (the PWM waveform) represents the duty cycle of a single pulse-width modulation signal from a motor control module, such as an IPM (intelligent power module) or inverter. This is the duty cycle of the PWM signal. This signal turns on or off the corresponding switches in the motor control module, such as the IPM (intelligent power module) or inverter, to form a rotating magnetic flux and drive the motor. The duty cycle is the percentage of the high level (or power-on time) within a pulse cycle.

[0100] See also Figure 7 and Figure 8 In the example shown, the overall control process for a brushless DC motor starting with a tailwind can be divided into three stages: stage a, stage b, and stage c. In stage a, when the motor is in a tailwind state, the motor connection to the wind rotor is affected by external wind or other factors, causing the motor to not start. However, the motor is driven by the wind rotor and outputs an FG speed signal (Frequency Generator), indicating that the motor is in a tailwind state. In stage c, after the motor adapts to the tailwind state and starts, the duty cycle of the PWM signal is increased, increasing the motor's speed frequency until the motor speed reaches the set target speed, preventing speed overshoot in a tailwind state. The MCU is responsible for calculating the data of the collected FG feedback signal and outputting six PWM signals such as PWM1 signal, PWM2 signal, PWM3 signal, PWM4 signal, PWM5 signal, and PWM6 signal, to achieve closed-loop adjustment of the duty cycle of the PWM signal (a square wave signal with a fixed period and adjustable width, i.e., a pulse width modulation signal). Its specific function is to drive the motor control module such as the IPM module (intelligent power module) or the inverter (i.e., a three-phase inverter module) to output a voltage with variable frequency and voltage amplitude, thereby driving the motor to rotate and make the motor speed reach the corresponding set target speed.

[0101] Ultimately, the system achieves adaptive start-up and operation in tailwind conditions through three phases (Phase A, Phase B, and Phase C). In Phase A, when the motor is not issuing a PWM signal to drive it, it first determines it is in a tailwind state using Hall effect signals. The MCU then issues a signal to reduce the PWM duty cycle to limit the output frequency and voltage of the three-phase inverter module, allowing the motor to operate at the minimum starting voltage and avoiding startup noise. In Phase B, the system adapts to the current tailwind condition by starting at minimum speed. The motor is controlled and unaffected by the tailwind, running at the minimum target speed and gradually stabilizing. In Phase C, the PWM duty cycle is increased to drive the three-phase inverter module to output a large voltage with variable frequency and amplitude, controlling the motor speed to the target high speed. This allows for speed switching after startup without overshoot or overspeeding.

[0102] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0103] According to an embodiment of the present invention, a motor corresponding to the motor control device is also provided. The motor may include: the motor control device described above.

[0104] Since the processing and functions implemented by the motor of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned device, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0105] According to an embodiment of the present invention, a computer program product corresponding to the motor control method is further provided, comprising a computer program. When the computer program is executed by a processor, the steps of the motor control method described above are implemented.

[0106] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0107] According to an embodiment of the present invention, a storage medium corresponding to the motor control method is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the motor control method described above.

[0108] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0109] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0110] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A method for controlling a motor, characterized in that: The motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the control method of the motor includes: When the motor needs to be started, obtaining the rotation speed of the motor and the output signal of the Hall position sensor unit; determining, based on the rotational speed of the motor and the output signal of the Hall position sensor unit, whether the motor is not started and is in a tailwind state; If it is determined that the motor is not started and is in a tailwind state, controlling the output voltage of the inverter unit to a preset voltage to enable the motor to rotate; After the first set time, the output voltage of the inverter unit is adjusted so that the motor is started with a tailwind after being decelerated, and then the motor is accelerated and operated after being started with a tailwind.

2. The motor control method according to claim 1, characterized in that: Determining whether the motor is not started and is in a tailwind state according to the rotation speed of the motor and the output signal of the Hall position sensor unit includes: Determining whether the rotation speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a tailwind state; If it is determined that the speed of the motor is 0 and the output signal of the Hall position sensor unit is the same as the preset output signal of the Hall position sensor unit when the motor is in a downwind state, it is determined that the motor is not started and is in a downwind state.

3. The motor control method according to claim 1, wherein: The inverter unit has a switch tube module; Controlling the output voltage of the inverter unit to a preset voltage so as to rotate the motor includes: A PWM signal with a preset rotation duty cycle is output to the switch tube module of the inverter unit, so that the output voltage of the inverter unit is a preset voltage, thereby causing the motor to rotate.

4. The method for controlling a motor according to any one of claims 1 to 3, characterized in that: Adjusting the output voltage of the inverter unit so that the motor is started with a tailwind after being decelerated, and then being operated with a tailwind after being started, comprises: Limiting the output voltage of the inverter unit to reduce the rotational speed of the motor; When the rotation speed of the motor decreases to a preset minimum rotation speed of the motor, the motor is controlled to start in a tailwind state; After the motor starts for a second set time in a tailwind state, or after the stability of the motor starting in a tailwind state reaches a set level, increasing the output voltage of the inverter unit to increase the speed of the motor; After the rotation speed of the motor increases to the target rotation speed of the motor, the motor is controlled to switch from the startup phase to the operation phase, and operates at the target rotation speed of the motor in the operation phase.

5. The motor control method according to claim 4, characterized in that: The inverter unit has a switch tube module; Limiting the output voltage of the inverter unit to reduce the rotational speed of the motor includes: After outputting a PWM signal having a preset rotation duty cycle to the switch tube module of the inverter unit, reducing the duty cycle of the PWM signal to reduce the output voltage of the inverter unit and reduce the speed of the motor; When the duty cycle of the PWM signal decreases to a preset minimum duty cycle, the rotational speed of the motor decreases to a preset minimum rotational speed of the motor.

6. The motor control method according to claim 4, characterized in that: The inverter unit has a switch tube module; Increasing the output voltage of the inverter unit to increase the speed of the motor includes: After outputting a PWM signal having a preset minimum duty cycle to the switch tube module of the inverter unit, increasing the duty cycle of the PWM signal, increasing the output voltage of the inverter unit, and increasing the speed of the motor; When the duty cycle of the PWM signal increases to a target duty cycle, the rotational speed of the motor increases to a target rotational speed of the motor.

7. A motor control device, characterized in that: The motor has a Hall position sensor unit, and the controller of the motor has an inverter unit; the control device of the motor includes: an acquisition unit configured to acquire the rotation speed of the motor and the output signal of the Hall position sensor unit when the motor needs to be started; a control unit configured to determine whether the motor is not started and is in a tailwind state based on the rotation speed of the motor and the output signal of the Hall position sensor unit; The control unit is further configured to control the output voltage of the inverter unit to a preset voltage to rotate the motor if it is determined that the motor is not started and is in a tailwind state; After the first set time, the output voltage of the inverter unit is adjusted so that the motor is started with a tailwind after being decelerated, and then the motor is accelerated and operated after being started with a tailwind.

8. A motor, characterized in that: include: The motor control device according to claim 7.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the motor control method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the motor control method according to any one of claims 1 to 6 are implemented.

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