Motor control method, motor control device, motor driver, and household appliance

Abstract

The embodiment of the application discloses a motor control method, a motor control device, a motor driver and a household appliance. The method comprises the following steps: determining a first current based on a set current waveform function, an operating frequency of a motor and a phase of an input voltage, wherein the set current waveform function represents a third harmonic function; determining a q-axis given current of the motor based on the first current, a given rotating speed of the motor and an estimated rotating speed of the motor; determining a d-axis given current of the motor based on an output voltage amplitude of an inverter circuit and a maximum output voltage of the inverter circuit; and controlling the motor to operate based on an estimated angle of the motor, the q-axis given current, the d-axis given current, a q-axis actual current and a d-axis actual current.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of variable frequency drive, and in particular to a motor control method, a motor control device, a motor driver and a household appliance. BACKGROUND

[0002] In the related art, the motor of an air conditioner is usually driven to operate by using a driving system without electrolytic capacitor. Since the bus voltage fluctuates greatly, the Q-axis current of the motor also fluctuates with the DC bus voltage, resulting in that the phase current amplitude of the motor becomes large, and further resulting in that the effective current value under the condition of the same current amplitude becomes small, and finally resulting in that the output torque of the motor becomes small. SUMMARY

[0003] Therefore, the embodiments of the present application provide a motor control method, a motor control device, a motor driver and a household appliance to solve the technical problem that the output torque of the motor becomes small under the condition of the same current amplitude due to the Q-axis current of the motor fluctuating with the DC bus voltage in the related art.

[0004] To achieve the above object, the technical scheme of the present application is as follows:

[0005] The embodiments of the present application provide a motor control method, comprising:

[0006] determining a first current based on a set current waveform function, an operating frequency of the motor and a phase of an input voltage, wherein the set current waveform function represents a third harmonic function;

[0007] determining a q-axis given current of the motor based on the first current, a given speed of the motor and an estimated speed of the motor;

[0008] determining a d-axis given current of the motor based on an output voltage amplitude of an inverter circuit and a maximum output voltage of the inverter circuit;

[0009] controlling the motor to operate based on an estimated angle of the motor, the q-axis given current, the d-axis given current, a q-axis actual current and a d-axis actual current.

[0010] In the above scheme, the determination of the first current based on the set current waveform function, the operating frequency of the motor and the phase of the input voltage comprises:

[0011] determining a third harmonic amplitude based on the operating frequency of the motor;

[0012] determining the first current based on the set current waveform function, the phase of the input voltage and the determined third harmonic amplitude.

[0013] In the above scheme, the expression for the set current waveform function is: F(θ) g )=|sin(θ g )+Msin(3θ g )|;Among them,

[0014] The θ g The phase of the input voltage is represented by M; the third harmonic amplitude is represented by M.

[0015] In the above scheme, M represents the value of a polynomial function with respect to the operating frequency of the motor.

[0016] In the above scheme, determining the third harmonic amplitude based on the operating frequency of the motor includes:

[0017] Based on the positive correlation between the set operating frequency and the set amplitude, the third harmonic amplitude corresponding to the operating frequency of the motor is determined.

[0018] In the above scheme, M is greater than or equal to 0 and less than or equal to 0.5.

[0019] This application embodiment also provides a motor control device, including:

[0020] The first determining unit is used to determine the first current based on a set current waveform function, the operating frequency of the motor, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function;

[0021] The second determining unit is used to determine the q-axis given current of the motor based on the first current, the given speed of the motor, and the estimated speed of the motor.

[0022] The third determining unit is used to determine the d-axis given current of the motor based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit.

[0023] The control unit is used to control the operation of the motor based on the estimated angle of the motor, the given current of the q-axis, the given current of the d-axis, the actual current of the q-axis, and the actual current of the d-axis.

[0024] This application also provides a motor driver, including: a processor and a memory for storing a computer program capable of running on the processor.

[0025] When the processor runs the computer program, it executes the steps of any of the above-described motor control methods.

[0026] This application also provides a household appliance, including: a motor driver, a motor, a processor, and a memory for storing a computer program capable of running on the processor.

[0027] When the processor runs the computer program, it executes the steps of any of the above-described motor control methods.

[0028] This application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the above-described motor control methods.

[0029] In this embodiment, a first current is determined based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function; based on the first current, the motor's given speed, and the motor's estimated speed, the motor's q-axis given current is determined; based on the inverter circuit's output voltage amplitude and the inverter circuit's maximum output voltage, the motor's d-axis given current is determined; and based on the estimated speed, the q-axis given current, the d-axis given current, the actual q-axis current, and the actual d-axis current, the motor's operation is controlled.

[0030] Compared to related technologies, the solution provided in this application determines a first current based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage. The set current waveform function represents the third harmonic function. Therefore, the waveform of the first current can be dynamically adjusted based on the motor's operating frequency and the set current waveform function to reduce the amplitude of the motor's q-axis current determined based on the first current. When the motor's q-axis current fluctuates with the motor's DC bus voltage, the motor can output a larger torque with the same current amplitude, thereby increasing the motor's output power. Attached Figure Description

[0031] Figure 1 A topology diagram of a capacitor-free motor drive device provided for related technologies;

[0032] Figure 2 A schematic diagram illustrating the implementation process of a motor control method provided in an embodiment of this application;

[0033] Figure 3 This is a schematic diagram illustrating how a motor driver controls a motor, as provided in an embodiment of this application.

[0034] Figure 4 A schematic diagram illustrating the implementation process of determining the first current in a motor control method provided in this application embodiment;

[0035] Figure 5 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this application;

[0036] Figure 6This is a schematic diagram of the hardware composition structure of a household appliance provided in an embodiment of this application. Detailed Implementation

[0037] In related technologies, electrolytic capacitor-free motor drive devices are typically used to drive the motor. (Refer to...) Figure 1 The electrolytic capacitor-free motor drive device includes: a motor driver comprising a filter module, a rectifier module, a DC bus energy storage module, an inverter module, and a control module. The filter module consists of an inductor Lg, the rectifier module consists of diodes D1 to D4, the DC bus energy storage module consists of a thin-film capacitor C1, and the inverter module consists of power switching transistors (IGBTs, Insulated Gate Bipolar Transistors) S1 to S6.

[0038] The control module is used to control the motor based on a given speed. Input voltage u in DC bus voltage u of the motor dc The three-phase symmetrical sinusoidal alternating current i of the motor abc These parameters are used to output a pulse width modulation (PWM) signal to the inverter module to drive the motor, thereby achieving field weakening control of the motor. The motor is a permanent magnet synchronous motor (PMSM).

[0039] Because the bus voltage of the motor in a motor drive device without electrolytic capacitors fluctuates greatly, the quadrature axis (Q-axis) current of the motor also fluctuates with the DC bus voltage, resulting in a larger amplitude of the motor phase current, which in turn leads to a smaller effective current value under the same current amplitude conditions, and ultimately a smaller output torque of the motor.

[0040] To address the aforementioned technical problems, this application provides a motor control method: A first current is determined based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function; a q-axis given current of the motor is determined based on the first current, the motor's given speed, and the motor's estimated speed; a d-axis given current of the motor is determined based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit; and the motor is controlled to operate based on the estimated speed, the q-axis given current, the d-axis given current, the actual q-axis current, and the actual d-axis current.

[0041] Compared to related technologies, the solution provided in this application determines a first current based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage. The set current waveform function represents the third harmonic function. Therefore, the waveform of the first current can be dynamically adjusted based on the motor's operating frequency and the set current waveform function to reduce the amplitude of the motor's q-axis current determined based on the first current. When the motor's q-axis current fluctuates with the motor's DC bus voltage, the motor can output a larger torque with the same current amplitude, thereby increasing the motor's output power.

[0042] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Figure 2 This illustration shows a schematic flowchart of the implementation process of a motor control method according to an embodiment of this application. In this embodiment, the executing entity of the motor control method is a motor driver, or a household appliance including a motor driver and a motor, wherein the household appliance includes an air conditioner. The motor driver includes, for example,... Figure 1 The modules shown.

[0044] The embodiments of this application improve the motor control method, as described below. Figure 2 and Figure 3 Provide a detailed explanation of the implementation process of the motor control method.

[0045] Reference Figure 2 The motor control method provided in this application includes:

[0046] S201: Determine the first current based on the set current waveform function, the motor's operating frequency, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function.

[0047] Here, as Figure 3 As shown, a phase-locked loop is used, based on the input voltage u in Determine the phase θ of the input voltage. g Based on the set current waveform function, the motor's operating frequency, and the phase of the input voltage, the first current W is determined. f .

[0048] S202: Based on the first current, the given speed of the motor, and the estimated speed of the motor, determine the given current of the q-axis of the motor.

[0049] Here, as Figure 3 As shown, after obtaining the three-phase symmetrical sinusoidal alternating current i of the motor abc In the case of the three-phase symmetrical sinusoidal alternating current i of the motor abcPerform a Clark transformation to obtain the α-axis current i of the motor. α and the β-axis current i of the motor β For the α-axis current i α and β-axis current i β Perform the Park transformation to obtain the actual d-axis current i of the motor. d and the actual q-axis current i of the motor q Based on the relevant parameters of the motor, the estimated angle of the motor rotor is estimated. and estimated rotational speed Among them, the relevant parameters of the motor include: the α-axis current i of the motor. α The β-axis current i of the motor β α-axis voltage u of the motor α β-axis voltage u of the motor β The permanent magnet flux linkage ψ of the motor f The actual d-axis current i of the motor d The actual q-axis current i of the motor q And the resistance of the motor, etc.

[0050] After obtaining the given speed of the motor and estimated rotational speed In this case, the given speed of the motor and estimated rotational speed Perform proportional-integral (PI) control to obtain the first proportional-integral calculation result T. p .

[0051] in, K P K is the proportional control coefficient. p =Jω asr / p;K i The integral control coefficient, Here, J is the moment of inertia of the motor; p is the number of pole pairs of the motor; ω asr The bandwidth of the current loop; This represents the damping coefficient of the motor. In practical applications, the bandwidth of the current loop is set to 20 Hz.

[0052] After obtaining the first current W f The result T of the first proportional integral operation p In the case of the first proportional integral result T e and the first current W f Perform multiplication to obtain the given torque T of the motor. e Among them, T e =T p ×W f .

[0053] Based on the calculation formula for the q-axis given current and the determined given torque T of the motor e The q-axis setpoint current of the motor is determined; the formula for setting the q-axis setpoint current is as follows:

[0054]

[0055] i q_ref Characterizes the given q-axis current; T e The given torque of the motor is represented by p; the number of pole pairs of the motor is represented by k. T Characterizing the back electromotive force of the motor; i d Characterized by the actual d-axis current of the motor; L d Characterizing the d-axis inductance of the motor; L q Characterizes the q-axis inductance of the motor.

[0056] S203: Determine the given d-axis current of the motor based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit.

[0057] Here, the output voltage amplitude and the maximum output voltage of the inverter circuit are integrated to obtain the given d-axis current of the motor.

[0058] In practical applications, the d-axis given current i is determined based on the calculation formula for the d-axis given current, as well as the output voltage amplitude and maximum output voltage of the inverter circuit. d_ref The formula for calculating the d-axis current setting is as follows:

[0059]

[0060] Among them, K id Characterizes the set integral control coefficient; Characterization pairs Integrate points; The output voltage amplitude, u, represents the inverter circuit. dref The most recently determined d-axis given voltage, u qref U represents the most recently determined q-axis given voltage; max Characterizes the maximum output voltage of the inverter circuit. u dc Characterizes the DC bus voltage of the motor.

[0061] It should be noted that when i is determined in the kth time... d_ref At that time, u dref Given the d-axis voltage determined in the (k-1)th iteration, u qref The given voltage for the q-axis is determined in the (k-1)th iteration.

[0062] S204: Control the operation of the motor based on the estimated angle of the motor, the given current of the q-axis, the given current of the d-axis, the actual current of the q-axis, and the actual current of the d-axis.

[0063] Here, the q-axis given voltage u of the motor is determined based on the q-axis given current and the actual q-axis current. q Based on the given d-axis current and the actual d-axis current, the given d-axis voltage u of the motor is determined. d .

[0064] After determining the q-axis setpoint voltage u of the motor q and the given voltage u on the d-axis d In this case, the estimated angle based on the motor Perform an inverse Park transform on the determined q-axis and d-axis voltages to obtain the α-axis voltage u. α and β-axis voltage u β .

[0065] After obtaining the α-axis voltage u α and β-axis voltage u β In the case of α-axis voltage u α and β-axis voltage u β The Clark inverse transform is performed to obtain the three-phase voltage command. Based on the three-phase voltage command and the DC bus voltage of the motor, space vector modulation (SVM) is performed to determine the duty cycle control signal. Based on the duty cycle control signal, a PWM signal is output to the inverter module to drive the motor.

[0066] Among them, it can be expressed by formula Determine the d-axis setpoint voltage u of the motor. d ; through formula Determine the q-axis setpoint voltage u of the motor. q ψ f The permanent magnet flux linkage characterizes the motor.

[0067] In the solution provided in this embodiment, a first current is determined based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage. Based on the determined first current, the motor's given speed, and its estimated speed, the given q-axis current of the motor is determined. Since the set current waveform function is a third harmonic function, the waveform of the first current can be dynamically adjusted based on the motor's operating frequency and the set current waveform function to reduce the amplitude of the q-axis current determined based on the first current. When the motor's q-axis current fluctuates with the motor's DC bus voltage, the motor can output greater torque with the same current amplitude, thereby increasing the motor's output power.

[0068] Reference Figure 4 In some embodiments, determining the first current based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage includes:

[0069] S401: Determine the third harmonic amplitude based on the operating frequency of the motor.

[0070] Here, the third harmonic amplitude M corresponding to the motor's operating frequency can be determined based on the correspondence between the set operating frequency and the set amplitude.

[0071] It should be noted that the operating frequency of a motor usually refers to its mechanical frequency. M is greater than or equal to 0 and less than or equal to 1.

[0072] In some embodiments, determining the third harmonic amplitude based on the operating frequency of the motor includes: determining the third harmonic amplitude corresponding to the operating frequency of the motor based on a positive correlation between a set operating frequency and a set amplitude.

[0073] In practical applications, the positive correlation between the set operating frequency and the set amplitude indicates that the higher the motor's operating frequency, the larger the amplitude of the third harmonic at that frequency. A larger third harmonic amplitude at the motor's operating frequency allows for a greater reduction in the amplitude of the motor's q-axis current, resulting in greater torque output and increased motor output power.

[0074] S402: Determine the first current based on the set current waveform function, the phase of the input voltage, and the determined third harmonic amplitude.

[0075] Here, a first current is generated based on the set current waveform function, the phase of the input voltage, and the determined third harmonic amplitude. The waveform of the first current matches the waveform corresponding to the set current waveform function.

[0076] The current waveform function is a function with the phase of the input voltage as the independent variable, and the current waveform function includes at least the third harmonic.

[0077] In some embodiments, the expression for the set current waveform function is: F(θ) g )=|sin(θ g )+Msin(3θ g )|;Among them,

[0078] The θ g The phase of the input voltage is represented by M; the third harmonic amplitude is represented by M.

[0079] Here, the current waveform function is set to include the fundamental wave and the third harmonic. The fundamental wave is a sinusoidal function with the phase of the input voltage as the independent variable.

[0080] In some embodiments, M represents the value of a polynomial function with respect to the operating frequency of the motor.

[0081] In practical applications, Among them, b0, b1...b n To set a constant, Characteristic f r f to the power of n r Characterizes the operating frequency of the motor. f r The higher the value, the larger the value representing M.

[0082] In some embodiments, M is greater than or equal to 0 and less than or equal to 0.5.

[0083] In the solution provided in this embodiment, the third harmonic amplitude is determined based on the operating frequency of the motor, which can improve the accuracy of the determined third harmonic amplitude. Based on the set current waveform function, the phase of the input voltage and the determined third harmonic amplitude, the first current is determined. The waveform shape of the first current can be adjusted by the third harmonic, thereby reducing the amplitude of the given q-axis current determined based on the first current. When the Q-axis current of the motor fluctuates with the DC bus voltage of the motor, the motor can output a larger torque under the same current amplitude, thereby increasing the output power of the motor.

[0084] The higher the operating frequency of the motor, the larger the amplitude of the third harmonic, which can reduce the amplitude of the q-axis current of the motor to a greater extent, so as to output greater torque and improve the output power of the motor.

[0085] To implement the method of the embodiments of this application, the embodiments of this application also provide a motor control device, which is installed on a motor driver, or on a household appliance including a motor driver and a motor, such as... Figure 5 As shown, the motor control device includes:

[0086] The first determining unit 51 is used to determine a first current based on a set current waveform function, the operating frequency of the motor, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function;

[0087] The second determining unit 52 is used to determine the q-axis given current of the motor based on the first current, the given speed of the motor and the estimated speed of the motor;

[0088] The third determining unit 53 is used to determine the d-axis given current of the motor based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit.

[0089] Control unit 54 is used to control the operation of the motor based on the estimated angle of the motor, the given current of the q-axis, the given current of the d-axis, the actual current of the q-axis, and the actual current of the d-axis.

[0090] In some embodiments, the first determining unit 51 is configured to:

[0091] The amplitude of the third harmonic is determined based on the operating frequency of the motor.

[0092] The first current is determined based on the set current waveform function, the phase of the input voltage, and the determined third harmonic amplitude.

[0093] In some embodiments, the expression for the set current waveform function is: F(θ) g )=|sin(θ g )+Msin(3θ g )|;Among them,

[0094] The θ g The phase of the input voltage is represented by M; the third harmonic amplitude is represented by M.

[0095] In some embodiments, M represents the value of a polynomial function with respect to the operating frequency of the motor.

[0096] In some embodiments, the first determining unit 51 is configured to:

[0097] Based on the positive correlation between the set operating frequency and the set amplitude, the third harmonic amplitude corresponding to the operating frequency of the motor is determined.

[0098] In some embodiments, M is greater than or equal to 0 and less than or equal to 0.5.

[0099] In practical applications, the various units within a motor control device can be implemented by a processor. Of course, the processor needs to run programs stored in memory to implement the functions of each program module.

[0100] It should be noted that the motor control device provided in the above embodiments is only illustrated by the division of the above program modules when controlling the motor. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the motor control device can be divided into different program modules to complete all or part of the processing described above. In addition, the motor control device and the motor control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0101] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a home appliance. Figure 6 This is a schematic diagram of the hardware composition structure of the home appliance provided in the embodiments of this application, such as... Figure 6 As shown, the home appliances include:

[0102] Communication interface 1 enables information exchange with other devices, such as remote controls;

[0103] Processor 2 is connected to communication interface 1 to enable information exchange with other devices. When running a computer program, it executes the motor control method provided by one or more of the aforementioned technical solutions. The computer program is stored in memory 3.

[0104] Motor driver 4 is used to drive motor 5.

[0105] Of course, in practical applications, the various components in a household appliance are coupled together through bus system 6. It can be understood that bus system 6 is used to achieve communication and connection between these components. In addition to the data bus, bus system 6 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 6 The general will label all buses as Bus System 6.

[0106] The memory 3 in this embodiment is used to store various types of data to support the operation of home appliances. Examples of such data include any computer programs used to operate the home appliances.

[0107] It is understood that memory 3 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 3 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0108] The methods disclosed in the embodiments of this application can be applied to processor 2, or implemented by processor 2. Processor 2 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 2 or by instructions in the form of software. The processor 2 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 2 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory 3. Processor 2 reads the program in memory 3 and completes the steps of the aforementioned method in combination with its hardware.

[0109] When processor 2 executes the program, it implements the process corresponding to the multi-core processor in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0110] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 3 that stores a computer program, which can be executed by a processor 2 to complete the steps described in the foregoing embodiments. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0111] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0112] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0113] Furthermore, in the various embodiments of this application, all functional units can be integrated into one processing module, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] It should be noted that the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0115] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor control method, characterized in that, include: Based on the set current waveform function, the motor's operating frequency, and the phase of the input voltage, the first current is determined; wherein, the set current waveform function represents the third harmonic function; the expression of the set current waveform function is: The The phase of the input voltage is represented by M; the amplitude of the third harmonic is represented by M. ,in, , To set a constant, Characterization to the power of n, The operating frequency of the motor is characterized by the mechanical frequency of the motor. Based on the first current, the given speed of the motor, and the estimated speed of the motor, the given current of the q-axis of the motor is determined; Based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit, the d-axis given current of the motor is determined; The motor is controlled to operate based on the estimated angle of the motor, the given current of the q-axis, the given current of the d-axis, the actual current of the q-axis, and the actual current of the d-axis.

2. The method according to claim 1, characterized in that, The determination of the first current based on the set current waveform function, the motor's operating frequency, and the phase of the input voltage includes: The amplitude of the third harmonic is determined based on the operating frequency of the motor. The first current is determined based on the set current waveform function, the phase of the input voltage, and the determined third harmonic amplitude.

3. The method according to claim 2, characterized in that, The determination of the third harmonic amplitude based on the operating frequency of the motor includes: Based on the positive correlation between the set operating frequency and the set amplitude, the third harmonic amplitude corresponding to the operating frequency of the motor is determined.

4. A motor control device, characterized in that, include: The first determining unit is used to determine a first current based on a set current waveform function, the motor's operating frequency, and the phase of the input voltage; wherein the set current waveform function represents the third harmonic function; the expression of the set current waveform function is: The The phase of the input voltage is represented by M; the amplitude of the third harmonic is represented by M. ,in, , To set a constant, Characterization to the power of n, The operating frequency of the motor is characterized by the mechanical frequency of the motor. The second determining unit is used to determine the q-axis given current of the motor based on the first current, the given speed of the motor, and the estimated speed of the motor. The third determining unit is used to determine the d-axis given current of the motor based on the output voltage amplitude of the inverter circuit and the maximum output voltage of the inverter circuit. The control unit is used to control the operation of the motor based on the estimated angle of the motor, the given current of the q-axis, the given current of the d-axis, the actual current of the q-axis, and the actual current of the d-axis.

5. A motor driver, characterized in that, include: The processor and the memory used to store computer programs that can run on the processor. When the processor is used to run the computer program, it performs the steps of the method according to any one of claims 1 to 3.

6. A household appliance, characterized in that, include: Motor driver, motor, processor, and memory for storing computer programs that can run on the processor. When the processor is used to run the computer program, it performs the steps of the method according to any one of claims 1 to 3.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

Images