Motor starting method, device, apparatus, medium and air conditioner

Abstract

The application discloses a starting method, device, equipment, medium and air conditioner of an electric motor. The method can acquire the running estimated parameter and the running setting parameter of the electric motor in the open-loop drag stage in the starting process, determine whether the difference between the two is less than a difference threshold, and if so, control the electric motor to enter a closed-loop running stage, thereby shortening the running time of the open-loop drag stage and improving the refrigeration and heating speed of the air conditioner. The application can be widely applied to the field of position sensorless electric motor control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric motors, in particular to an electric motor starting method, device, equipment, medium and air conditioner. BACKGROUND

[0002] The position sensorless starting method of the electric motor of the variable frequency air conditioner mainly adopts two methods of pretreatment-positioning-open loop dragging-closed loop and pretreatment-open loop dragging-closed loop. Among them, the starting method of pretreatment-open loop dragging-closed loop has faster dynamic speed but lower reliability, and is easy to fail to start. The starting method of pretreatment-positioning-open loop dragging-closed loop has slower starting speed but higher reliability. For the pretreatment-positioning-open loop dragging-closed loop method, the pretreatment stage is mainly bootstrap charging and speed estimation, the positioning stage is mainly to drag the motor rotor by preset fixed angle dq axis current, and the open loop dragging stage is mainly to reach the set speed at the set time. The running time of the open loop dragging stage is fixed, and the target speed of the closed loop stage switched from the open loop dragging stage is also fixed.

[0003] The longer the running time of the open loop dragging stage is, the higher the success rate of switching to the closed loop stage is, but the time of the open loop dragging stage affects the action time of the whole system. If the running time of the open loop dragging stage is too long, it will cause the slow cooling and heating speed of the air conditioner. SUMMARY

[0004] The present application aims to at least partly solve one of the problems in the prior art.

[0005] The present application provides an electric motor starting method, device, equipment, medium and air conditioner. The method can shorten the running time of the open loop dragging stage and improve the cooling and heating speed of the air conditioner.

[0006] According to a first aspect of the present application, an electric motor starting method is provided, comprising:

[0007] Obtaining the running estimated parameters and running set parameters of the electric motor in the open loop dragging stage of the starting process;

[0008] Determining the difference between the running estimated parameters and the running set parameters, and when the difference between the running estimated parameters and the running set parameters is less than a difference threshold, controlling the electric motor to enter a closed loop running stage.

[0009] The present application can obtain the running estimated parameters and running set parameters of the electric motor in the open loop dragging stage of the starting process, determine whether the difference between the two is less than a difference threshold, and if so, control the electric motor to enter a closed loop running stage, thereby shortening the running time of the open loop dragging stage and improving the cooling and heating speed of the air conditioner.

[0010] In addition, the motor starting method according to the above-mentioned embodiments of the present application can further have the following additional technical features.

[0011] Optionally, the motor starting method further comprises:

[0012] acquiring a running time of the open-loop drag stage in the starting process;

[0013] when the running time is greater than a first time threshold, performing the step of determining the difference between the running estimated parameter and the running set parameter; the first time threshold is determined according to a convergence time of an estimated observer used for estimating the running estimated parameter.

[0014] In the embodiments of the present application, when the running time of the open-loop drag stage in the starting process is greater than the first time threshold, the step of determining the difference between the running estimated parameter and the running set parameter is performed, which increases the time condition for performing the step of determining the difference between the running estimated parameter and the running set parameter. Before the time condition is met, the probability of the estimated observer being in a convergent state is relatively low. Even if the above-mentioned step is performed, the condition that the difference between the running estimated parameter and the running set parameter is less than a difference threshold cannot be met, and thus the performance of the above-mentioned step is invalid. After the time condition is met, the probability of the estimated observer being in a convergent state is relatively high. At this time, the above-mentioned step is performed again, and the condition that the difference between the running estimated parameter and the running set parameter is less than a difference threshold can be easily met. Therefore, by setting the first time threshold, unnecessary parameter calculation and condition judgment processes are reduced, and the efficiency of the step of determining the difference between the running estimated parameter and the running set parameter and the step of judging that the difference between the running estimated parameter and the running set parameter is less than a difference threshold is improved.

[0015] Optionally, the motor starting method further comprises:

[0016] when the running time is greater than a target running time of the open-loop drag stage, controlling the motor to enter a closed-loop running stage; the target running time is greater than the first time threshold.

[0017] In the embodiments of the present application, when the running time of the open-loop drag stage is greater than the target running time of the open-loop drag stage, the motor is controlled to enter the closed-loop running stage. The estimated observer can be in a convergent state after a long enough running time, so that the motor can be smoothly switched to enter the closed-loop running stage, and the reliability of entering the closed-loop running stage is improved.

[0018] Optionally, the running estimated parameter is a rotor estimated angle of the motor, the running set parameter is a rotor set angle, the difference is an increment difference, and the difference threshold is an increment difference threshold; and when the difference between the running estimated parameter and the running set parameter is less than the difference threshold, the motor is controlled to enter a closed-loop running phase, specifically: when the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment difference threshold, the motor is controlled to enter the closed-loop running phase.

[0019] In the embodiments of the present application, the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is selected as the judgment condition, so that the convergence state of the estimated observer is conveniently and accurately determined.

[0020] Optionally, the rotor set angle is determined according to a target speed at the end of the open-loop dragging phase and a target running time of the open-loop dragging phase.

[0021] In the embodiments of the present application, the rotor set angle parameter is conveniently obtained through the target speed at the end of the open-loop dragging phase and the target running time of the open-loop dragging phase.

[0022] Optionally, when the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment threshold, the motor is controlled to enter the closed-loop running phase, specifically: when the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment difference threshold, and the duration of being less than the increment difference threshold reaches a second time threshold, the motor is controlled to enter the closed-loop running phase.

[0023] In the embodiments of the present application, when the condition that the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment difference threshold is met, the condition that the duration of being less than the increment difference threshold reaches the second time threshold is added, so that the convergence state of the estimated observer is further accurately represented, and the success rate of switching into the closed-loop running phase is improved.

[0024] Optionally, the running estimated parameter is a rotor estimated speed of the motor, the running set parameter is a rotor set speed, the difference is a speed difference, and the difference threshold is a speed difference threshold; and the step of controlling the motor to enter the closed-loop running phase when the difference between the running estimated parameter and the running set parameter is less than the difference threshold specifically includes: controlling the motor to enter the closed-loop running phase when the difference between the rotor estimated speed and the rotor set speed is less than the speed difference threshold.

[0025] In the embodiments of the present application, the difference between the rotor estimated speed and the rotor set speed is selected as the judgment condition, so that the convergence state of the estimated observer is conveniently and accurately determined.

[0026] Optionally, the rotor setting speed is determined according to the target speed at the end of the open-loop dragging stage and the target running time of the open-loop dragging stage.

[0027] In the embodiment of the application, the rotor setting speed is determined according to the target speed at the end of the open-loop dragging stage and the target running time of the open-loop dragging stage, so that the rotor setting speed is conveniently obtained.

[0028] Optionally, when the difference between the rotor estimated speed and the rotor setting speed is less than the speed difference threshold, the motor is controlled to enter the closed-loop running stage, specifically:

[0029] When the difference between the rotor estimated speed and the rotor setting speed is less than the speed difference threshold, and the duration of being less than the speed difference threshold exceeds the third time threshold, the motor is controlled to enter the closed-loop running stage.

[0030] In the embodiment of the application, when the condition that the difference between the rotor estimated speed and the rotor setting speed is less than the speed difference threshold is met, the condition that the duration of being less than the speed difference threshold exceeds the third time threshold is added, so that it is further accurately represented that the estimated observer has entered the convergent state, and the success rate of switching into the closed-loop running stage is improved.

[0031] Optionally, before the step of obtaining the running estimated parameters and the running setting parameters of the motor in the open-loop dragging stage in the starting process, the motor starting method further includes:

[0032] The motor is controlled to enter the open-loop dragging stage after sequentially passing through the pretreatment stage and the positioning stage.

[0033] In the embodiment of the application, the motor starting process is further limited to include the pretreatment stage and the positioning stage, so that a complete motor starting method is obtained.

[0034] According to another aspect of the embodiment of the application, a motor starting device is provided, including:

[0035] The obtaining module is configured to obtain the running setting parameters and the running estimated parameters of the motor in the open-loop dragging stage during starting of the motor;

[0036] The control module is configured to control the motor to enter the closed-loop running stage when the difference between the running estimated parameters and the running setting parameters is less than the difference threshold.

[0037] According to another aspect of the embodiment of the application, a computer device is provided, including:

[0038] at least one processor,

[0039] at least one memory for storing at least one program;

[0040] When the at least one program is executed by the at least one processor, the at least one processor implements the motor starting method as described above.

[0041] According to another aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a processor executable program; the processor executable program, when executed by the processor, is used to implement the motor starting method as described above.

[0042] According to another aspect of the embodiments of the present application, an air conditioner is provided, which comprises an outdoor fan and a motor starting device as described above, the motor starting device is used to control the motor of the outdoor fan.

[0043] The advantages and beneficial effects of the present application will be partially given in the following description, partially will become obvious from the following description, or will be learned by the practice of the present application:

[0044] The technical solution provided by the embodiments of the present application obtains the running estimated parameter and the running set parameter of the motor in the open-loop drag stage of the starting process, judges whether the difference between the two is less than the difference threshold, if yes, it means that the estimated observer of the motor is in the convergent state, and the motor is controlled to enter the closed-loop running stage, thereby reducing the running time of the open-loop drag stage and improving the refrigeration and heating speed of the air conditioner. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following introduces the drawings of the related technical solutions in the embodiments of the present application or the prior art. It should be understood that the drawings in the following introduction are only for facilitating the clear description of part of the embodiments of the technical solutions of the present application, and for the person skilled in the art, other drawings can also be obtained from these drawings without paying creative labor.

[0046] Figure 1 is a schematic diagram of a motor starting process;

[0047] Figure 2 is also a schematic diagram of a motor starting process;

[0048] Figure 3 is a schematic diagram of a motor starting method provided in the embodiments of the present application;

[0049] Figure 4 is a schematic diagram of the rotor set angle and the rotor estimated angle in the motor starting method provided in the embodiments of the present application;

[0050] Figure 5 is a logic diagram of a motor starting method provided in an embodiment of the present application;

[0051] Figure 6 is a schematic diagram of a motor starting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without making creative labor should belong to the protection scope of the present application.

[0053] The terms "first", "second", "third", and "fourth" and the like in the specification and claims of the present application and the drawings are used to distinguish different objects, but not to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0054] In this document, the term "embodiment" means that the specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment is referred to, nor does it mean that the embodiments are mutually exclusive or alternative to each other. The person skilled in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0055] Due to practical environmental or cost considerations, some electric motors do not have sensors that can reliably detect the position of the rotor, for example, there are such no position sensor settings in air conditioner compressors. It becomes difficult to start the compressor under the condition of no position sensor.

[0056] Reference Figure 1 For the motor starting process under the condition of no position sensor in the related art. Figure 1 The motor starting process in the embodiment is divided into four stages, including a pretreatment stage, a positioning stage, an open-loop dragging stage and a closed-loop running stage. Figure 1The 0-t1 moment in the pre-treatment stage, which mainly performs bootstrap charging and speed estimation. The t1-t2 moment in the positioning stage, which mainly drags the motor rotor by preset fixed angle dq axis current. Figure 1 As shown in the positioning stage in the pre-treatment stage, the maximum q-axis current Iqref and the maximum d-axis current Idref are preset, and the q-axis current Iq and the d-axis current Id of the motor are controlled to continuously rise from 0 to Iqref and Idref respectively. After the positioning is completed, the open-loop dragging stage is entered, that is, Figure 1 The t2-t3 moment in the pre-treatment stage, which mainly reaches the set open-loop target speed at the set time, and the current Iq and Id of the motor are maintained at Iqref and Idref in the stage. The running time of the open-loop dragging stage is fixed, and the open-loop target speed switching from the open-loop dragging stage to the closed-loop stage is also fixed. In the open-loop dragging stage, the current is closed-loop controlled, and the speed is open-loop controlled. After the open-loop dragging stage is completed, the closed-loop running stage is entered, that is, after the t3 moment, the closed-loop running stage mainly adopts speed closed-loop control to adjust the output of the closed-loop controller according to the speed setting value.

[0057] Figures 1-2 As shown in the motor starting process, the running time Top=t3-t2 of the open-loop dragging stage is fixed, and the longer the running time of the open-loop dragging stage, the higher the reliability of successfully switching to the closed-loop running stage. However, the running time of the open-loop dragging stage affects the action time of the motor system, for example, for the air conditioner system, the longer the running time, the slower the refrigeration and heating speed of the air conditioner.

[0058] At the same time, the open-loop angle when the motor reaches the target speed is not the real electrical angle of the motor, which causes the phase error between the added voltage and the actual required voltage in the control process, resulting in large open-loop current harmonics, and even the harmonic peak value reaches the set protection value, causing the starting failure. In addition, there may be a large difference between the speed at the end of the open-loop dragging stage and the target speed, resulting in large instantaneous speed fluctuation when switching from the open-loop dragging stage to the closed-loop running stage. The shorter the running time of the open-loop dragging stage, the shorter the time of the above-mentioned adverse conditions for motor starting and running, which is beneficial to the starting of the motor.

[0059] Figure 3 A motor starting method provided by the embodiment of the application includes steps S110 and S120:

[0060] Step S110, obtaining the running estimation parameters and running setting parameters of the motor in the open-loop dragging stage in the starting process.

[0061] Since the estimation observer cannot effectively observe the rotor position when the motor is at rest and low speed, the rotor position cannot be effectively detected at low speed, and the accurate speed of the motor cannot be obtained, so that the closed-loop control cannot be realized. Therefore, a long open-loop running time is set, so that the speed of the motor increases to the target speed in the open-loop driving stage, the estimation observer can effectively observe the rotor position, and the accurate rotor speed can be obtained, that is, the convergence of the estimation observer is realized, and the conditions for the closed-loop running stage are provided.

[0062] In step S120, the difference between the running estimation parameter and the running setting parameter is determined, and when the difference between the running estimation parameter and the running setting parameter is less than the difference threshold, the motor is controlled to enter the closed-loop running stage.

[0063] The difference between the running estimation parameter and the running setting parameter is used to represent whether the estimation observer converges or not, that is, whether the estimation observer can accurately observe the rotor position. Any calculation method that can represent the difference can be used. For example, the difference between the running estimation parameter and the running setting parameter can be used to represent the difference, and the ratio of the running estimation parameter to the running setting parameter can also be used to represent the difference. The calculation method of the difference value is not limited here, and any form of difference value calculation method can be selected, and the same form of difference threshold can be selected accordingly.

[0064] The difference value is compared with the difference threshold, and when the difference value is less than the difference threshold, the switching condition is met, and the motor is controlled to enter the closed-loop running stage.

[0065] The smaller the difference threshold is set, the smoother the switching from the open-loop driving stage to the closed-loop running stage is, but the smaller the difference threshold is set, the longer the running time that can meet the switching condition is.

[0066] By comparing the difference between the running estimation parameter and the running setting parameter with the difference threshold, when the difference value is less than the difference threshold, the motor is controlled to enter the closed-loop running stage, so as to shorten the running time of the open-loop driving stage and improve the refrigeration and heating speed of the air conditioner. At the same time, since the running time of the open-loop driving stage is shortened, the running time of the aforementioned unstable running state of the motor is also shortened.

[0067] Optionally, the motor starting method further comprises: obtaining the running time of the open-loop driving stage in the starting process; when the running time is greater than a first time threshold, the step of determining the difference between the running estimation parameter and the running setting parameter is executed; the first time threshold is determined according to the convergence time of the estimation observer, and the estimation observer is used to estimate the running estimation parameter. After the motor is started, the running time Δt of the open-loop driving stage is entered. The current running time is t, and the target speed is ω0. Figure 1As shown, the running time of the motor entering the open-loop dragging stage is Δt=t-t2. The running time can also be obtained by starting the timer at t2, and the specific obtaining method is not limited in the embodiment.

[0068] The obtained running time Δt is compared with the first time threshold ΔT1. When the running time Δt is greater than the first time threshold ΔT1, the step of determining the difference between the running estimated parameter and the running set parameter is executed.

[0069] The first time threshold ΔT1 is set according to the time required for the estimation observer, such as the algorithm affected by the self-model, to converge. It can be understood that the first time threshold ΔT1 is basically consistent with the predicted convergence time of the estimation observer, and can be slightly greater than, slightly less than, or basically equal to the predicted convergence time. When the running time Δt of the motor is less than or equal to the first time threshold ΔT1, the estimation observer is less likely to converge, and the step of determining the difference between the running estimated parameter and the running set parameter is not executed, that is, the estimation observer is not judged to converge. When the running time Δt of the motor is greater than the first time threshold ΔT1, the estimation observer is more likely to converge, and the step of determining the difference between the running estimated parameter and the running set parameter is executed, and whether the estimation observer converges is judged, thereby improving the efficiency of the judgment process.

[0070] Optionally, the motor starting method further comprises: obtaining the running time of the open-loop dragging stage in the starting process; when the running time is greater than the target running time of the open-loop dragging stage, controlling the motor to enter the closed-loop running stage; and the target running time is greater than the first time threshold.

[0071] This step limits that when the running time is greater than the target running time of the open-loop dragging stage, the motor is controlled to enter the closed-loop running stage. This limitation is to prevent the judgment result error caused by the estimation observer outputting inaccurate running estimated parameters in the case of having converged due to unexpected situations in the open-loop dragging stage. For example, the wind wheel of the motor is unexpectedly stuck, and the estimation observer will output inaccurate rotor angle. Therefore, the addition of this step can make the estimation observer be in the converged state after a long enough running time, and even if the difference between the running estimated parameter and the running set parameter does not meet the foregoing condition, the motor is also controlled to enter the closed-loop running stage, thereby improving the reliability of entering the closed-loop running stage.

[0072] Optionally, the motor starting method further includes: acquiring the running time of the open-loop drag phase during the starting process; when the running time is greater than a first time threshold, performing the step of determining the difference between the estimated running parameters and the set running parameters; when the running time is greater than the target running time of the open-loop drag phase, controlling the motor to enter the closed-loop running phase; the target running time is greater than the first time threshold.

[0073] As mentioned earlier, when the running time Δt is greater than the first time threshold ΔT1, the step of determining the difference between the estimated running parameters and the set running parameters begins. When the difference between the estimated running parameters and the set running parameters is less than the difference threshold, the motor is controlled to enter the closed-loop operation stage. If, until the running time Δt reaches the target running time, the estimated running parameters and the set running parameters still do not meet the condition that their difference is less than the difference threshold, the motor is also controlled to enter the closed-loop operation stage. The purpose of this is consistent with the previous description: to ensure that the motor can smoothly enter the closed-loop operation stage in the event of unexpected situations, thereby improving the reliability of the motor switching from open-loop to closed-loop operation.

[0074] Optionally, the operating estimation parameter is the rotor estimation angle of the motor, the operating setting parameter is the rotor setting angle, the difference is the incremental difference, and the difference threshold is the incremental difference threshold; the step of controlling the motor to enter the closed-loop operation stage when the difference between the operating estimation parameter and the operating setting parameter is less than the difference threshold specifically means: when the difference between the increment of the rotor estimation angle and the increment of the rotor setting angle is less than the incremental difference threshold, the motor is controlled to enter the closed-loop operation stage.

[0075] When the operating estimation parameter in step S120 is the estimated rotor angle of the motor, the corresponding operating setting parameter is the rotor setting angle of the motor in the open-loop drive phase.

[0076] Rotor estimated angle To utilize the estimated rotor angle obtained from the estimation observer, the estimation observer can be used to estimate the rotor angle in real time during the open-loop drive phase. Rotor set angle θ e * It is based on the rotor set speed ωop during the open-loop drive phase. * Definitely. Target velocity ωopT * Top of target runtime * These settings can be pre-defined; for example, they can be pre-defined using a parameter table, or they can be set using other methods. There are no restrictions on the setting method here. Therefore, during the entire open-loop drive phase, the rotor set speed ωop... * The speed continuously increases from 0 to the target speed ωopT * Here, the rotor set speed ωop is used.* Using linear increase as an example, let's illustrate its calculation method throughout the entire open-loop drag phase: ωop * =((ωopT) * -0)÷(Top * -0))×Δt, where Δt is the operating time of the motor entering the open-loop drive stage. The rotor set speed ωop * By performing integration, the rotor set angle θ at the corresponding moment can be obtained. e * .

[0077] The estimation algorithm of the estimator is lagging relative to the rotor position; the estimated rotor angle output by the estimator is... There is a certain error between the actual electrical angle of the rotor and the actual rotor angle. It is only necessary to estimate the rotor estimated angle output by the observer. The numerical change can follow the set angle θ of the upper rotor. e * The change in the value indicates that the estimator has converged. See also Figure 4 As time increases, the changes in the rotor estimated angle (marked by the dashed line) and the rotor set angle (marked by the solid line) become increasingly similar, eventually becoming parallel over time. Therefore, the difference between their increments can be used to characterize their discrepancy.

[0078] For example, by utilizing the difference in their respective increments. To characterize the difference between the two. Among them, Estimating the angle for the rotor The increment over a fixed period of time, for example, the increment over a unit of time; correspondingly, Δθ e * Set the rotor angle increment over the same fixed time period, for example, the increment over a unit time period. When and Δθ e * When the values ​​are essentially equal, it indicates that the estimator has entered a convergent state. Here, Δθ < Δθth represents the relationship that the two increments are essentially equal, where Δθth is the increment difference threshold. When the above relationship is satisfied, the control motor switches to the closed-loop operation stage.

[0079] Of course, the ratio of their respective increments can also be used to characterize the difference between them; alternatively, the slope or derivative of the two lines can be used to characterize the difference after linear fitting of their values. There are no restrictions here; different methods of representing difference, along with the selection of appropriate difference thresholds, can complete the above judgment process.

[0080] Optionally, when the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment threshold, the motor is controlled to enter the closed-loop running phase, in particular, when the difference between the increment of the rotor estimated angle and the increment of the rotor set angle is less than the increment difference threshold and the duration reaches the second time threshold, the motor is controlled to enter the closed-loop running phase.

[0081] If the estimated observer can meet the time condition limit, it means that the estimated observer can stably and accurately estimate the motion parameters of the motor. That is, by increasing the time condition that the duration meeting the threshold condition must reach the second time threshold, the estimated observer can further accurately represent that it has entered a convergent state, thereby improving the success rate of switching into the closed-loop running phase.

[0082] Optionally, the running estimated parameter is the rotor estimated speed of the motor, the running set parameter is the rotor set speed, the difference is the speed difference, and the difference threshold is the speed difference threshold; and when the difference between the running estimated parameter and the running set parameter is less than the difference threshold, the motor is controlled to enter the closed-loop running phase, in particular, when the difference between the rotor estimated speed and the rotor set speed is less than the speed difference threshold, the motor is controlled to enter the closed-loop running phase.

[0083] Rotor set speed ωop * is determined according to the rotor set angle θ e * of the open-loop dragging phase. The target speed ωopT * and the target running time Top* at the end of the open-loop dragging phase can be pre-set, for example, they can be pre-set by a parameter table or can be set in other ways, and the setting method is not limited here. Therefore, during the entire open-loop dragging phase, the rotor set speed ωop * continuously rises from 0 to the open-loop target speed ωopT * . Here, taking linear increase of the rotor set speed ωop * as an example to illustrate the calculation method during the entire open-loop dragging phase: ωop * = ((ωopT * - 0) / (Top * - 0)) × Δt, where Δt is the running time of the motor entering the open-loop dragging phase.

[0084] Rotor estimated angle is the angle of the motor rotor estimated by the estimated observer, and the rotor estimated angle is differentiated to obtain the rotor estimated speed

[0085] As mentioned above, as the estimation observer enters the converging state, the increment of the rotor estimation angle and the increment of the rotor setting angle θ e * are basically consistent, while the speed is the differential relation of the angle, so the same angle increment, the calculated speed is the same. Therefore, here the difference between the rotor estimation speed ωe and the rotor setting speed ωop * can be used to represent the difference between the two, and the difference between the two Here, the relationship that Δω<Δωth is used to identify that the two speeds are basically equal, where Δωth is the speed difference threshold, and when the above relationship is met, the control motor switches to the closed-loop running phase.

[0086] Of course, the ratio of the two can also be used to represent the difference between the two. Here, no limitation is made, and different difference representations can be selected by selecting a suitable difference threshold accordingly to complete the above judgment process. The speed can be represented by different methods such as rotational speed, current frequency, or linear speed, and no limitation is made here.

[0087] Alternatively, when the difference between the rotor estimation speed and the rotor setting speed is less than the speed difference threshold, the motor is controlled to enter the closed-loop running phase, specifically: when the difference between the rotor estimation speed and the rotor setting speed is less than the speed difference threshold and the duration exceeds a third time threshold, the motor is controlled to enter the closed-loop running phase.

[0088] Similarly, if the estimation observer can meet the time condition limit, it means that the estimation observer can accurately estimate the motor motion parameters. That is, by increasing the time condition that the threshold condition must be met for a duration of a third time threshold, the estimation observer can further accurately represent that it has entered the converging state, and the success rate of switching to the closed-loop running phase is improved.

[0089] It can be understood that before entering the open-loop dragging phase, the motor has gone through a positioning phase. The motor goes through a positioning phase, an open-loop dragging phase, and a closed-loop running phase in sequence during the starting process. Among them, the positioning phase mainly presets the fixed angle dq-axis current to drag the motor rotor.

[0090] Alternatively, before entering the open-loop dragging phase, the motor goes through a preprocessing phase and a positioning phase. The motor goes through a preprocessing phase, a positioning phase, an open-loop dragging phase, and a closed-loop running phase in sequence during the starting process. Among them, the preprocessing phase mainly includes bootstrap charging and speed estimation; the positioning phase mainly presets the fixed angle dq-axis current to drag the motor rotor.

[0091] The following will be described in combination with Figure 5The application discloses a motor starting method and a motor starting device.

[0092] Referring to Figure 5 The application discloses a motor starting method and a motor starting device.

[0093] In the case that the running time is greater than the first time threshold and less than the target running time, the step of determining the difference between the running estimated parameter and the running setting parameter and judging the comparison result between the difference and the difference threshold is entered. If the difference between the running estimated parameter and the running setting parameter is less than the difference threshold, and the duration of the less-than-difference threshold reaches a second time threshold, it is indicated that the running estimated parameter can stably reflect the running state of the motor, the estimated observer enters a convergent state, and can provide accurate and available feedback parameters for a feedback link of the closed-loop running stage. At this time, the motor is controlled to enter the closed-loop running stage, which can meet the reliability requirement of the open-loop-to-closed-loop switching and reduce the actual running time of the open-loop dragging stage. If the difference between the running estimated parameter and the running setting parameter does not meet the above judgment condition, for example, is greater than or equal to the difference threshold, or the duration of the less-than-difference threshold does not reach the second time threshold, the control logic returns to the logic of judging the running time and the target running time.

[0094] In a case where the running time is greater than or equal to the target running time, the motor is controlled to enter a closed-loop running phase. As described above, the target running time is set to be sufficient, and in a case where the target running time is reached, the estimated observer of the motor is probably in a convergent state. Normally, the aforementioned judgment logic of the difference between the running estimated parameter and the running set parameter can identify the convergent state, but it cannot be ruled out that there are some abnormal conditions, such as the wind wheel of the motor being unexpectedly stuck, and the estimated observer outputs inaccurate running estimated parameters, such as the rotor angle. Therefore, the increase of the logic can make the estimated observer be in the convergent state after a long enough target running time, and even if the difference between the running estimated parameter and the running set parameter does not meet the aforementioned condition, the motor is controlled to enter the closed-loop running phase, thereby improving the reliability of entering the closed-loop running phase.

[0095] As shown in Figure 6 The embodiment of the present application provides a motor starting device, which comprises an acquisition module 210 and a control module 220; wherein the acquisition module 210 is used for acquiring a running set parameter and a running estimated parameter in an open-loop drag stage when the motor starts; and the control module 220 is used for controlling the motor to enter a closed-loop running phase when the difference between the running estimated parameter and the running set parameter is less than a difference threshold.

[0096] The content in the motor starting method embodiment described above is applicable to the motor starting device embodiment, the motor starting device embodiment specifically realizes the same functions as the motor starting method embodiment described above, and achieves the same beneficial effects as the motor starting method embodiment described above.

[0097] The embodiment of the present application further provides a computer device, which comprises at least one processor and at least one memory; the at least one memory is used for storing at least one program; and when the at least one program is executed by the at least one processor, the at least one processor implements the motor starting method as described above.

[0098] The content in the motor starting method embodiment described above is applicable to the computer device embodiment, the computer device embodiment specifically realizes the same functions as the motor starting method embodiment described above, and achieves the same beneficial effects as the motor starting method embodiment described above.

[0099] The embodiment of the present application further provides a computer readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used for implementing the method as described above when executed by the processor.

[0100] The above-mentioned contents in the motor starting method embodiments are applicable to the computer readable storage medium embodiments, the computer readable storage medium embodiments specifically realize the same functions as the above-mentioned motor starting method embodiments, and achieve the same beneficial effects as the above-mentioned motor starting method embodiments.

[0101] The application further provides an air conditioner, which comprises an outdoor fan and the motor starting device as described above; the motor starting device is used for starting control on a motor of the outdoor fan.

[0102] Similarly, the above-mentioned contents in the motor starting method and motor starting device embodiments are applicable to the computer readable storage medium embodiments, the computer readable storage medium embodiments specifically realize the same functions as the above-mentioned motor starting method and motor starting device embodiments, and achieve the same beneficial effects as the above-mentioned motor starting method and motor starting device embodiments.

[0103] It can be understood that all or some steps in the above-mentioned method and system can be implemented as software, firmware, hardware and appropriate combinations thereof. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery media.

[0104] The embodiments of the application are described in detail above with reference to the accompanying drawings, but the application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A method of starting an electric motor, characterized by, The method comprises: obtaining an operation estimation parameter and an operation setting parameter of the motor in an open-loop drag stage during a starting process; determining a difference between the operation estimation parameter and the operation setting parameter, and controlling the motor to enter a closed-loop operation stage when the difference between the operation estimation parameter and the operation setting parameter is less than a difference threshold value; wherein, in a case where the operation estimation parameter is a rotor estimation angle of the motor, the operation setting parameter is a rotor setting angle, the difference is an increment difference, and the difference threshold value is an increment difference threshold value, if a difference between an increment of the rotor estimation angle and an increment of the rotor setting angle is less than the increment difference threshold value and a duration of being less than the increment difference threshold value reaches a second time threshold value, the motor is controlled to enter the closed-loop operation stage.

2. The motor starting method of claim 1, wherein The motor starting method further comprises: obtaining an operation time in the open-loop drag stage during the starting process; when the operation time is greater than a first time threshold value, performing the step of determining the difference between the operation estimation parameter and the operation setting parameter; the first time threshold value is determined according to a convergence time of an estimation observer used for estimating the operation estimation parameter.

3. The motor starting method of claim 2, wherein The motor starting method further comprises: when the operation time is greater than a target operation time of the open-loop drag stage, controlling the motor to enter the closed-loop operation stage; the target operation time is greater than the first time threshold value.

4. The motor starting method of claim 1, wherein The rotor setting angle is determined according to a target speed at the end of the open-loop drag stage and the target operation time of the open-loop drag stage.

5. The motor starting method according to any one of claims 1 to 3, characterized by, In a case where the operation estimation parameter is a rotor estimation speed of the motor, the operation setting parameter is a rotor setting speed, the difference is a speed difference, and the difference threshold value is a speed difference threshold value, if a difference between the rotor estimation speed and the rotor setting speed is less than the speed difference threshold value, the motor is controlled to enter the closed-loop operation stage.

6. The motor starting method of claim 5, wherein The rotor setting speed is determined according to a target speed at the end of the open-loop drag stage and the target operation time of the open-loop drag stage.

7. The motor starting method of claim 6, wherein When the difference between the rotor estimation speed and the rotor setting speed is less than the speed difference threshold value, the motor is controlled to enter the closed-loop operation stage, specifically: when the difference between the rotor estimation speed and the rotor setting speed is less than the speed difference threshold value and a duration of being less than the speed difference threshold value exceeds a third time threshold value, the motor is controlled to enter the closed-loop operation stage.

8. The motor starting method according to any one of claims 1-3, wherein, before the step of obtaining the operation estimation parameter and the operation setting parameter of the motor in the open-loop drag stage during the starting process, the motor starting method further comprises: controlling the motor to enter the open-loop drag stage after sequentially passing through a pretreatment stage and a positioning stage.

9. An electric motor starting apparatus characterized by comprising: The method comprises: an obtaining module, configured to obtain an operation estimation parameter and an operation setting parameter in an open-loop drag stage during starting of the motor; The control module is configured to control the motor to enter a closed-loop operation phase when a difference between the operation estimated parameter and the operation set parameter is less than a difference threshold value; wherein, in a case that the operation estimated parameter is a rotor estimated angle of the motor, the operation set parameter is a rotor set angle, the difference is an incremental difference, and the difference threshold value is an incremental difference threshold value, if a difference between an increment of the rotor estimated angle and an increment of the rotor set angle is less than the incremental difference threshold value, and a duration in which the difference is less than the incremental difference threshold value reaches a second time threshold value, the motor is controlled to enter the closed-loop operation phase.

10. A computer device, comprising: The method comprises: at least one processor, at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method according to any one of claims 1-8.

11. A computer readable storage medium, wherein a program executable by a processor is stored, and the program executable by the processor is configured to implement the method according to any one of claims 1-8 when executed by the processor. The method comprises:

12. An air conditioner characterized by comprising: an outdoor unit fan; and the motor starting device according to claim 9 is configured to control starting of a motor of the outdoor unit fan. ​

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