Control method and device of motor, readable storage medium and clothes processing apparatus

Abstract

The application provides a motor control method, device, readable storage medium and clothes processing device. The motor control method comprises the following steps: obtaining a first voltage value of a direct-current bus of a motor control circuit; confirming a working state of a bus capacitor according to the first voltage value; and controlling a running state of the motor according to a preset power threshold value in the case that the bus capacitor is in a discharging state. Through the technical scheme, the output power of the motor is limited within a certain range when the bus capacitor is in the discharging state, so that an excessively high capacitor ripple does not occur in the motor control circuit, the reliability and service life of the bus capacitor in the running process of the motor are ensured, and the reliability and stability of the motor running are ensured.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and more specifically, to a motor control method, apparatus, readable storage medium, and clothing handling device. Background Technology

[0002] When a valley-fill power factor correction circuit is applied to the motor control circuit of a drum washing machine, the high motor speed and output power during spin-drying mode lead to increased ripple current in the control circuit capacitors, reducing their reliability and lifespan. Therefore, when applying this correction circuit to the drum washing machine motor control circuit, a crucial technical problem to solve is how to provide a solution that reduces capacitor ripple during motor operation to ensure capacitor reliability and lifespan. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention is to provide a method for controlling an electric motor.

[0005] A second aspect of the invention is that a control device for an electric motor is also provided.

[0006] A third aspect of the invention is that a control device for an electric motor is also provided.

[0007] A fourth aspect of the invention is that a readable storage medium is also provided.

[0008] A fifth aspect of the invention is that a garment handling device is also provided.

[0009] In view of this, according to a first aspect of the present invention, the present invention provides a method for controlling a motor, the method comprising: acquiring a first voltage value of a DC bus of a motor control circuit; confirming the operating state of a bus capacitor based on the first voltage value; and controlling the operating state of the motor according to a preset power threshold when the bus capacitor is in a discharging state.

[0010] It should be noted that the execution subject of the motor control method proposed in this invention can be a motor control device. In order to more clearly describe the motor control method proposed in this invention, the following technical solution uses the motor control device as the execution subject for illustrative explanation.

[0011] In this technical solution, the aforementioned DC bus is the bus of the motor control circuit, and the DC bus includes a P bus and an N bus; the aforementioned bus capacitor is used to indicate the capacitor in the motor control circuit, and is used to reduce the grid-side filter inductance to improve the grid-side power factor.

[0012] In this technical solution, the control device first acquires the voltage value on the DC bus in the motor's control circuit, i.e., the first voltage value. Specifically, a voltage sensor is installed between the P bus and the N bus to detect the DC bus voltage, and the control device can acquire the first voltage value through this voltage sensor.

[0013] Furthermore, the control device determines the operating state of the bus capacitor based on the acquired first voltage value. Specifically, the operating state of the bus capacitor includes a charging state and a discharging state. Since the energy change of the bus capacitor can be understood based on the first voltage value, the control device can determine whether the bus capacitor is in a charging state or a discharging state based on the first voltage value.

[0014] Furthermore, when the control device determines that the bus capacitor is in a discharging state, it controls the motor's operating state according to a preset power threshold. Specifically, if the bus capacitor is in a discharging state, it indicates that the motor speed is relatively high and the motor output power is relatively large. This can easily lead to increased ripple current in the bus capacitor. In this case, the control device needs to control the motor's operating state according to the preset power threshold, limiting the motor output power within a certain range to reduce capacitor ripple in the motor control circuit, thereby ensuring the reliability and service life of the bus capacitor during motor operation.

[0015] In this technical solution, the control device can determine the operating state of the bus capacitor based on the first voltage value acquired on the DC bus, and when the bus capacitor is in a discharging state, control the motor's operating state according to a preset power threshold. In this invention, when the bus capacitor is in a discharging state, the control device can limit the motor's output power within a certain range, preventing excessive capacitor ripple in the motor control circuit. This ensures the reliability and lifespan of the bus capacitor during motor operation, thereby guaranteeing the reliability and stability of the motor's operation.

[0016] In addition, the motor control method proposed according to the above-described technical solution of the present invention also has the following additional technical features:

[0017] In the above technical solution, the step of confirming the working state of the bus capacitor based on the first voltage value specifically includes: confirming that the bus capacitor is in a discharging state when the first voltage value is less than or equal to 1 / 2 of the peak voltage of the AC bus.

[0018] In this technical solution, the process by which the control device determines the working state of the bus capacitor based on the first voltage value is as follows: the control device determines the working state of the bus capacitor by judging the relationship between the first voltage value and the peak value of half the AC bus voltage.

[0019] Specifically, when the first voltage value is determined to be no greater than (i.e., less than or equal to) half the peak voltage of the AC bus, the control device determines that the bus capacitor is in a discharging state. In other words, if the first voltage value is no greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is decreasing, and the control device can then determine that the bus capacitor is in a discharging state.

[0020] Furthermore, when the first voltage value is determined to be greater than half the peak voltage of the AC bus, the control device determines that the bus capacitor is in a charging state. Specifically, if the first voltage value is greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is increasing. At this time, the control device can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. In this case, the control device does not need to perform the subsequent step of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0021] In this technical solution, the control device can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the peak value of half the AC bus voltage. When the bus capacitor is in a discharging state, the operating state of the motor is adjusted according to a preset power threshold to limit the output power of the motor within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of motor operation.

[0022] In the above technical solution, the step of confirming the working state of the bus capacitor based on the first voltage value specifically includes: obtaining the second voltage value of the AC power grid side of the motor control circuit; and confirming that the bus capacitor is in a discharging state when the absolute value of the second voltage value is less than the first voltage value.

[0023] In this technical solution, the aforementioned second voltage value is used to indicate the AC voltage value detected by the power grid side of the motor control circuit.

[0024] Specifically, the process by which the control device determines the operating state of the bus capacitor based on the aforementioned first voltage value is as follows: the control device acquires the AC voltage value (i.e., the second voltage value) detected by the power grid side of the motor control circuit. Specifically, a voltage sensor is installed on the power grid side to detect the AC voltage value on the power grid side, and the control device can acquire the aforementioned second voltage value through this voltage sensor.

[0025] Furthermore, the control device determines the operating state of the bus capacitor based on the relationship between the first voltage value and the second voltage value. Specifically, when the absolute value of the second voltage is determined to be less than the first voltage value, the control device determines that the bus capacitor is in a discharging state. More specifically, if the absolute value of the second voltage is smaller than the first voltage value, it indicates that the energy in the bus capacitor is decreasing, and in this case, the control device can determine that the bus capacitor is in a discharging state.

[0026] Furthermore, when the absolute value of the second voltage is determined to be greater than or equal to the first voltage value, the control device determines that the bus capacitor is in a charging state. Specifically, if the absolute value of the second voltage is equal to or greater than the first voltage value, it indicates that the energy in the bus capacitor is increasing. In this case, the control device can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. At this time, the control device does not need to perform the subsequent step of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0027] It should be noted that, since the two voltage values ​​mentioned above are AC voltages, the second voltage value may be negative. Therefore, when determining the relationship between the second voltage value and the first voltage value, the absolute value of the second voltage is used, thus ensuring the accuracy of the judgment result.

[0028] In this technical solution, the control device can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the second voltage value obtained from the power grid side. When the bus capacitor is in a discharging state, the operating state of the motor is adjusted according to a preset power threshold to limit the output power of the motor within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of motor operation.

[0029] In the above technical solution, the steps of controlling the motor's operating state according to the preset power threshold specifically include: obtaining the current motor speed and the motor's torque coefficient; determining the torque current limit value based on the current motor speed, torque coefficient, and preset power threshold; and controlling the motor's operating state based on the torque current limit value.

[0030] In this technical solution, the torque coefficient of the aforementioned motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0031] Specifically, the control device controls the motor's operating state according to the aforementioned preset power threshold through the following steps: the control device acquires the current motor speed and the motor's torque coefficient. Specifically, the motor is equipped with a speed sensor to detect its operating speed in real time, and the control device can obtain the motor's current speed value through this speed sensor.

[0032] Specifically, the motor's equipment information usually includes the motor's torque coefficient, and the control device can obtain the motor's torque coefficient through the motor's equipment information stored in the control device's memory.

[0033] Furthermore, the control device calculates the torque current limit value based on the motor's current speed, the aforementioned torque coefficient, and the aforementioned preset power threshold. Specifically, the torque current is directly proportional to the motor's output power. Therefore, the control device needs to calculate the torque current limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitance ripple does not occur in the motor's control circuit.

[0034] Furthermore, the control device controls the motor's operating state based on the calculated torque current limit value. Specifically, the electromagnetic torque of the motor can be limited based on the aforementioned torque current limit value, thereby limiting the motor's output power.

[0035] In this technical solution, the control device can calculate the torque current limit value based on the preset power threshold, and then adjust the motor's operating state according to the torque current limit value to limit the electromagnetic torque of the motor, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of the motor operation.

[0036] In the above technical solution, the step of determining the torque current limit value based on the current motor speed, torque coefficient, and preset power threshold specifically includes: using the ratio of the preset power threshold to the product of the current motor speed and torque coefficient as the torque current limit value.

[0037] In this technical solution, the process by which the control device calculates the torque current limit value based on the current motor speed, the torque coefficient, and the preset power threshold is as follows: The control device first calculates the product of the current motor speed and the torque coefficient, and then calculates the ratio of the preset power threshold to the product. This ratio is the torque current limit value.

[0038] In this technical solution, the control device can accurately calculate the torque current limit value based on the preset power threshold, the motor torque coefficient, and the current motor speed. This allows the motor's operating state to be controlled in subsequent steps based on the torque current limit value, thereby limiting the electromagnetic torque during motor operation and confining the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of motor operation.

[0039] In the above technical solution, the steps of controlling the motor's operating state according to the preset power threshold specifically include: obtaining the torque current of the motor control circuit and the torque coefficient of the motor; determining the motor speed limit value based on the torque current, torque coefficient, and preset power threshold; and controlling the motor's operating state based on the motor speed limit value.

[0040] In this technical solution, the torque coefficient of the aforementioned motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0041] Specifically, the control device controls the motor's operating state according to the aforementioned preset power threshold through the following steps: the control device acquires the torque current in the motor's control circuit and the motor's torque coefficient during motor operation. Specifically, the motor's control circuit is equipped with a current sensor to detect the torque current in the motor's control circuit in real time during motor operation, and the control device can acquire this torque current through the current sensor.

[0042] Specifically, the motor's equipment information usually includes the motor's speed coefficient, and the control device can obtain the motor's speed coefficient by storing the motor's equipment information in the control device's memory.

[0043] Furthermore, the control device calculates the motor speed limit value based on the aforementioned torque current, torque coefficient, and preset power threshold. Specifically, the motor speed limit value is directly proportional to the motor's output power. Therefore, the control device needs to calculate the motor speed limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitance ripple does not occur in the motor's control circuit.

[0044] Furthermore, the control device controls the motor's operating state based on the calculated motor speed limit value. Specifically, the aforementioned motor speed limit value restricts the electromagnetic torque of the motor, thereby limiting the motor's output power.

[0045] In this technical solution, the control device can calculate the motor speed limit value based on the preset power threshold, and then adjust the motor's operating state according to the motor speed limit value to limit the electromagnetic torque of the motor during operation, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of motor operation.

[0046] In the above technical solution, the step of determining the motor speed limit value based on the torque current, torque coefficient and preset power threshold specifically includes: using the ratio of the preset power threshold to the product of the torque current and torque coefficient as the motor speed limit value.

[0047] In this technical solution, the process by which the control device calculates the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the torque current and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the motor speed limit value.

[0048] According to a second aspect of the present invention, a motor control device is provided, comprising: an acquisition module for acquiring a first voltage value of a DC bus of a motor control circuit; a first processing module for confirming the operating state of a bus capacitor based on the first voltage value; and a second processing module for controlling the operating state of the motor according to a preset power threshold when the bus capacitor is in a discharging state.

[0049] In this technical solution, the aforementioned DC bus is the bus of the motor control circuit, and the DC bus includes a P bus and an N bus; the aforementioned bus capacitor is used to indicate the capacitor in the motor control circuit, and is used to reduce the grid-side filter inductance to improve the grid-side power factor.

[0050] In this technical solution, the acquisition module first obtains the voltage value on the DC bus in the motor's control circuit, i.e., the first voltage value. Specifically, a voltage sensor is installed between the P bus and the N bus to detect the DC bus voltage, and the acquisition module can obtain the first voltage value through this voltage sensor.

[0051] Furthermore, the first processing module determines the operating state of the bus capacitor based on the first voltage value acquired by the acquisition module. Specifically, the operating state of the bus capacitor includes a charging state and a discharging state. Since the energy change of the bus capacitor can be understood based on the first voltage value, the first processing module can determine whether the bus capacitor is in a charging state or a discharging state based on the first voltage value.

[0052] Furthermore, when the first processing module determines that the bus capacitor is in a discharging state, the second processing module controls the motor's operating state according to a preset power threshold. Specifically, if the bus capacitor is in a discharging state, it indicates that the motor speed is relatively high and the motor output power is relatively large. This can easily lead to increased ripple current in the bus capacitor. In this case, the second processing module needs to control the motor's operating state according to the preset power threshold, limiting the motor output power within a certain range to reduce capacitor ripple in the motor control circuit, thereby ensuring the reliability and service life of the bus capacitor during motor operation.

[0053] In this technical solution, the first processing module can determine the operating state of the bus capacitor based on the first voltage value on the DC bus obtained by the acquisition module. When the bus capacitor is in a discharging state, the second processing module controls the motor's operating state according to a preset power threshold. In this invention, when the bus capacitor is in a discharging state, the second processing module can limit the motor's output power within a certain range, preventing excessive capacitor ripple in the motor control circuit. This ensures the reliability and lifespan of the bus capacitor during motor operation, thereby guaranteeing the reliability and stability of the motor's operation.

[0054] In addition, the motor control device proposed according to the above-described technical solution of the present invention also has the following additional technical features:

[0055] In the above technical solution, in the step of confirming the working state of the bus capacitor based on the first voltage value: the first processing module is used to confirm that the bus capacitor is in a discharging state when the first voltage value is less than or equal to 1 / 2 of the voltage peak value.

[0056] In this technical solution, the process by which the first processing module determines the working state of the bus capacitor based on the first voltage value is as follows: the first processing module determines the working state of the bus capacitor by judging the relationship between the first voltage value and the peak value of half the AC bus voltage.

[0057] Specifically, when the first voltage value is determined to be no greater than (i.e., less than or equal to) half the peak voltage of the AC bus, the first processing module determines that the bus capacitor is in a discharging state. In other words, if the first voltage value is no greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is decreasing, and in this case, the first processing module can determine that the bus capacitor is in a discharging state.

[0058] Furthermore, when it is determined that the first voltage value is greater than half the peak voltage of the AC bus, the first processing module determines that the bus capacitor is in a charging state. Specifically, if the first voltage value is greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is increasing. At this time, the first processing module can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. In this case, the second processing module does not need to perform the subsequent steps of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0059] In this technical solution, the first processing module can accurately determine whether the bus capacitor is in a charging or discharging state based on the relationship between the first voltage value and the peak value of half the AC bus voltage. This allows the second processing module to adjust the motor's operating state according to a preset power threshold when the bus capacitor is in a discharging state, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of the motor operation.

[0060] In the above technical solution, in the step of confirming the working state of the bus capacitor based on the first voltage value: the acquisition module is further used to acquire the second voltage value of the AC power grid side of the motor control circuit; the first processing module is used to confirm that the bus capacitor is in a discharge state when the absolute value of the second voltage value is less than the first voltage value.

[0061] In this technical solution, the aforementioned second voltage value is used to indicate the AC voltage value detected by the power grid side of the motor control circuit.

[0062] Specifically, the process by which the first processing module determines the operating state of the bus capacitor based on the first voltage value is as follows: First, the acquisition module acquires the AC voltage value (i.e., the second voltage value) detected by the power grid side of the motor control circuit. Specifically, a voltage sensor is provided on the power grid side to detect the AC voltage value on the power grid side, and the control device can acquire the second voltage value through this voltage sensor.

[0063] Furthermore, the first processing module determines the operating state of the bus capacitor based on the relationship between the first voltage value and the second voltage value. Specifically, when it is determined that the absolute value of the second voltage is less than the first voltage value, the first processing module determines that the bus capacitor is in a discharging state. More specifically, if the absolute value of the second voltage is smaller than the first voltage value, it indicates that the energy in the bus capacitor is decreasing, and in this case, the control device can determine that the bus capacitor is in a discharging state.

[0064] Furthermore, when the absolute value of the second voltage is determined to be greater than or equal to the first voltage value, the first processing module determines that the bus capacitor is in a charging state. Specifically, if the absolute value of the second voltage is equal to or greater than the first voltage value, it indicates that the energy in the bus capacitor is increasing. In this case, the first processing module can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. At this time, the second processing module does not need to perform the subsequent steps of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0065] It should be noted that, since the two voltage values ​​mentioned above are AC voltages, the second voltage value may be negative. Therefore, when determining the relationship between the second voltage value and the first voltage value, the absolute value of the second voltage is used, thus ensuring the accuracy of the judgment result.

[0066] In this technical solution, the first processing module can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the second voltage value on the grid side obtained by the acquisition module. This allows the second processing module to adjust the motor's operating state according to a preset power threshold when the bus capacitor is in a discharging state, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of the motor operation.

[0067] In the above technical solution, in the step of confirming the working state of the bus capacitor based on the first voltage value: the acquisition module is further used to acquire the second voltage value of the AC power grid side of the motor control circuit; the first processing module is used to confirm that the bus capacitor is in a discharge state when the absolute value of the second voltage value is less than the first voltage value.

[0068] In this technical solution, the torque coefficient of the aforementioned motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0069] Specifically, the second processing module controls the motor's operating state based on the aforementioned preset power threshold using the following steps: First, the acquisition module obtains the current motor speed and torque coefficient. Specifically, the motor is equipped with a speed sensor to detect its operating speed in real time, and the acquisition module can obtain the current motor speed value through this sensor.

[0070] Specifically, the motor's equipment information usually includes the motor's torque coefficient, and the acquisition module can obtain the motor's torque coefficient through the motor's equipment information stored in the control device's memory.

[0071] Furthermore, the second processing module calculates the torque current limit value based on the motor's current speed, the aforementioned torque coefficient, and the aforementioned preset power threshold. Specifically, the torque current is directly proportional to the motor's output power. Therefore, the second processing module needs to calculate the torque current limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitor ripple does not occur in the motor's control circuit.

[0072] Specifically, the process by which the second processing module calculates the torque current limit value based on the current motor speed, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the current motor speed and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the torque current limit value.

[0073] Furthermore, the second processing module controls the motor's operating state based on the calculated torque current limit value. Specifically, the electromagnetic torque of the motor can be limited based on the aforementioned torque current limit value, thereby limiting the motor's output power.

[0074] In this technical solution, the second processing module can calculate the torque current limit value based on the preset power threshold, and then adjust the motor's operating state according to the torque current limit value to limit the electromagnetic torque of the motor, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of the motor operation.

[0075] In the above technical solution, in the step of controlling the motor's operating state according to a preset power threshold: the acquisition module is further used to acquire the torque current of the motor control circuit and the torque coefficient of the motor; the second processing module is used to determine the motor speed limit value according to the torque current, torque coefficient and preset power threshold; the second processing module is further used to control the motor's operating state according to the motor speed limit value.

[0076] In this technical solution, the torque coefficient of the aforementioned motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0077] Specifically, the second processing module controls the motor's operating state using the preset power threshold as follows: First, the acquisition module acquires the torque current in the motor's control circuit and the motor's torque coefficient during motor operation. Specifically, the motor's control circuit is equipped with a current sensor to detect the torque current in the motor's control circuit in real time during motor operation, and the acquisition module can obtain the aforementioned torque current through this current sensor.

[0078] Specifically, the motor's equipment information usually includes the motor's speed coefficient, and the acquisition module can obtain the motor's speed coefficient by using the motor's equipment information stored in the control device's memory.

[0079] Furthermore, the second processing module calculates the motor speed limit value based on the aforementioned torque current, torque coefficient, and preset power threshold. Specifically, the motor speed limit value is directly proportional to the motor's output power. Therefore, the second processing module needs to calculate the motor speed limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitor ripple does not occur in the motor's control circuit.

[0080] Specifically, the process by which the second processing module calculates the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the torque current and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the motor speed limit value.

[0081] Furthermore, the second processing module controls the motor's operating state based on the calculated motor speed limit value. Specifically, the motor speed limit value restricts the electromagnetic torque of the motor, thereby limiting the motor's output power.

[0082] In this technical solution, the second processing module can calculate the motor speed limit value based on the preset power threshold, and then adjust the motor's operating state according to the motor speed limit value to limit the electromagnetic torque during motor operation, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus guaranteeing the reliability and stability of motor operation.

[0083] According to a third aspect of the present invention, a motor control device is provided, comprising: a memory storing a program or instructions; and a processor executing the program or instructions stored in the memory to implement the steps of the motor control method proposed in the above-described technical solution of the present invention, thus possessing all the beneficial technical effects of the motor control method proposed in the above-described technical solution of the present invention, which will not be elaborated further here.

[0084] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the motor control method as described in the above-described technical solution of the present invention. Therefore, it possesses all the beneficial technical effects of the motor control method as described in the above-described technical solution of the present invention, and will not be elaborated further here.

[0085] According to a fifth aspect of the present invention, a garment handling apparatus is provided, comprising a motor control device as described in the above-described technical solutions of the present invention, and / or a readable storage medium as described in the above-described technical solutions of the present invention. Therefore, it possesses all the beneficial technical effects of the motor control device and / or the readable storage medium as described in the above-described technical solutions of the present invention, which will not be elaborated further here.

[0086] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0087] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0088] Figure 1 One of the schematic flowcharts of a motor control method according to an embodiment of the present invention is shown;

[0089] Figure 2 A second schematic flowchart of a motor control method according to an embodiment of the present invention is shown;

[0090] Figure 3 A schematic flowchart of the motor control method according to an embodiment of the present invention is shown in the third part;

[0091] Figure 4 A fourth schematic flowchart illustrating a motor control method according to an embodiment of the present invention is shown.

[0092] Figure 5 Fifth schematic flowchart illustrating a motor control method according to an embodiment of the present invention;

[0093] Figure 6 A schematic flowchart of a motor control method according to an embodiment of the present invention is shown in Figure 6.

[0094] Figure 7 A schematic flowchart of a motor control method according to an embodiment of the present invention is shown in Figure 7.

[0095] Figure 8 One of the schematic block diagrams of a motor control device according to an embodiment of the present invention is shown;

[0096] Figure 9 A second schematic block diagram of a motor control device according to an embodiment of the present invention is shown;

[0097] Figure 10 A schematic diagram of the motor control circuit according to an embodiment of the present invention is shown;

[0098] Figure 11 One of the comparison diagrams of DC bus voltage and AC bus voltage according to an embodiment of the present invention is shown;

[0099] Figure 12 The second diagram shows a comparison of DC bus voltage and AC bus voltage according to an embodiment of the present invention. Detailed Implementation

[0100] To better understand the above aspects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0101] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0102] The following is combined Figures 1 to 12 The present invention will provide a detailed description of the motor control method, device, readable storage medium, and clothing processing device proposed in the embodiments of the present invention through specific implementation examples and application scenarios.

[0103] Example 1

[0104] Figure 1 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0105] Step S102: Obtain the first voltage value of the DC bus of the motor control circuit;

[0106] Step S104: Confirm the operating status of the bus capacitor based on the first voltage value;

[0107] Step S106: When the bus capacitor is in a discharging state, control the motor's operating state according to the preset power threshold.

[0108] It should be noted that the execution subject of the motor control method proposed in this invention can be a motor control device. In order to more clearly describe the motor control method proposed in this invention, the following embodiments use the motor control device as the execution subject for illustrative purposes.

[0109] In this embodiment, the DC bus is the bus of the motor control circuit, and the DC bus includes a P bus and an N bus; the bus capacitor is used to indicate the capacitor in the motor control circuit, and is used to reduce the grid-side filter inductance to improve the grid-side power factor.

[0110] For example, the control circuit of the motor is as follows Figure 10 As shown, capacitor 1 and capacitor 2 correspond to the bus capacitors mentioned above, and P bus and N bus correspond to the DC bus mentioned above.

[0111] In this embodiment, the control device first acquires the voltage value on the DC bus in the motor's control circuit, i.e., the first voltage value. Specifically, a voltage sensor is provided between the P bus and the N bus to detect the DC bus voltage, and the control device can acquire the first voltage value through this voltage sensor.

[0112] Furthermore, the control device determines the operating state of the bus capacitor based on the acquired first voltage value. Specifically, the operating state of the bus capacitor includes a charging state and a discharging state. Since the energy change of the bus capacitor can be understood based on the first voltage value, the control device can determine whether the bus capacitor is in a charging state or a discharging state based on the first voltage value.

[0113] Furthermore, when the control device determines that the bus capacitor is in a discharging state, it controls the motor's operating state according to a preset power threshold. Specifically, if the bus capacitor is in a discharging state, it indicates that the motor speed is relatively high and the motor output power is relatively large. This can easily lead to increased ripple current in the bus capacitor. In this case, the control device needs to control the motor's operating state according to the preset power threshold, limiting the motor output power within a certain range to reduce capacitor ripple in the motor control circuit, thereby ensuring the reliability and service life of the bus capacitor during motor operation.

[0114] In this embodiment, the control device can determine the operating state of the bus capacitor based on the first voltage value acquired on the DC bus, and when the bus capacitor is in a discharging state, control the motor's operating state according to a preset power threshold. In this embodiment, when the bus capacitor is in a discharging state, the control device can limit the motor's output power within a certain range, preventing excessive capacitor ripple in the motor control circuit. This ensures the reliability and lifespan of the bus capacitor during motor operation, thereby guaranteeing the reliability and stability of the motor's operation.

[0115] Figure 2 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0116] Step S202: Obtain the first voltage value of the DC bus of the motor control circuit;

[0117] Step S204: If the first voltage value is confirmed to be less than or equal to 1 / 2 of the peak voltage of the AC bus, confirm that the bus capacitor is in a discharging state.

[0118] Step S206: When the bus capacitor is in a discharging state, control the motor's operating state according to the preset power threshold.

[0119] In this embodiment, the process by which the control device determines the operating state of the bus capacitor based on the first voltage value is as follows: the control device determines the operating state of the bus capacitor by judging the relationship between the first voltage value and the peak value of half the AC bus voltage.

[0120] Specifically, when the first voltage value is determined to be no greater than (i.e., less than or equal to) half the peak voltage of the AC bus, the control device determines that the bus capacitor is in a discharging state. In other words, if the first voltage value is no greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is decreasing, and the control device can then determine that the bus capacitor is in a discharging state.

[0121] Furthermore, when the first voltage value is determined to be greater than half the peak voltage of the AC bus, the control device determines that the bus capacitor is in a charging state. Specifically, if the first voltage value is greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is increasing. At this time, the control device can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. In this case, the control device does not need to perform the subsequent step of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0122] For example, according to Figure 11 It can be seen that when the first voltage value is greater than half the peak voltage of the AC bus, the bus capacitor is in a charging state; when the first voltage value is less than or equal to half the peak voltage of the AC bus, the bus capacitor is in a discharging state.

[0123] In this embodiment, the control device can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the peak value of half the AC bus voltage. When the bus capacitor is in a discharging state, the control device can adjust the operating state of the motor according to a preset power threshold to limit the output power of the motor within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of motor operation.

[0124] Figure 3 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0125] Step S302: Obtain the first voltage value of the DC bus of the motor control circuit;

[0126] Step S304: Obtain the second AC voltage value of the motor control circuit on the grid side;

[0127] Step S306: If the absolute value of the second voltage value is less than the first voltage value, confirm that the bus capacitor is in a discharging state;

[0128] Step S308: When the bus capacitor is in a discharging state, control the motor's operating state according to the preset power threshold.

[0129] In this embodiment, the second voltage value is used to indicate the AC voltage value detected by the power grid side of the motor control circuit.

[0130] Specifically, the process by which the control device determines the operating state of the bus capacitor based on the aforementioned first voltage value is as follows: the control device acquires the AC voltage value (i.e., the second voltage value) detected by the power grid side of the motor control circuit. Specifically, a voltage sensor is installed on the power grid side to detect the AC voltage value on the power grid side, and the control device can acquire the aforementioned second voltage value through this voltage sensor.

[0131] Furthermore, the control device determines the operating state of the bus capacitor based on the relationship between the first voltage value and the second voltage value. Specifically, when the absolute value of the second voltage is determined to be less than the first voltage value, the control device determines that the bus capacitor is in a discharging state. More specifically, if the absolute value of the second voltage is smaller than the first voltage value, it indicates that the energy in the bus capacitor is decreasing, and in this case, the control device can determine that the bus capacitor is in a discharging state.

[0132] Furthermore, when the absolute value of the second voltage is determined to be greater than or equal to the first voltage value, the control device determines that the bus capacitor is in a charging state. Specifically, if the absolute value of the second voltage is equal to or greater than the first voltage value, it indicates that the energy in the bus capacitor is increasing. In this case, the control device can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. At this time, the control device does not need to perform the subsequent step of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0133] It should be noted that, since the two voltage values ​​mentioned above are AC voltages, the second voltage value may be negative. Therefore, when determining the relationship between the second voltage value and the first voltage value, the absolute value of the second voltage is used, thus ensuring the accuracy of the judgment result.

[0134] For example, according to Figure 12 It can be seen that when the absolute value of the second voltage is greater than or equal to the first voltage value, the bus capacitor is in a charging state, and when the absolute value of the second voltage is less than the first voltage value, the bus capacitor is in a discharging state.

[0135] In this embodiment, the control device can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the second voltage value obtained from the power grid side. When the bus capacitor is in a discharging state, the control device can adjust the operating state of the motor according to a preset power threshold to limit the output power of the motor within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of motor operation.

[0136] Figure 4 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0137] Step S402: Obtain the first voltage value of the DC bus of the motor control circuit;

[0138] Step S404: Confirm the operating status of the bus capacitor based on the first voltage value;

[0139] Step S406: With the bus capacitor in a discharging state, obtain the current motor speed and the motor torque coefficient;

[0140] Step S408: Determine the torque current limit value based on the current motor speed, torque coefficient, and preset power threshold;

[0141] Step S410: Control the motor's operating status according to the torque current limit value.

[0142] In this embodiment, the torque coefficient of the motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0143] Specifically, the control device controls the motor's operating state according to the aforementioned preset power threshold through the following steps: the control device acquires the current motor speed and the motor's torque coefficient. Specifically, the motor is equipped with a speed sensor to detect its operating speed in real time, and the control device can obtain the motor's current speed value through this speed sensor.

[0144] Specifically, the motor's equipment information usually includes the motor's torque coefficient, and the control device can obtain the motor's torque coefficient through the motor's equipment information stored in the control device's memory.

[0145] Furthermore, the control device calculates the torque current limit value based on the motor's current speed, the aforementioned torque coefficient, and the aforementioned preset power threshold. Specifically, the torque current is directly proportional to the motor's output power. Therefore, the control device needs to calculate the torque current limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitance ripple does not occur in the motor's control circuit.

[0146] Furthermore, the control device controls the motor's operating state based on the calculated torque current limit value. Specifically, the electromagnetic torque of the motor can be limited based on the aforementioned torque current limit value, thereby limiting the motor's output power.

[0147] For example, taking the motor control of a drum washing machine as an example, the drum washing machine uses 220V, 50Hz AC power supply, so the maximum DC bus voltage is 311V. The two capacitors in the motor control circuit are 220uF capacitors. According to the design specifications of the two capacitors, the maximum allowable output power of the motor in spin-drying mode is 250W, therefore the preset power threshold should be 250W. When the voltage of the two capacitors is greater than the bus voltage, that is, when the bus voltage is less than half of the maximum bus voltage (155.5V), the two capacitors are in a parallel discharge state. At this time, the torque current limit value is calculated based on the preset power threshold, the current motor speed, and the motor torque coefficient, limiting the motor torque and reducing the motor output power. This ensures that the capacitors in the motor control circuit operate under the conditions allowed by the design specifications, increasing the reliability of the control circuit and improving the service life of the bus capacitors.

[0148] In this embodiment, the control device can calculate the torque current limit value based on the preset power threshold, and then adjust the motor's operating state according to the torque current limit value to limit the electromagnetic torque of the motor, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of the motor operation.

[0149] Figure 5 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0150] Step S502: Obtain the first voltage value of the DC bus of the motor control circuit;

[0151] Step S504: Confirm the operating status of the bus capacitor based on the first voltage value;

[0152] Step S506: With the bus capacitor in a discharging state, obtain the current motor speed and the motor torque coefficient;

[0153] Step S508: Use the ratio of the preset power threshold to the product of the motor's current speed and torque coefficient as the torque current limit value;

[0154] Step S510: Control the motor's operating status according to the torque current limit value.

[0155] In this embodiment, the process by which the control device calculates the torque current limit value based on the current motor speed, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the current motor speed and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the torque current limit value.

[0156] Specifically, the formula for calculating the torque current limit value based on the current motor speed, the torque coefficient, and the preset power threshold is as follows:

[0157]

[0158] Among them, i q_lim P is used to indicate the aforementioned torque current limiting value. lim ω is used to indicate the aforementioned preset power threshold, and K is used to indicate the current motor speed. T Used to indicate the torque coefficient of the aforementioned motor.

[0159] In this embodiment, the control device can accurately calculate the torque current limit value based on the preset power threshold, the motor torque coefficient, and the current motor speed. This allows the motor's operating state to be controlled in subsequent steps based on the torque current limit value, thereby limiting the electromagnetic torque during motor operation and confining the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of motor operation.

[0160] Figure 6 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0161] Step S602: Obtain the first voltage value of the DC bus of the motor control circuit;

[0162] Step S604: Confirm the operating status of the bus capacitor based on the first voltage value;

[0163] Step S606: With the bus capacitor in a discharging state, obtain the torque current of the motor control circuit and the torque coefficient of the motor;

[0164] Step S608: Determine the motor speed limit value based on the torque current, torque coefficient, and preset power threshold;

[0165] Step S610: Control the motor's operating status according to the motor speed limit value.

[0166] In this embodiment, the torque coefficient of the motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0167] Specifically, the control device controls the motor's operating state according to the aforementioned preset power threshold through the following steps: the control device acquires the torque current in the motor's control circuit and the motor's torque coefficient during motor operation. Specifically, the motor's control circuit is equipped with a current sensor to detect the torque current in the motor's control circuit in real time during motor operation, and the control device can acquire this torque current through the current sensor.

[0168] Specifically, the motor's equipment information usually includes the motor's speed coefficient, and the control device can obtain the motor's speed coefficient by storing the motor's equipment information in the control device's memory.

[0169] Furthermore, the control device calculates the motor speed limit value based on the aforementioned torque current, torque coefficient, and preset power threshold. Specifically, the motor speed limit value is directly proportional to the motor's output power. Therefore, the control device needs to calculate the motor speed limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitance ripple does not occur in the motor's control circuit.

[0170] Furthermore, the control device controls the motor's operating state based on the calculated motor speed limit value. Specifically, the aforementioned motor speed limit value restricts the electromagnetic torque of the motor, thereby limiting the motor's output power.

[0171] In this embodiment, the control device can calculate the motor speed limit value based on the preset power threshold, and then adjust the motor's operating state according to the motor speed limit value to limit the electromagnetic torque of the motor during operation, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of motor operation.

[0172] Figure 7 A flowchart illustrating a motor control method according to an embodiment of the present invention is shown, wherein the control method includes:

[0173] Step S702: Obtain the first voltage value of the DC bus of the motor control circuit;

[0174] Step S704: Confirm the operating status of the bus capacitor based on the first voltage value;

[0175] Step S706: With the bus capacitor in a discharging state, obtain the torque current of the motor control circuit and the torque coefficient of the motor;

[0176] Step S708: Use the ratio of the preset power threshold to the product of the torque current and the torque coefficient as the motor speed limit value;

[0177] Step S710: Control the motor's operating status according to the motor speed limit value.

[0178] In this embodiment, the process by which the control device calculates the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the torque current and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the motor speed limit value.

[0179] Specifically, the formula for calculating the motor speed limit value based on the aforementioned torque current, torque coefficient, and preset power threshold is as follows:

[0180]

[0181] Among them, i q P is used to indicate the aforementioned torque current. lim ω is used to indicate the aforementioned preset power threshold. lim K is used to indicate the above motor speed limit value. T Used to indicate the torque coefficient of the aforementioned motor.

[0182] Example 2:

[0183] Figure 8 A schematic block diagram of a motor control device according to an embodiment of the present invention is shown. The motor control device 800 includes: an acquisition module 802, used to acquire a first voltage value of the DC bus of the motor control circuit; a first processing module 804, used to confirm the working state of the bus capacitor based on the first voltage value; and a second processing module 806, used to control the operating state of the motor according to a preset power threshold when the bus capacitor is in a discharging state.

[0184] In this embodiment, the DC bus is the bus of the motor control circuit, and the DC bus includes a P bus and an N bus; the bus capacitor is used to indicate the capacitor in the motor control circuit, and is used to reduce the grid-side filter inductance to improve the grid-side power factor.

[0185] In this embodiment, the acquisition module 802 first acquires the voltage value on the DC bus in the motor's control circuit, i.e., the first voltage value. Specifically, a voltage sensor is provided between the P bus and the N bus to detect the DC bus voltage, and the acquisition module 802 can acquire the first voltage value through this voltage sensor.

[0186] Furthermore, the first processing module 804 determines the operating state of the bus capacitor based on the first voltage value acquired by the acquisition module 802. Specifically, the operating state of the bus capacitor includes a charging state and a discharging state. Since the energy change of the bus capacitor can be understood based on the first voltage value, the first processing module 804 can determine whether the bus capacitor is in a charging state or a discharging state based on the first voltage value.

[0187] Furthermore, when the first processing module 804 determines that the bus capacitor is in a discharging state, the second processing module 806 controls the motor's operating state according to a preset power threshold. Specifically, if the bus capacitor is in a discharging state, it indicates that the motor speed is relatively high and the motor output power is relatively large, which can easily lead to increased ripple current in the bus capacitor. In this case, the second processing module 806 needs to control the motor's operating state according to the preset power threshold to limit the motor output power within a certain range, thereby reducing capacitor ripple in the motor control circuit and ensuring the reliability and service life of the bus capacitor during motor operation.

[0188] In this embodiment, the first processing module 804 can determine the operating state of the bus capacitor based on the first voltage value on the DC bus acquired by the acquisition module 802. When the bus capacitor is in a discharging state, the second processing module 806 controls the motor's operating state according to a preset power threshold. In this embodiment of the invention, when the bus capacitor is in a discharging state, the second processing module 806 can limit the motor's output power within a certain range, preventing excessive capacitor ripple in the motor control circuit. This ensures the reliability and lifespan of the bus capacitor during motor operation, thereby guaranteeing the reliability and stability of the motor's operation.

[0189] In addition, the motor control device 800 according to the above embodiments of the present invention also has the following additional technical features:

[0190] In the above embodiment, in the step of confirming the working state of the bus capacitor based on the first voltage value: the first processing module 804 is used to confirm that the bus capacitor is in a discharge state when the first voltage value is less than or equal to 1 / 2 of the voltage peak value.

[0191] In this embodiment, the process by which the first processing module 804 determines the working state of the bus capacitor based on the first voltage value is as follows: the first processing module 804 determines the working state of the bus capacitor by judging the relationship between the first voltage value and the peak value of half the AC bus voltage.

[0192] Specifically, when it is determined that the first voltage value is not greater than (i.e., less than or equal to) half the peak voltage of the AC bus, the first processing module 804 determines that the operating state of the bus capacitor is a discharge state. In other words, if the first voltage value is not greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is decreasing, and at this time, the first processing module 804 can determine that the bus capacitor is in a discharge state.

[0193] Furthermore, when it is determined that the first voltage value is greater than half the peak voltage of the AC bus, the first processing module 804 determines that the bus capacitor is in a charging state. Specifically, if the first voltage value is greater than half the peak voltage of the AC bus, it indicates that the energy in the bus capacitor is increasing. At this time, the first processing module 804 can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. At this time, the second processing module 806 does not need to perform the subsequent steps of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0194] In this embodiment, the first processing module 804 can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the peak value of half the AC bus voltage. This allows the second processing module 806 to adjust the motor's operating state according to a preset power threshold when the bus capacitor is in a discharging state, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of the motor operation.

[0195] In the above embodiment, in the step of confirming the working state of the bus capacitor based on the first voltage value: the acquisition module 802 is further used to acquire the second voltage value of the AC power grid side of the motor control circuit; the first processing module 804 is used to confirm that the bus capacitor is in a discharge state when the absolute value of the second voltage value is less than the first voltage value.

[0196] In this embodiment, the second voltage value is used to indicate the AC voltage value detected by the power grid side of the motor control circuit.

[0197] Specifically, the process by which the first processing module 804 determines the operating state of the bus capacitor based on the first voltage value is as follows: First, the acquisition module 802 acquires the AC voltage value (i.e., the second voltage value) detected by the power grid side of the motor control circuit. Specifically, a voltage sensor is provided on the power grid side to detect the AC voltage value on the power grid side, and the control device can acquire the second voltage value through this voltage sensor.

[0198] Furthermore, the first processing module 804 determines the operating state of the bus capacitor based on the relationship between the first voltage value and the second voltage value. Specifically, when it is determined that the absolute value of the second voltage is less than the first voltage value, the first processing module 804 determines that the bus capacitor is in a discharging state. More specifically, if the absolute value of the second voltage is smaller than the first voltage value, it indicates that the energy in the bus capacitor is decreasing, and in this case, the control device can determine that the bus capacitor is in a discharging state.

[0199] Furthermore, when it is determined that the absolute value of the second voltage is greater than or equal to the first voltage value, the first processing module 804 determines that the operating state of the bus capacitor is a charging state. Specifically, if the absolute value of the second voltage is equal to or greater than the first voltage value, it indicates that the energy in the bus capacitor is increasing. At this time, the first processing module 804 can determine that the bus capacitor is in a charging state. When the bus capacitor is in a charging state, there will be no increase in the ripple current of the bus capacitor. At this time, the second processing module 806 does not need to perform the subsequent step of controlling the motor's operating state according to the preset power threshold; it only needs to maintain the current operating state of the motor.

[0200] It should be noted that, since the two voltage values ​​mentioned above are AC voltages, the second voltage value may be negative. Therefore, when determining the relationship between the second voltage value and the first voltage value, the absolute value of the second voltage is used, thus ensuring the accuracy of the judgment result.

[0201] In this embodiment, the first processing module 804 can accurately determine whether the bus capacitor is in a charging state or a discharging state based on the relationship between the first voltage value and the second voltage value on the grid side obtained by the acquisition module 802. This allows the second processing module 806 to adjust the motor's operating state according to a preset power threshold when the bus capacitor is in a discharging state, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and lifespan of the bus capacitor during motor operation, and ultimately guaranteeing the reliability and stability of the motor operation.

[0202] In the above embodiment, in the step of confirming the working state of the bus capacitor based on the first voltage value: the acquisition module 802 is further used to acquire the second voltage value of the AC power grid side of the motor control circuit; the first processing module 804 is used to confirm that the bus capacitor is in a discharge state when the absolute value of the second voltage value is less than the first voltage value.

[0203] In this embodiment, the torque coefficient of the motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0204] Specifically, the second processing module 806 controls the motor's operating state according to the aforementioned preset power threshold using the following steps: First, the acquisition module 802 acquires the current motor speed and torque coefficient. Specifically, a speed sensor is installed on the motor to detect its operating speed in real time, and the acquisition module 802 can obtain the current motor speed value through this sensor.

[0205] Specifically, the motor's equipment information usually includes the motor's torque coefficient, and the acquisition module 802 can obtain the motor's torque coefficient through the motor's equipment information stored in the control device's memory.

[0206] Furthermore, the second processing module 806 calculates the torque current limit value based on the current speed of the motor, the aforementioned torque coefficient, and the aforementioned preset power threshold. Specifically, the torque current is directly proportional to the output power of the motor. Therefore, the second processing module 806 needs to calculate the torque current limit value based on the aforementioned three parameters to limit the output power of the motor within a certain range, so that excessively high capacitor ripple will not occur in the motor control circuit.

[0207] Specifically, the process by which the second processing module 806 calculates the torque current limit value based on the current motor speed, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the current motor speed and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the torque current limit value.

[0208] Furthermore, the second processing module 806 controls the motor's operating state based on the calculated torque current limiting value. Specifically, the electromagnetic torque of the motor can be limited based on the aforementioned torque current limiting value, thereby limiting the motor's output power.

[0209] In this embodiment, the second processing module 806 can calculate the torque current limit value based on the preset power threshold, and then adjust the motor's operating state based on the torque current limit value to limit the electromagnetic torque of the motor, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of the motor operation.

[0210] In the above embodiments, in the step of controlling the motor's operating state according to a preset power threshold: the acquisition module 802 is further used to acquire the torque current of the motor control circuit and the torque coefficient of the motor; the second processing module 806 is used to determine the motor speed limit value according to the torque current, torque coefficient and preset power threshold; the second processing module is further used to control the motor's operating state according to the motor speed limit value.

[0211] In this embodiment, the torque coefficient of the motor is an important parameter used to determine the electromagnetic torque standard of the motor. It is determined based on the number of winding turns, poles, and branches of the motor. The torque coefficient is different for different types of motors and is specifically determined based on the equipment information of the motor.

[0212] Specifically, the second processing module 806 controls the motor's operating state using the aforementioned preset power threshold through the following steps: First, the acquisition module 802 acquires the torque current in the motor's control circuit and the motor's torque coefficient during motor operation. Specifically, the motor's control circuit is equipped with a current sensor to detect the torque current in the motor's control circuit during real-time operation. The acquisition module 802 can acquire this torque current through this current sensor.

[0213] Specifically, the motor's equipment information usually includes the motor's speed coefficient, and the acquisition module 802 can obtain the motor's speed coefficient by using the motor's equipment information stored in the control device's memory.

[0214] Furthermore, the second processing module 806 calculates the motor speed limit value based on the aforementioned torque current, torque coefficient, and preset power threshold. Specifically, the motor speed limit value is directly proportional to the motor's output power. Therefore, the second processing module 806 needs to calculate the motor speed limit value based on the aforementioned three parameters to limit the motor's output power within a certain range, ensuring that excessively high capacitor ripple does not occur in the motor's control circuit.

[0215] Specifically, the process by which the second processing module 806 calculates the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold is as follows: the control device first calculates the product of the torque current and the torque coefficient, and then calculates the ratio of the preset power threshold to the product, which is the motor speed limit value.

[0216] Furthermore, the second processing module 806 controls the motor's operating state based on the calculated motor speed limit value. Specifically, the motor speed limit value restricts the electromagnetic torque of the motor, thereby limiting the motor's output power.

[0217] In this embodiment, the second processing module 806 can calculate the motor speed limit value based on the preset power threshold, and then adjust the motor's operating state based on the motor speed limit value to limit the electromagnetic torque during motor operation, thereby limiting the motor's output power within a certain range. This prevents excessive capacitor ripple in the motor control circuit, ensuring the reliability and service life of the bus capacitor during motor operation, and thus ensuring the reliability and stability of motor operation.

[0218] Example 3:

[0219] Figure 9 A schematic block diagram of a motor control device according to an embodiment of the present invention is shown. The motor control device 900 includes: a memory 902 storing a program or instructions; and a processor 904 executing the program or instructions stored in the memory 902 to implement the steps of the motor control method proposed above in the present invention. Therefore, it has all the beneficial technical effects of the motor control method proposed in the above embodiments of the present invention, which will not be elaborated further here.

[0220] Example 4:

[0221] According to a fourth embodiment of the present invention, a readable storage medium is provided, on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the steps of the motor control method proposed in the above embodiments of the present invention. Therefore, it possesses all the beneficial technical effects of the motor control method proposed in the above embodiments of the present invention, which will not be elaborated further here.

[0222] Example 5:

[0223] According to a fifth embodiment of the present invention, a garment handling apparatus is provided, including a motor control device as described in the above embodiments of the present invention, and / or a readable storage medium as described in the above embodiments of the present invention. Therefore, it possesses all the beneficial technical effects of the motor control device and / or the readable storage medium as described in the above embodiments of the present invention, which will not be elaborated further here.

[0224] In the description of this invention, the term "a plurality of" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0225] In the description of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in multiple embodiments or examples of this invention. In this invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0226] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling an electric motor, characterized in that, include: Obtain the first voltage value of the DC bus of the motor control circuit; The operating status of the bus capacitor is determined based on the first voltage value; When the bus capacitor is in a discharging state, the motor's operating state is controlled according to a preset power threshold. The step of controlling the motor's operating state according to a preset power threshold specifically includes: Obtain the current motor speed and the motor torque coefficient; The torque current limit value is determined based on the current motor speed, the torque coefficient, and the preset power threshold. The motor's operating state is controlled according to the torque current limiting value; or The method of controlling the motor's operating state according to a preset power threshold specifically includes: Obtain the torque current of the motor control circuit and the torque coefficient of the motor; The motor speed limit value is determined based on the torque current, the torque coefficient, and the preset power threshold. The motor's operating state is controlled according to the motor speed limit value; The motor control circuit is equipped with a current sensor to detect the torque current in the motor control circuit during motor operation.

2. The motor control method according to claim 1, characterized in that, The step of determining the operating state of the bus capacitor based on the first voltage value specifically includes: If the first voltage value is confirmed to be less than or equal to half the peak voltage of the AC bus, the bus capacitor is confirmed to be in a discharging state.

3. The motor control method according to claim 1, characterized in that, The step of determining the operating state of the bus capacitor based on the first voltage value specifically includes: Obtain the second AC voltage value of the motor control circuit on the grid side; If the absolute value of the second voltage is less than the first voltage, it is confirmed that the bus capacitor is in a discharging state.

4. The motor control method according to claim 3, characterized in that, The step of determining the torque current limiting value based on the current motor speed, the torque coefficient, and the preset power threshold specifically includes: The ratio of the preset power threshold to the product of the motor's current speed and the torque coefficient is used as the torque current limit value.

5. The motor control method according to claim 1, characterized in that, The step of determining the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold specifically includes: The ratio of the preset power threshold to the product of the torque current and the torque coefficient is used as the motor speed limit value.

6. A control device for an electric motor, characterized in that, include: The acquisition module is used to acquire the first voltage value of the DC bus of the motor control circuit; The first processing module is used to determine the operating status of the bus capacitor based on the first voltage value. The second processing module is used to control the operating state of the motor according to a preset power threshold when the bus capacitor is in a discharging state. The acquisition module is also used to acquire the current speed value of the motor and the torque coefficient of the motor; The second processing module is further configured to determine the torque current limiting value based on the current motor speed, the torque coefficient, and the preset power threshold. The second processing module is further configured to control the operating state of the motor according to the torque current limiting value; or The acquisition module is also used to acquire the torque current of the motor control circuit and the torque coefficient of the motor. The second processing module is further configured to determine the motor speed limit value based on the torque current, the torque coefficient, and the preset power threshold. The second processing module is also used to control the operating state of the motor according to the motor speed limit value; The motor control circuit is equipped with a current sensor to detect the torque current in the motor control circuit during motor operation.

7. The motor control device according to claim 6, characterized in that, The first processing module is further configured to confirm that the bus capacitor is in a discharging state if the first voltage value is less than or equal to 1 / 2 of the peak voltage of the AC bus.

8. The motor control device according to claim 6, characterized in that, The acquisition module is also used to acquire the second voltage value of the AC power grid side of the motor control circuit; The first processing module is further configured to confirm that the bus capacitor is in a discharging state if the absolute value of the second voltage value is less than the first voltage value.

9. A control device for an electric motor, characterized in that, include: A memory and a processor, wherein the memory stores a program, and the processor executes the program to implement the steps of the motor control method as described in any one of claims 1 to 5.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the motor control method as described in any one of claims 1 to 5.

11. A garment processing device, characterized in that, include: The control device for the motor as described in any one of claims 6 to 9; and / or The readable storage medium as described in claim 10.

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