Motor, control method and device thereof, storage medium and clothing processing device

Abstract

The present invention provides a motor, a control method, a device, a storage medium, and a clothing processing device thereof. The motor control method includes: determining the voltage vector angle and the current vector angle during motor operation; determining a first angle based on the difference between the voltage vector angle and the current vector angle; determining a target inverse transformation angle based on the first angle; and controlling the operating state of the motor based on the target inverse transformation angle. Through the above-mentioned technical solution, the present invention can limit the angle of inverse transformation between the quadrature-axis voltage and the direct-axis voltage to a certain range, thereby controlling the output power of the motor within a certain range, effectively preventing energy generated on the motor side from being fed back to the DC bus, avoiding DC bus overvoltage during motor operation, and ensuring the reliability and stability of the motor operation.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor and a control method, device, storage medium and clothing processing device thereof. Background Art

[0002] Existing electrolytic-capacitor-free motor control systems typically use small-capacity film capacitors instead of DC bus electrolytic capacitors. However, the small film capacitor value makes it difficult to maintain DC bus voltage stability. When energy from the motor is fed back to the DC bus, it can easily cause the DC bus voltage to pump, causing motor control system failures and, in severe cases, damage to the control system. Therefore, preventing motor energy from feeding back into the DC bus to avoid DC bus overvoltage during motor operation has become a pressing issue. 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] To this end, a first aspect of the present invention is to provide a method for controlling a motor.

[0005] A second aspect of the present invention is to provide a control device for a motor.

[0006] The third aspect of the present invention is to provide a control device for a motor.

[0007] A fourth aspect of the present invention is to provide a readable storage medium.

[0008] A fifth aspect of the present invention is to provide a motor.

[0009] A sixth aspect of the present invention is to provide a clothes treating device.

[0010] In view of this, according to a first aspect of the present invention, a method for controlling a motor is proposed, which includes: determining a voltage vector angle and a current vector angle during the operation of the motor; determining a first angle based on the difference between the voltage vector angle and the current vector angle; determining a target inverse transformation angle based on the first angle; and controlling the operating state of the motor based on the target inverse transformation angle.

[0011] It should be noted that the execution subject of the motor control method proposed in the present invention can be the motor control device. In order to more clearly describe the motor control method proposed in the present invention, the following technical solution is exemplified by taking the execution subject as the motor control device.

[0012] In this technical solution, the voltage vector angle is used to indicate the angle between the α-axis voltage vector and the β-axis voltage vector in the motor's stationary coordinate system; the current vector angle is used to indicate the angle between the α-axis current vector and the β-axis current vector in the motor's stationary coordinate system.

[0013] Specifically, the control device first determines the voltage vector angle and the current vector angle, and then calculates the angle between the voltage vector and the current vector, i.e., the first angle, based on the voltage vector angle and the current vector angle. Specifically, the first angle is the difference between the voltage vector angle and the current vector angle.

[0014] Furthermore, the control device determines the angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage, i.e., the target inverse transformation angle, based on the calculated first angle. Specifically, the first angle can be used to determine whether the energy generated by the motor side is likely to be fed back to the DC bus in the motor's control circuit. In the technical solution of the present invention, the target inverse transformation angle is determined based on whether the energy generated by the motor side is likely to be fed back to the DC bus. Therefore, the control device can determine the target inverse transformation angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage based on the first angle.

[0015] Furthermore, the control device controls the motor's operating state based on the target reverse transformation angle. Specifically, the target reverse transformation angle is a key parameter used by the control device to determine the motor's drive duty cycle based on the input voltage of the motor's control circuit. Therefore, the control device can control the motor's operating state based on the target reverse transformation angle, keeping the motor's output power within a certain range and preventing motor energy from feeding back into the DC bus, thereby avoiding DC bus overvoltage during motor operation.

[0016] In this technical solution, the control device can calculate the angle between the voltage vector and the current vector (i.e., the first angle) based on the determined voltage vector angle and current vector angle. Based on this angle, the control device can determine whether the energy generated on the motor side is easily fed back to the DC bus. Based on the judgment result, the control device determines the target inverse transformation angle for the inverse transformation between the quadrature-axis voltage and the direct-axis voltage, and then controls the operating state of the motor based on the target inverse transformation angle. In the technical solution of the present invention, the control device can control the output power of the motor within a certain range based on the above-mentioned target inverse transformation angle, preventing motor energy from feeding back to the DC bus and avoiding DC bus overvoltage during motor operation, thereby ensuring the reliability and stability of the motor operation.

[0017] In addition, the motor control method proposed in the above technical solution of the present invention also has the following additional technical features:

[0018] In the above technical solution, the steps of determining the voltage vector angle and the current vector angle during the operation of the motor specifically include: obtaining the first voltage and the second voltage during the operation of the motor, and determining the voltage vector angle based on the first voltage and the second voltage; obtaining the first current and the second current during the operation of the motor, and determining the current vector angle based on the first current and the second current.

[0019] In this technical solution, the first voltage indicates the voltage vector of the α-axis, and the second voltage indicates the voltage vector of the β-axis. The first current indicates the current vector of the α-axis, and the second voltage vector indicates the current vector of the β-axis. Specifically, the α-axis and β-axis indicate the coordinate axes of the motor's stationary coordinate system.

[0020] Specifically, the steps of determining the voltage vector angle and the current vector angle during the operation of the motor are as follows: the control device obtains the first voltage and the second voltage, and then calculates the voltage vector angle according to the first voltage and the second voltage.

[0021] Furthermore, the control device obtains the first current and the second current, and then calculates the current vector angle according to the first current and the second current.

[0022] Furthermore, in this technical solution, the control device can also obtain the direct-axis voltage vector and the quadrature-axis voltage vector during the operation of the motor, and then calculate the voltage vector angle based on the direct-axis voltage vector and the quadrature-axis voltage vector; obtain the direct-axis current vector and the quadrature-axis current vector during the operation of the motor, and then calculate the current vector angle based on the direct-axis current vector and the quadrature-axis current vector. In this technical solution, the control device can calculate the voltage vector angle based on the obtained first voltage and the second voltage, and the control device can calculate the current vector angle based on the obtained first current and the second current, so that in subsequent steps, the angle between the voltage vector and the current vector (i.e., the first angle) can be determined based on the voltage vector angle and the current vector angle, thereby determining whether the energy generated on the motor side can be easily fed back to the DC bus in the motor control circuit.

[0023] In the above technical solution, the step of determining the target inverse transformation angle based on the first angle specifically includes: when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, using the original inverse transformation angle as the target inverse transformation angle, and the original inverse transformation angle is used to indicate the rotor position angle of the motor; or when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, determining the target inverse transformation angle based on the first angle and the original inverse transformation angle.

[0024] In this technical solution, the original inverse transformation angle refers to the rotor position angle of the motor, that is, the angle between the rotating coordinate system and the stationary coordinate system of the motor.

[0025] In this technical solution, the control device determines the target inverse transformation angle based on the first angle as follows: the control device first calculates the difference between the absolute value of the first angle and a preset angle threshold, and then determines whether the difference is less than 0. Specifically, if the difference is less than 0, the control device determines the original inverse transformation angle as the target angle.

[0026] Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is less than 0, this indicates that during motor operation, no energy generated by the motor will be fed back to the DC bus in the motor's control circuit, i.e., no DC bus overvoltage will occur. In this case, the control device determines the original inverse transformation angle as the target inverse transformation angle, thereby controlling the motor's operating state based on the original inverse transformation angle.

[0027] Furthermore, when the difference between the absolute value of the first angle calculated by the control device and the preset angle threshold is greater than or equal to 0 (i.e., not less than 0), the control device determines the target reverse transformation angle based on the original reverse transformation angle and the first angle. Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is greater than or equal to 0, it indicates that the energy generated on the motor side is likely to be fed back to the DC bus in the motor control circuit, that is, the DC bus is likely to be overvoltage. At this time, the control device determines the target reverse transformation angle based on the first angle and the original reverse transformation angle.

[0028] It should be noted that, because the above-mentioned first angle may be a negative value, when calculating the difference between the first angle and the preset angle threshold, the absolute value of the first angle is used for calculation. In this way, the accuracy of the calculated difference is guaranteed, and the accuracy of judging whether the energy generated on the motor side is likely to be fed back to the DC bus based on the difference is guaranteed.

[0029] In this technical solution, the control device can determine whether it is easy for the energy generated on the motor side to be fed back to the DC bus in the control circuit of the motor based on the first angle and the preset angle threshold, and then determine the target reverse transformation angle in different ways according to different situations, so as to limit the target reverse transformation angle to a certain range, so that when the motor operation is controlled according to the target reverse transformation angle, the DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0030] In the above technical solution, the step of determining the target inverse transformation angle based on the first angle and the original inverse transformation angle specifically includes: determining the compensation angle based on the first angle and a preset proportional coefficient; and determining the target inverse transformation angle based on the original inverse transformation angle and the compensation angle.

[0031] In this technical solution, the process of determining the target inverse transformation angle based on the first angle and the original inverse transformation angle is as follows: the control device calculates the compensation angle based on the first angle and a preset scaling factor. Specifically, the control device calculates the compensation angle based on a sign function, the first angle, the preset scaling factor, and the difference between the absolute value of the first angle and a preset angle threshold.

[0032] Furthermore, the control device calculates a target inverse transformation angle based on the compensation angle and the original inverse transformation angle. Specifically, the target inverse transformation angle is equal to the difference between the original inverse transformation angle and the compensation angle.

[0033] In this technical solution, the control device can calculate the target inverse transformation angle based on the first angle and the original inverse transformation angle to limit the target inverse transformation angle within a certain range, so that when the motor operation is controlled according to the target inverse transformation angle, DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0034] In the above technical solution, the step of controlling the operating state of the motor according to the target inverse transformation angle specifically includes: determining the driving duty cycle of the motor according to the input voltage of the motor control circuit and the target inverse transformation angle; and controlling the operating state of the motor according to the driving duty cycle.

[0035] In this technical solution, the control device controls the operating state of the motor according to the target inverse transformation angle. The process is as follows: the control device inversely transforms the above-mentioned input voltage according to the target inverse transformation angle, and then determines the driving duty cycle for driving the motor according to the inverted voltage.

[0036] Furthermore, the control device adjusts the operating state of the motor according to the determined drive duty cycle. Specifically, during the operation of the motor, the larger the drive duty cycle, the higher the motor speed, and the smaller the drive duty cycle, the lower the motor speed.

[0037] In this technical solution, the control device can determine the driving duty cycle for driving the motor operation based on the determined target reverse transformation angle and the input voltage of the motor control circuit. Since the technical solution of the present invention limits the target reverse transformation angle to a certain range, when the motor operation is controlled by the driving duty cycle determined according to the target reverse transformation angle, there will be no DC bus overvoltage, thereby ensuring the stability and reliability of the motor operation.

[0038] According to a second aspect of the present invention, a control device for a motor is proposed, which includes: a first processing module for determining a voltage vector angle and a current vector angle during the operation of the motor; a second processing module for determining a first angle based on the difference between the voltage vector angle and the current vector angle; a third processing module for determining a target inverse transformation angle based on the first angle; and a fourth processing module for controlling the operating state of the motor based on the target inverse transformation angle.

[0039] In this technical solution, the voltage vector angle is used to indicate the angle between the α-axis voltage vector and the β-axis voltage vector in the motor's stationary coordinate system; the current vector angle is used to indicate the angle between the α-axis current vector and the β-axis current vector in the motor's stationary coordinate system.

[0040] Specifically, the first processing module first determines the voltage vector angle and the current vector angle, and then the second processing module calculates the angle between the voltage vector and the current vector, i.e., the first angle, based on the voltage vector angle and the current vector angle. Specifically, the first angle is the difference between the voltage vector angle and the current vector angle.

[0041] Furthermore, the third processing module determines the angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage, i.e., the target inverse transformation angle, based on the calculated first angle. Specifically, the first angle can be used to determine whether the energy generated by the motor side is likely to be fed back to the DC bus in the motor's control circuit. In the technical solution of the present invention, the target inverse transformation angle is determined based on whether the energy generated by the motor side is likely to be fed back to the DC bus. Therefore, the third processing module can determine the target inverse transformation angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage based on the first angle.

[0042] Furthermore, the fourth processing module controls the motor's operating state based on the target inverse transformation angle. Specifically, the target inverse transformation angle is a key parameter used by the control device to determine the motor's drive duty cycle based on the input voltage of the motor's control circuit. Therefore, the fourth processing module can control the motor's operating state based on the target inverse transformation angle, keeping the motor's output power within a certain range and preventing motor energy from feeding back into the DC bus, thereby avoiding DC bus overvoltage during motor operation.

[0043] In this technical solution, the second processing module can calculate the angle between the voltage vector and the current vector (i.e., the first angle) based on the voltage vector angle and the current vector angle determined by the first processing module. The third processing module can determine whether the energy generated on the motor side is easily fed back to the DC bus based on this angle, and determine the target inverse transformation angle for the inverse transformation of the quadrature-axis voltage and the direct-axis voltage based on the judgment result. The fourth processing module can control the operating state of the motor based on the target inverse transformation angle. In an embodiment of the present invention, the fourth processing module can control the output power of the motor within a certain range based on the above-mentioned target inverse transformation angle, prevent motor energy from feeding back to the DC bus, avoid DC bus overvoltage during motor operation, and ensure the reliability and stability of the motor operation.

[0044] In the above technical solution, the control device of the motor also includes an acquisition module, and in the step of determining the voltage vector angle and the current vector angle during the operation of the motor: the acquisition module is used to obtain the first voltage and the second voltage during the operation of the motor; the first processing module is used to determine the voltage vector angle based on the first voltage and the second voltage; the acquisition module is also used to obtain the first current and the second current during the operation of the motor; the first processing module is also used to determine the current vector angle based on the first current and the second current.

[0045] In this technical solution, the first voltage indicates the voltage vector of the α-axis, and the second voltage indicates the voltage vector of the β-axis. The first current indicates the current vector of the α-axis, and the second voltage vector indicates the current vector of the β-axis. Specifically, the α-axis and β-axis indicate the coordinate axes of the motor's stationary coordinate system.

[0046] Specifically, the process of the motor control device determining the voltage vector angle and the current vector angle during the operation of the motor is as follows: after the acquisition module obtains the above-mentioned first voltage and the above-mentioned second voltage, the first processing module can calculate the voltage vector angle based on the above-mentioned first voltage and the above-mentioned second voltage.

[0047] Furthermore, after the acquisition module acquires the first current and the second current, the first processing module can calculate the current vector angle according to the first current and the second current.

[0048] Furthermore, in this embodiment, after the direct-axis voltage vector and the quadrature-axis voltage vector during the operation of the motor are obtained through the acquisition module, the first processing module can calculate the above-mentioned voltage vector angle based on the direct-axis voltage vector and the quadrature-axis voltage vector; after the direct-axis current vector and the quadrature-axis current vector during the operation of the motor are obtained through the acquisition module, the first processing module can calculate the above-mentioned current vector angle based on the direct-axis current vector and the quadrature-axis current vector.

[0049] In this technical solution, the first processing module can calculate the voltage vector angle based on the first voltage and the second voltage obtained by the acquisition module, and the first processing module can also calculate the current vector angle based on the first current and the second current obtained by the acquisition module, so that in the subsequent steps, the second processing module can determine the angle between the voltage vector and the current vector (i.e., the first angle) based on the above-mentioned voltage vector angle and the above-mentioned current vector angle, and then judge whether the energy generated on the motor side is easy to feed back to the DC bus in the control circuit of the motor.

[0050] In the above technical solution, in the step of determining the target inverse transformation angle based on the first angle: when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, the third processing module is used to use the original inverse transformation angle as the target inverse transformation angle, and the original inverse transformation angle is used to indicate the rotor position transformation angle of the motor; when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, the third processing module is used to determine the target inverse transformation angle based on the first angle and the original inverse transformation angle.

[0051] In this technical solution, the original inverse transformation angle refers to the rotor position angle of the motor, that is, the angle between the rotating coordinate system and the stationary coordinate system of the motor.

[0052] In this technical solution, the motor control device determines the target inverse transformation angle based on the first angle by: calculating, by a third processing module, the difference between the absolute value of the first angle and a preset angle threshold, and determining whether the difference is less than 0. Specifically, if the difference is determined to be less than 0, the third processing module determines the original inverse transformation angle as the target angle.

[0053] Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is less than 0, this indicates that during motor operation, energy generated by the motor will not be fed back to the DC bus in the motor's control circuit, i.e., DC bus overvoltage will not occur. In this case, the third processing module determines the original inverse transformation angle as the target inverse transformation angle, thereby controlling the motor's operating state based on the original inverse transformation angle.

[0054] Furthermore, when the difference between the absolute value of the first angle calculated by the third processing module and the preset angle threshold is greater than or equal to 0 (i.e., not less than 0), the third processing module determines the target inverse transformation angle based on the original inverse transformation angle and the first angle. Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is greater than or equal to 0, it indicates that the energy generated on the motor side is likely to be fed back to the DC bus in the control circuit of the motor, that is, the DC bus is likely to be overvoltage. At this time, the third processing module comprehensively determines the target inverse transformation angle based on the first angle and the original inverse transformation angle.

[0055] It should be noted that, because the above-mentioned first angle may be a negative value, the third processing module uses the absolute value of the first angle when calculating the difference between the first angle and the preset angle threshold. In this way, the accuracy of the calculated difference is guaranteed, and further the accuracy of judging whether the energy generated on the motor side is likely to be fed back to the DC bus based on the difference is guaranteed.

[0056] In this technical solution, the third processing module can determine whether it is easy for the energy generated on the motor side to be fed back to the DC bus in the control circuit of the motor based on the first angle and the preset angle threshold, and then determine the target inverse transformation angle in different ways according to different situations, so as to limit the target inverse transformation angle to a certain range, so that in the subsequent steps, when the motor operation is controlled according to the target inverse transformation angle, there will be no DC bus overvoltage, thereby ensuring the stability and reliability of the motor operation.

[0057] In the above technical solution, in the step of determining the target inverse transformation angle based on the first angle and the original inverse transformation angle: the third processing module is used to determine the compensation angle based on the first angle and the preset proportional coefficient; the third processing module is also used to determine the target inverse transformation angle based on the original inverse transformation angle and the compensation angle.

[0058] In this technical solution, the third processing module determines the target inverse transformation angle based on the first angle and the original inverse transformation angle as follows: the third processing module first calculates the compensation angle based on the first angle and a preset scaling factor. Specifically, the third processing module can calculate the compensation angle based on a sign function, the first angle, a preset scaling factor, and the difference between the absolute value of the first angle and a preset angle threshold.

[0059] Furthermore, the third processing module calculates a target inverse transformation angle according to the compensation angle and the original inverse transformation angle. Specifically, the target inverse transformation angle is equal to the difference between the original inverse transformation angle and the compensation angle.

[0060] In this technical solution, the third processing module can calculate the target inverse transformation angle based on the first angle and the original inverse transformation angle to limit the target inverse transformation angle within a certain range, so that when the motor operation is controlled according to the target inverse transformation angle in subsequent steps, DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0061] In the above technical solution, in the step of controlling the operating state of the motor according to the target inverse transformation angle: the fourth processing module is used to determine the driving duty cycle of the motor according to the input voltage of the motor control circuit and the target inverse transformation angle; the fourth processing module is also used to control the operating state of the motor according to the driving duty cycle.

[0062] In this technical solution, the fourth processing module controls the operating state of the motor according to the target inverse transformation angle. The fourth processing module first inversely transforms the above-mentioned input voltage according to the target inverse transformation angle, and then determines the driving duty cycle for driving the motor according to the inverted voltage.

[0063] Furthermore, the fourth processing module adjusts the operating state of the motor according to the determined driving duty cycle. Specifically, during the operation of the motor, the greater the driving duty cycle, the greater the motor speed, and the smaller the driving duty cycle, the lower the motor speed.

[0064] In this technical solution, the fourth processing module can determine the driving duty cycle for driving the motor operation based on the determined target inverse transformation angle and the input voltage of the motor control circuit. Since the technical solution of the present invention limits the target inverse transformation angle to a certain range, when the fourth processing module controls the motor operation based on the driving duty cycle determined by the target inverse transformation angle, there will be no DC bus overvoltage, thereby ensuring the stability and reliability of the motor operation.

[0065] According to the third aspect of the present invention, a control device for a motor is proposed, which includes: a memory, in which a program or instruction is stored; a processor, which executes the program or instruction stored in the memory to implement the steps of the motor control method proposed in the above technical solution of the present invention, and thus has all the beneficial technical effects of the motor control method proposed in the above technical solution of the present invention, which will not be elaborated here.

[0066] According to a fourth aspect of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions. When executed by a processor, the program or instructions implement the steps of the motor control method according to the above technical solution of the present invention. Therefore, all the beneficial technical effects of the motor control method according to the above technical solution of the present invention are achieved, and further details are omitted here.

[0067] According to a fifth aspect of the present invention, a motor is provided, comprising the motor control device provided by the aforementioned technical solution of the present invention, and / or the readable storage medium provided by the aforementioned technical solution of the present invention. Thus, the motor control device and / or the readable storage medium provided by the aforementioned technical solution of the present invention have all the beneficial technical effects of the motor control device and / or the readable storage medium provided by the aforementioned technical solution of the present invention, and no further details will be given here.

[0068] According to a sixth aspect of the present invention, a laundry processing device is provided, comprising the motor control device or the motor provided by the aforementioned technical solution of the present invention. Thus, the device has all the beneficial technical effects of the motor control device or the motor provided by the aforementioned technical solution of the present invention, and no further details will be given here.

[0069] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0071] Figure 1 One of the schematic flow charts of the motor control method according to the embodiment of the present invention is shown;

[0072] Figure 2 A second schematic flow chart showing a method for controlling a motor according to an embodiment of the present invention;

[0073] Figure 3 A third schematic flow chart showing a method for controlling a motor according to an embodiment of the present invention;

[0074] Figure 4 A fourth schematic flow chart showing a method for controlling a motor according to an embodiment of the present invention;

[0075] Figure 5 A fifth schematic flow chart showing a method for controlling a motor according to an embodiment of the present invention;

[0076] Figure 6 One of the schematic block diagrams of a control device for a motor according to an embodiment of the present invention is shown;

[0077] Figure 7 A second schematic block diagram showing a control device for a motor according to an embodiment of the present invention;

[0078] Figure 8 A schematic block diagram showing a target inverse transformation angle calculation process according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0079] In order to more clearly understand the above aspects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0080] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0081] The following combination Figures 1 to 8, the motor and its control method, device, storage medium and clothing processing device proposed in the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0082] Example 1

[0083] Figure 1 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown, wherein the method includes:

[0084] Step S102: determining the voltage vector angle and the current vector angle during the operation of the motor;

[0085] Step S104: determining a first angle according to a difference between a voltage vector angle and a current vector angle;

[0086] Step S106: determining a target inverse transformation angle according to the first angle;

[0087] Step S108: controlling the operating state of the motor according to the target inverse transformation angle.

[0088] It should be noted that the execution subject of the motor control method proposed in the present invention may be the motor control device. In order to more clearly describe the motor control method proposed in the present invention, the following embodiments are exemplified by taking the execution subject as the motor control device.

[0089] In this embodiment, the voltage vector angle is used to indicate the angle between the α-axis voltage vector and the β-axis voltage vector in the motor's stationary coordinate system; the current vector angle is used to indicate the angle between the α-axis current vector and the β-axis current vector in the motor's stationary coordinate system.

[0090] Specifically, the control device first determines the voltage vector angle and the current vector angle, and then calculates the angle between the voltage vector and the current vector, i.e., the first angle, based on the voltage vector angle and the current vector angle. Specifically, the formula for determining the first angle based on the first angle and the voltage vector angle is as follows:

[0091] Δθ=θ U -θ I ;

[0092] Among them, Δθ is used to indicate the first angle, θ U Voltage vector angle, θ I Current vector angle.

[0093] Furthermore, the control device determines the angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage based on the calculated first angle, also known as the IPARK transformation angle, i.e., the target inverse transformation angle in this embodiment. Specifically, the first angle can be used to determine whether the energy generated on the motor side is likely to be fed back to the DC bus in the motor's control circuit. In the technical solution of the present invention, the target inverse transformation angle is determined based on whether the energy generated on the motor side is likely to be fed back to the DC bus. Therefore, the control device can determine the target inverse transformation angle for inverse transformation between the quadrature-axis voltage and the direct-axis voltage based on the first angle.

[0094] Furthermore, the control device controls the motor's operating state based on the target reverse transformation angle. Specifically, the target reverse transformation angle is a key parameter used by the control device to determine the motor's drive duty cycle based on the input voltage of the motor control circuit. Therefore, the control device can control the motor's operating state based on the target reverse transformation angle, keeping the motor's output power within a certain range and preventing motor energy from feeding back into the DC bus, thereby avoiding DC bus overvoltage during motor operation.

[0095] In this embodiment, the control device can calculate the angle between the voltage and current vectors (i.e., a first angle) based on the determined voltage and current vector angles. Based on this angle, the control device can determine whether the energy generated by the motor is easily fed back to the DC bus. Based on this determination, the control device can determine a target inverse transformation angle for inversely transforming the quadrature-axis voltage and the direct-axis voltage, and then control the motor's operating state based on the target inverse transformation angle. In this embodiment, the control device can control the motor's output power within a certain range based on the target inverse transformation angle, preventing motor energy from feeding back into the DC bus and avoiding DC bus overvoltage during motor operation, thereby ensuring the reliability and stability of the motor's operation.

[0096] Figure 2 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown, wherein the method includes:

[0097] Step S202: obtaining a first voltage and a second voltage during operation of the motor, and determining a voltage vector angle according to the first voltage and the second voltage;

[0098] Step S204: obtaining a first current and a second current during the operation of the motor, and determining a current vector angle according to the first current and the second current;

[0099] Step S206: determining a first angle according to the difference between the voltage vector angle and the current vector angle;

[0100] Step S208: determining a target inverse transformation angle according to the first angle;

[0101] Step S210: controlling the operating state of the motor according to the target inverse transformation angle.

[0102] In this embodiment, the first voltage indicates the voltage vector of the α-axis, and the second voltage indicates the voltage vector of the β-axis. The first current indicates the current vector of the α-axis, and the second voltage vector indicates the current vector of the β-axis. Specifically, the α-axis and the β-axis indicate the coordinate axes of the motor's stationary coordinate system.

[0103] Specifically, the process of determining the voltage vector angle and the current vector angle when the motor is running is as follows: the control device obtains the first voltage and the second voltage, and then calculates the voltage vector angle based on the first voltage and the second voltage. Specifically, the formula for calculating the voltage vector angle based on the first voltage and the second voltage is as follows:

[0104]

[0105] Among them, θ U Used to represent the above voltage vector angle, the above U α Used to represent the first voltage, the above U β Used to indicate the second voltage.

[0106] Furthermore, the control device obtains the first current and the second current, and then calculates the current vector angle based on the first current and the second current. Specifically, the formula for calculating the current vector angle based on the first current and the second current is as follows:

[0107]

[0108] Among them, θ I Used to represent the above current vector angle, the above i α Used to represent the first current, the above i β Used to represent the second current.

[0109] Furthermore, in this technical solution, the control device can also obtain the direct-axis voltage vector and the quadrature-axis voltage vector of the motor during operation, and then calculate the above-mentioned voltage vector angle based on the direct-axis voltage vector and the quadrature-axis voltage vector; obtain the direct-axis current vector and the quadrature-axis current vector of the motor during operation, and then calculate the above-mentioned current vector angle based on the direct-axis current vector and the quadrature-axis current vector.

[0110] Specifically, the control device calculates the voltage vector angle according to the direct-axis voltage vector and the quadrature-axis voltage vector using the following formula:

[0111]

[0112] Among them, θU Used to represent the above voltage vector angle, the above U d Used to represent the direct-axis voltage vector, the above U q Used to represent the quadrature-axis voltage vector.

[0113] Specifically, the control device calculates the current vector angle according to the direct-axis current vector and the quadrature-axis current vector using the following formula:

[0114]

[0115] Among them, θ I Used to represent the above current vector angle, the above i d Used to represent the direct axis current vector, the above i q Used to represent the quadrature-axis current vector.

[0116] In this embodiment, the control device can calculate the voltage vector angle based on the obtained first voltage and the second voltage, and the control device can calculate the current vector angle based on the obtained first current and the second current, so that in subsequent steps, the angle between the voltage vector and the current vector (i.e., the first angle) can be determined based on the above voltage vector angle and the above current vector angle, and then it can be determined whether the energy generated on the motor side can be easily fed back to the DC bus in the control circuit of the motor.

[0117] Figure 3 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown, wherein the method includes:

[0118] Step S302: determining the voltage vector angle and the current vector angle during the operation of the motor;

[0119] Step S304: when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, the original inverse transformation angle is used as the target inverse transformation angle, and the original inverse transformation angle is used to indicate the rotor position angle of the motor;

[0120] Step S306: When it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, a target inverse transformation angle is determined according to the first angle and the original inverse transformation angle;

[0121] Step S308: determining a target inverse transformation angle according to the first angle;

[0122] Step S310: controlling the operating state of the motor according to the target inverse transformation angle.

[0123] In this embodiment, the original inverse transformation angle refers to the rotor position angle of the motor, that is, the angle between the rotating coordinate system and the stationary coordinate system of the motor.

[0124] In this embodiment, the control device determines the target inverse transformation angle based on the first angle as follows: the control device first calculates the difference between the absolute value of the first angle and a preset angle threshold, and then determines whether the difference is less than 0. Specifically, when the difference is less than 0, the control device determines the original inverse transformation angle as the target angle.

[0125] Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is less than 0, this indicates that during motor operation, no energy generated by the motor will be fed back to the DC bus in the motor's control circuit, i.e., no DC bus overvoltage will occur. In this case, the control device determines the original inverse transformation angle as the target inverse transformation angle, i.e., controls the motor's operating state based on the original inverse transformation angle.

[0126] Furthermore, if the difference between the absolute value of the first angle calculated by the control device and the preset angle threshold is greater than or equal to 0 (i.e., not less than 0), the control device determines a target reverse transformation angle based on the original reverse transformation angle and the first angle. Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is greater than or equal to 0, this indicates that energy generated on the motor side is likely to be fed back to the DC bus in the motor's control circuit, i.e., a DC bus overvoltage is likely to occur. In this case, the control device determines the target reverse transformation angle based on the first angle and the original reverse transformation angle.

[0127] Specifically, the preset angle threshold has a value range of 0 degrees to 90 degrees. The preset angle threshold is closely related to the parameters of the motor, and the specific value of the preset angle threshold is set according to the device information of the motor.

[0128] It should be noted that, because the above-mentioned first angle may be a negative value, when calculating the difference between the first angle and the preset angle threshold, the absolute value of the first angle is used for calculation. In this way, the accuracy of the calculated difference is guaranteed, and the accuracy of judging whether the energy generated on the motor side is likely to be fed back to the DC bus based on the difference is guaranteed.

[0129] In this embodiment, the control device can determine whether it is easy for the energy generated on the motor side to be fed back to the DC bus in the control circuit of the motor based on the first angle and the preset angle threshold, and then calculate the target inverse transformation angle in different ways according to different situations to limit the target inverse transformation angle to a certain range, so that when the motor is controlled according to the above-mentioned target inverse transformation angle, the DC bus will not be overvoltage, thereby ensuring the stability and reliability of the motor operation.

[0130] Figure 4 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown, wherein the method includes:

[0131] Step S402: determining the voltage vector angle and the current vector angle during the operation of the motor;

[0132] Step S404: when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, the original inverse transformation angle is used as the target inverse transformation angle, and the original inverse transformation angle is used to indicate the rotor position angle of the motor;

[0133] Step S406: When it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, a compensation angle is determined according to the first angle and a preset proportional coefficient;

[0134] Step S408: determining a target inverse transformation angle according to the original inverse transformation angle and the compensation angle;

[0135] Step S410: determining a target inverse transformation angle according to the first angle;

[0136] Step S412: Control the operating state of the motor according to the target inverse transformation angle.

[0137] In this embodiment, the process of determining the target inverse transformation angle based on the first included angle and the original inverse transformation angle is as follows: the control device calculates the compensation angle based on the first included angle and a preset scaling factor. Specifically, the control device calculates the compensation angle based on a sign function, the first included angle, the preset scaling factor, and the difference between the absolute value of the first included angle and a preset angle threshold.

[0138] Specifically, the calculation formula of the above compensation angle is as follows:

[0139] θ comp =sigm(Δθ)×K p ×θ err ;

[0140] Among them, θ comp is used to indicate the compensation angle, Δθ is used to indicate the first angle, Kp is used to indicate the preset proportional coefficient, θ err Used to indicate the difference between the absolute value of the above-mentioned first angle and a preset angle threshold.

[0141] Furthermore, the control device calculates a target inverse transformation angle based on the compensation angle and the original inverse transformation angle. Specifically, the target inverse transformation angle is equal to the difference between the original inverse transformation angle and the compensation angle.

[0142] For example, Figure 8 As shown, the process of calculating the target inverse transformation angle is: according to U α and U β Calculate the voltage vector angle according to i α and iβ Calculate the current vector angle, calculate Δθ according to the voltage vector angle and the current vector angle, and then determine the absolute value of Δθ and θ max When the difference is greater than or equal to 0, θ is determined based on Kp, sign (Δθ) and θ*.

[0143] Among them, Figure 8 Middle,U α Corresponding to the first voltage, U β Corresponding to the above second voltage, i α Corresponding to the first current, i β Corresponding to the second current, Δθ corresponds to the first angle, θ max corresponds to the above-mentioned preset angle threshold, Kp corresponds to the above-mentioned preset proportional coefficient, θ* corresponds to the above-mentioned original inverse transformation angle, and θ corresponds to the above-mentioned target inverse transformation angle.

[0144] In this embodiment, the control device can calculate the target reverse transformation angle based on the first angle and the original reverse transformation angle to limit the target reverse transformation angle to a certain range, so that when the motor is controlled according to the target reverse transformation angle, DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0145] Figure 5 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown, wherein the method includes:

[0146] Step S502: determining the voltage vector angle and the current vector angle during the operation of the motor;

[0147] Step S504: determining a first angle according to the difference between the voltage vector angle and the current vector angle;

[0148] Step S506: determining a target inverse transformation angle according to the first included angle;

[0149] Step S508: determining the driving duty cycle of the motor according to the input voltage of the motor control circuit and the target inverse transformation angle;

[0150] Step S510: controlling the operating state of the motor according to the driving duty cycle.

[0151] In this embodiment, the control device controls the operating state of the motor according to the target inverse transformation angle. The process is as follows: the control device obtains the input voltage in the control circuit of the motor, and then inversely transforms the above input voltage according to the target inverse transformation angle, and then determines the driving duty cycle for driving the motor according to the inverted voltage.

[0152] Furthermore, the control device adjusts the operating state of the motor according to the determined drive duty cycle. Specifically, during the operation of the motor, the larger the drive duty cycle, the higher the motor speed, and the smaller the drive duty cycle, the lower the motor speed.

[0153] In this embodiment, the control device can determine the driving duty cycle for driving the motor operation based on the determined target reverse transformation angle and the input voltage in the motor control circuit. Since this embodiment limits the target reverse transformation angle to a certain range, when the operation of the motor is controlled according to the driving duty cycle determined by the target reverse transformation angle, DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0154] Example 2:

[0155] Figure 6 A schematic block diagram of a motor control device according to an embodiment of the present invention is shown. The motor control device 600 includes: a first processing module 602, configured to determine a voltage vector angle and a current vector angle during operation of the motor; a second processing module 604, configured to determine a first angle based on a difference between the voltage vector angle and the current vector angle; a third processing module 606, configured to determine a target inverse transformation angle based on the first angle; and a fourth processing module 608, configured to control the operating state of the motor based on the target inverse transformation angle.

[0156] In this embodiment, the voltage vector angle is used to indicate the angle between the α-axis voltage vector and the β-axis voltage vector in the motor's stationary coordinate system; the current vector angle is used to indicate the angle between the α-axis current vector and the β-axis current vector in the motor's stationary coordinate system.

[0157] Specifically, the first processing module 602 first determines the voltage vector angle and the current vector angle. Then, the second processing module 604 calculates the angle between the voltage vector and the current vector, i.e., the first angle, based on the voltage vector angle and the current vector angle. Specifically, the first angle is the difference between the voltage vector angle and the current vector angle.

[0158] Furthermore, the third processing module 606 determines the angle at which the quadrature-axis voltage and the direct-axis voltage are inversely transformed based on the calculated first angle, i.e., the target inverse transformation angle. Specifically, the first angle can be used to determine whether the energy generated by the motor side is likely to be fed back to the DC bus in the motor's control circuit. In an embodiment of the present invention, the target inverse transformation angle is determined based on whether the energy generated by the motor side is likely to be fed back to the DC bus. Therefore, the third processing module 606 can determine the target inverse transformation angle for inversely transforming the quadrature-axis voltage and the direct-axis voltage based on the first angle.

[0159] Furthermore, the fourth processing module 608 controls the motor's operating state based on the target inverse transformation angle. Specifically, the target inverse transformation angle is an important parameter used by the control device to determine the motor's drive duty cycle based on the input voltage of the motor control circuit. Therefore, the fourth processing module 608 can control the motor's operating state based on the target inverse transformation angle, keeping the motor's output power within a certain range and preventing motor energy from feeding back into the DC bus, thereby avoiding DC bus overvoltage during motor operation.

[0160] In this embodiment, the second processing module 604 can calculate the angle between the voltage vector and the current vector (i.e., the first angle) based on the voltage vector angle and the current vector angle determined by the first processing module 602. The third processing module 606 can determine whether the energy generated by the motor side is easily fed back to the DC bus based on this angle, and determine the target inverse transformation angle for the inverse transformation of the quadrature-axis voltage and the direct-axis voltage based on the determination result. The fourth processing module 608 can control the operating state of the motor based on the target inverse transformation angle. In this embodiment of the present invention, the fourth processing module 608 can control the output power of the motor within a certain range based on the target inverse transformation angle, prevent motor energy from feeding back to the DC bus, avoid DC bus overvoltage during motor operation, and ensure the reliability and stability of the motor operation.

[0161] In the above embodiment, the control device 600 of the motor also includes an acquisition module 610, and in the step of determining the voltage vector angle and the current vector angle during the operation of the motor: the acquisition module 610 is used to obtain the first voltage and the second voltage during the operation of the motor; the first processing module 602 is used to determine the voltage vector angle based on the first voltage and the second voltage; the acquisition module 610 is also used to obtain the first current and the second current during the operation of the motor; the first processing module 602 is also used to determine the current vector angle based on the first current and the second current.

[0162] In this embodiment, the first voltage indicates the voltage vector of the α-axis, and the second voltage indicates the voltage vector of the β-axis. The first current indicates the current vector of the α-axis, and the second voltage vector indicates the current vector of the β-axis. Specifically, the α-axis and the β-axis indicate the coordinate axes of the motor's stationary coordinate system.

[0163] Specifically, the process of the motor control device 600 determining the voltage vector angle and the current vector angle when the motor is running is as follows: after obtaining the above-mentioned first voltage and the above-mentioned second voltage through the acquisition module 610, the first processing module 602 can calculate the voltage vector angle based on the above-mentioned first voltage and the above-mentioned second voltage.

[0164] Furthermore, after the first current and the second current are acquired by the acquisition module 610 , the first processing module 602 can calculate the current vector angle according to the first current and the second current.

[0165] Furthermore, in this embodiment, after the direct-axis voltage vector and the quadrature-axis voltage vector when the motor is running are obtained through the acquisition module 610, the first processing module 602 can calculate the above-mentioned voltage vector angle based on the direct-axis voltage vector and the quadrature-axis voltage vector; after the direct-axis current vector and the quadrature-axis current vector when the motor is running are obtained through the acquisition module 610, the first processing module 602 can calculate the above-mentioned current vector angle based on the direct-axis current vector and the quadrature-axis current vector.

[0166] In this embodiment, the first processing module 602 can calculate the voltage vector angle based on the first voltage and the second voltage obtained by the acquisition module 610. The first processing module 602 can also calculate the current vector angle based on the first current and the second current obtained by the acquisition module 610, so that in the subsequent steps, the second processing module 604 can determine the angle between the voltage vector and the current vector (i.e., the first angle) based on the above-mentioned voltage vector angle and the above-mentioned current vector angle, and then determine whether the energy generated on the motor side is easy to feed back to the DC bus in the control circuit of the motor.

[0167] In the above embodiment, in the step of determining the target inverse transformation angle based on the first angle: when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, the third processing module 606 is used to use the original inverse transformation angle as the target inverse transformation angle, and the original inverse transformation angle is used to indicate the rotor position transformation angle of the motor; when it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, the third processing module 606 is used to determine the target inverse transformation angle based on the first angle and the original inverse transformation angle.

[0168] In this embodiment, the original inverse transformation angle refers to the rotor position angle of the motor, that is, the angle between the rotating coordinate system and the stationary coordinate system of the motor.

[0169] In this embodiment, the motor control device 600 determines the target inverse transformation angle based on the first angle by: calculating, by the third processing module 606, the difference between the absolute value of the first angle and a preset angle threshold, and determining whether the difference is less than 0. Specifically, if it is determined that the difference is less than 0, the third processing module 606 determines the original inverse transformation angle as the target angle.

[0170] Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is less than 0, this indicates that during motor operation, no energy generated by the motor will be fed back to the DC bus in the motor control circuit, i.e., no DC bus overvoltage will occur. In this case, the third processing module 606 determines the original inverse transformation angle as the target inverse transformation angle, i.e., controls the motor's operating state based on the original inverse transformation angle.

[0171] Furthermore, when the difference between the absolute value of the first angle calculated by the third processing module 606 and the preset angle threshold is greater than or equal to 0 (i.e., not less than 0), the third processing module 606 determines the target inverse transformation angle based on the above-mentioned original inverse transformation angle and the above-mentioned first angle. Specifically, if the difference between the absolute value of the first angle and the preset angle threshold is greater than or equal to 0, it indicates that the energy generated by the motor side is likely to be fed back to the DC bus in the control circuit of the motor, that is, the DC bus is likely to be overvoltage. At this time, the third processing module 606 comprehensively determines the target inverse transformation angle based on the first angle and the original inverse transformation angle.

[0172] It should be noted that, because the above-mentioned first angle may be a negative value, the third processing module 606 uses the absolute value of the first angle when calculating the difference between the first angle and the preset angle threshold. In this way, the accuracy of the calculated difference is guaranteed, and further the accuracy of judging whether it is easy for the energy generated on the motor side to be fed back to the DC bus based on the difference is guaranteed.

[0173] In this embodiment, the third processing module 606 can determine whether it is easy for the energy generated on the motor side to be fed back to the DC bus in the control circuit of the motor based on the first angle and the preset angle threshold, and then calculate the target inverse transformation angle in different ways according to different situations to limit the target inverse transformation angle to a certain range, so that when the operating state of the motor is controlled according to the target inverse transformation angle in subsequent steps, the DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0174] In the above embodiment, in the step of determining the target inverse transformation angle based on the first angle and the original inverse transformation angle: the third processing module 606 is used to determine the compensation angle based on the first angle and the preset proportional coefficient; the third processing module 606 is also used to determine the target inverse transformation angle based on the original inverse transformation angle and the compensation angle.

[0175] In this embodiment, the third processing module 606 calculates the target inverse transformation angle based on the first angle and the original inverse transformation angle as follows: the third processing module 606 first calculates the compensation angle based on the first angle and a preset scaling factor. Specifically, the third processing module 606 can calculate the compensation angle based on a sign function, the first angle, a preset scaling factor, and the difference between the absolute value of the first angle and a preset angle threshold.

[0176] Furthermore, the third processing module 606 calculates a target inverse transformation angle according to the compensation angle and the original inverse transformation angle. Specifically, the target inverse transformation angle is equal to the difference between the original inverse transformation angle and the compensation angle.

[0177] In this embodiment, the third processing module 606 can calculate the target inverse transformation angle based on the first angle and the original inverse transformation angle to limit the target inverse transformation angle within a certain range, so that when the operating state of the motor is controlled according to the target inverse transformation angle in subsequent steps, DC bus overvoltage will not occur, thereby ensuring the stability and reliability of the motor operation.

[0178] In the above embodiment, in the step of controlling the operating state of the motor according to the target inverse transformation angle: the fourth processing module 608 is used to determine the drive duty cycle of the motor according to the input voltage of the motor control circuit and the target inverse transformation angle; the fourth processing module 608 is also used to control the operating state of the motor according to the drive duty cycle.

[0179] In this embodiment, the specific process of the fourth processing module 608 controlling the operating state of the motor according to the target inverse transformation angle is as follows: the fourth processing module 608 first inversely transforms the above-mentioned input voltage according to the target inverse transformation angle, and then determines the driving duty cycle for driving the motor according to the inverted voltage.

[0180] Furthermore, the fourth processing module 608 adjusts the operating state of the motor according to the determined driving duty cycle. Specifically, during the operation of the motor, the greater the driving duty cycle, the greater the motor speed, and the smaller the driving duty cycle, the lower the motor speed.

[0181] In this embodiment, the fourth processing module 608 can determine the driving duty cycle for driving the motor to operate based on the determined target inverse transformation angle and the input voltage in the motor control circuit. Since the embodiment of the present invention limits the target inverse transformation angle to a certain range, when the fourth processing module 608 controls the operating state of the motor based on the driving duty cycle determined by the target inverse transformation angle, there will be no DC bus overvoltage, thereby ensuring the stability and reliability of the motor operation.

[0182] Example 3:

[0183] Figure 7 A schematic block diagram of a motor control device according to an embodiment of the present invention is shown, wherein the motor control device 700 includes: a memory 702, in which a program or instruction is stored; a processor 704, which executes the program or instruction stored in the memory 702 to implement the steps of the motor control method proposed above in the present invention, thereby having all the beneficial technical effects of the motor control method proposed in the above embodiment of the present invention, which will not be described in detail here.

[0184] Example 4:

[0185] According to a fourth embodiment of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions. When executed by a processor, the program or instructions implement the steps of the motor control method according to the above-mentioned embodiments of the present invention. Therefore, all the beneficial technical effects of the motor control method according to the above-mentioned embodiments of the present invention are achieved, and further details will not be given here.

[0186] Embodiment 5:

[0187] According to a fifth embodiment of the present invention, a motor is provided, comprising the motor control device and / or the readable storage medium provided in the above-mentioned embodiments of the present invention. Thus, all the advantageous technical effects of the motor control device and / or the readable storage medium provided in the above-mentioned embodiments of the present invention are achieved, and no further details will be given here.

[0188] Example 6:

[0189] According to a sixth embodiment of the present invention, a laundry processing device is provided, comprising the motor control device or the motor provided in the aforementioned embodiments of the present invention. Thus, the device exhibits all the beneficial technical effects of the motor control device or the motor provided in the aforementioned embodiments of the present invention, and no further details will be given herein.

[0190] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise expressly defined, the orientations or positional relationships indicated by the terms "upper" and "lower" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connect," "install," and "fix" should be understood in a broad sense. 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 meanings of the above terms in the present invention can be understood according to specific circumstances.

[0191] In the description of the present invention, the terms "one embodiment," "some embodiments," "specific embodiments," etc., mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in multiple embodiments or examples of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0192] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for controlling a motor, characterized in that: include: Determine the voltage vector angle and current vector angle during motor operation; Determine a first angle according to a difference between the voltage vector angle and the current vector angle; determining a target inverse transformation angle according to the first angle; controlling the operating state of the motor according to the target inverse transformation angle; The determining of the target inverse transformation angle according to the first angle specifically includes: When it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is less than 0, the original inverse transformation angle is used as the target inverse transformation angle, where the original inverse transformation angle is used to indicate the rotor position angle of the motor; or When it is confirmed that the difference between the absolute value of the first angle and the preset angle threshold is not less than 0, the target inverse transformation angle is determined according to the first angle and the original inverse transformation angle.

2. The motor control method according to claim 1, characterized in that: The determining of the voltage vector angle and the current vector angle during the operation of the motor specifically includes: Acquire a first voltage and a second voltage during operation of the motor, and determine the voltage vector angle according to the first voltage and the second voltage; A first current and a second current are acquired during operation of the motor, and the current vector angle is determined according to the first current and the second current.

3. The motor control method according to claim 1, wherein: The determining the target inverse transformation angle according to the first included angle and the original inverse transformation angle specifically includes: Determining a compensation angle according to the first angle and a preset proportional coefficient; The target inverse transformation angle is determined according to the original inverse transformation angle and the compensation angle.

4. The motor control method according to claim 1, wherein: The controlling the operating state of the motor according to the target inverse transformation angle specifically includes: Determining a driving duty cycle of the motor according to an input voltage of a control circuit of the motor and the target inverse transformation angle; The operating state of the motor is controlled according to the driving duty cycle.

5. A motor control device, characterized in that: include: A first processing module is used to determine the voltage vector angle and the current vector angle during the operation of the motor; A second processing module, configured to determine a first angle according to a difference between the voltage vector angle and the current vector angle; a third processing module, configured to determine a target inverse transformation angle according to the first angle; a fourth processing module, configured to control the operating state of the motor according to the target inverse transformation angle; The third processing module is further configured to, when it is determined that the difference between the absolute value of the first angle and a preset angle threshold is less than 0, use the original inverse transformation angle as the target inverse transformation angle, wherein the original inverse transformation angle is used to indicate the rotor position transformation angle of the motor; or The third processing module is further configured to determine the target inverse transformation angle according to the first angle and the original inverse transformation angle when it is confirmed that the difference between the absolute value of the first angle and a preset angle threshold is not less than 0.

6. The motor control device according to claim 5, characterized in that: The motor control device further includes an acquisition module, wherein the acquisition module is used to acquire a first voltage and a second voltage during operation of the motor; The first processing module is further configured to determine the voltage vector angle according to the first voltage and the second voltage; The acquisition module is further used to acquire the first current and the second current during the operation of the motor; The first processing module is further configured to determine the current vector angle according to the first current and the second current.

7. The motor control device according to claim 5, characterized in that: The third processing module is further configured to determine a compensation angle according to the first angle and a preset proportional coefficient; The third processing module is further configured to determine the target inverse transformation angle according to the original inverse transformation angle and the compensation angle.

8. The motor control device according to claim 5, characterized in that: The fourth processing module is further configured to determine a driving duty cycle of the motor according to an input voltage of a control circuit of the motor and the target inverse transformation angle; The fourth processing module is further configured to control the operating state of the motor according to the driving duty cycle.

9. A motor control device, characterized in that: include: A memory and a processor, wherein the memory stores a program, and when the processor executes the program, the steps of the motor control method according to any one of claims 1 to 4 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the motor control method according to any one of claims 1 to 4 are implemented.

11. A motor, characterized in that: include: The control device for a motor according to any one of claims 5 to 9; and / or The readable storage medium according to claim 10.

12. A clothes processing device, characterized in that: include: The control device for a motor according to any one of claims 5 to 9; or The motor as claimed in claim 11.

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