Method and device for determining rotor position, motor and clothing processing device

Abstract

The present invention provides a method, device, motor, and clothing processing device for determining rotor position. The method is used for a motor and includes: determining a first command voltage at a first moment and a peak current value at a carrier wave peak moment in a first sampling period, where the first moment is the start moment of the first sampling period; and determining rotor position information of the motor in a second sampling period based on the first command voltage and the peak current value; wherein the second sampling period is the sampling period following the first sampling period. In the technical solution of the present invention, the rotor position of the motor is calculated using current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method and device for determining a rotor position, a motor, and a clothing processing device. Background Art

[0002] In the existing technology, the technical solution for determining the motor rotor position through a position sensorless control algorithm is usually to calculate the motor rotor position based on the current sampled at the carrier wave valley at the current moment and the command voltage calculated in the previous sampling cycle. However, the command voltage and the sampled current in this solution have neither an instantaneous correspondence nor an average correspondence within a sampling cycle, which leads to a large error in the motor rotor position determined based on the command voltage and the sampled current. 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 propose a method for determining a rotor position.

[0005] A second aspect of the present invention is to provide a device for determining a rotor position.

[0006] The third aspect of the present invention is to provide a device for determining the position of a rotor.

[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 the first aspect of the present invention, the present invention proposes a method for determining the rotor position, which is used for a motor. The determination method includes: determining a first command voltage at a first moment, and determining a peak current value at a carrier peak moment of a first sampling period, where the first moment is the starting moment of the first sampling period; determining the rotor position information of the motor in a second sampling period based on the first command voltage and the peak current value; wherein the second sampling period is the next sampling period of the first sampling period.

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

[0012] In this technical solution, the above-mentioned second sampling period is used to indicate the current sampling period, and the above-mentioned first sampling period is used to indicate the sampling period before the current sampling period; the above-mentioned first moment is used to indicate the moment of the carrier wave valley in the first sampling period, that is, the starting moment of the first sampling period; the above-mentioned first instruction voltage is used to indicate the voltage value acting on the first sampling period.

[0013] Specifically, the determining device calculates the first command voltage at the first moment. Specifically, the first command voltage can be calculated based on the motor operation data of the sampling period before the first sampling period.

[0014] Furthermore, the determination device determines the peak current value at the carrier peak moment of the first sampling period. Specifically, the peak current value can be determined by the average current value of the motor at the start and end moments of the above-mentioned first sampling period, or by directly collecting the current value at the carrier peak moment of the first sampling period.

[0015] Furthermore, the determination device determines the rotor position information of the motor in the second sampling period (i.e., the current sampling period) based on the peak current value and the first command voltage. Specifically, the carrier wave peak position of the first sampling period and the average speed of the rotor of the motor during the first sampling period can be calculated based on the peak current value and the voltage acting on the first sampling period (i.e., the first command voltage). The determination device can calculate the rotor position of the motor in the second sampling period based on the carrier wave peak position and the average speed. Therefore, the determination device can determine the rotor position information of the motor in the second sampling period based on the peak current value and the first command voltage.

[0016] It should be noted that, by injecting the first command voltage at the first moment, the determining device can cause the motor to obtain a corresponding current condition during operation within the first sampling period. That is, the aforementioned peak current value is the result of injecting the first specified voltage during motor operation. Therefore, the aforementioned peak current value has an instantaneous correspondence with the first command voltage injected at the first moment.

[0017] In this technical solution, the determination device first determines the first command voltage at a first moment and the peak current value of the first sampling period. Then, based on the peak current value and the first command voltage, it calculates the rotor position of the motor during the second sampling period, thereby determining the rotor position information of the motor during the second sampling period. In the technical solution of the present invention, the determination device calculates the rotor position of the motor using the current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor and ensuring the stability and reliability of the motor operation when the motor's operating state is controlled based on the rotor position information.

[0018] In the above technical solution, the steps of determining the first command voltage at the first moment specifically include: obtaining the first sampled current of the motor at the first moment; obtaining the feedback speed within the third sampling period, the third sampling period being the previous sampling period of the first sampling period; determining the first command current according to the preset speed and feedback speed of the motor; and determining the first command voltage according to the first command current and the first sampled current.

[0019] In this technical solution, the third sampling period is used to indicate a sampling period before the first sampling period, and the feedback speed is used to indicate a speed value of the motor obtained when the motor runs in the third sampling period.

[0020] Specifically, the determining device calculates the first command voltage by obtaining the current value of the motor at the first moment (i.e., the first sampled current) and the feedback speed value of the motor during the third sampling period. Specifically, the motor is provided with a speed sensor, and the motor control circuit is provided with a current sensor. The determining device can obtain the first sampled current through the current sensor, and the determining device can obtain the feedback speed through the speed sensor.

[0021] Furthermore, the determining device calculates a first command current based on the feedback speed and the preset speed of the motor. Specifically, the determining device calculates the first command current by inputting the feedback speed and the preset speed into a speed regulator.

[0022] Specifically, the speed regulator is a program module for calculating the command current. The first command current can be calculated by inputting the speed command (ie, the feedback speed and the preset speed) into the program module.

[0023] Furthermore, the determining device calculates a first command voltage based on the first sampled current and the first command current. Specifically, the determining device can calculate the voltage value of the third sampling period based on the first sampled current and the first command current, and can determine the first command voltage based on the voltage value of the third sampling period.

[0024] Specifically, the determining device calculates the voltage value of the third sampling period by inputting the first sampling current and the first command current into the current regulator, and then determines the first command voltage according to the voltage value of the third sampling period.

[0025] Specifically, the current regulator is a program module for calculating the command voltage. By inputting the current command (ie, the first sampled current and the first command current) into the program module, the first command voltage can be calculated.

[0026] It should be noted that the current regulator generally calculates the first command voltage based on the command current determined by the speed regulator and the feedback current from the motor's previous control cycle. The first sampled current is precisely the current sampled during the motor's previous control cycle. To simplify the calculation of the first command voltage, the technical solution of the present invention uses the first sampled current instead of the feedback current to calculate the first command voltage. This increases the speed of calculating the first command voltage without affecting the accuracy of the calculated first command voltage.

[0027] In some embodiments, the current regulator may be a PI regulator, but is not limited thereto.

[0028] In this technical solution, the determination device first determines a first command current based on the feedback speed obtained during the third sampling period and the preset speed of the motor. Then, based on the first command current and the feedback current (i.e., the first sampled current), the voltage value for the third sampling period is calculated to further determine the first command voltage. In the technical solution of the present invention, the calculation of the first command voltage takes into account the feedback speed and feedback current of the motor. This improves the accuracy of the determined first command voltage, thereby improving the accuracy of the motor rotor position information calculated based on the command voltage in subsequent steps.

[0029] In the above technical solution, the step of determining the peak current value within the first sampling period specifically includes: obtaining the second sampling current of the motor at the second moment, where the second moment is the end moment of the first sampling period; determining the average current value within the first sampling period based on the first sampling current and the second sampling current, and determining the average current value as the peak current value.

[0030] In this technical solution, the second moment is used to indicate the carrier wave valley moment of the second sampling period, that is, the end moment of the first sampling period and the start moment of the second sampling period.

[0031] In this technical solution, the process of determining the peak current value within the first sampling period is as follows: the determination device first obtains the current value of the motor at the second moment (i.e., the above-mentioned second sampling current), and then calculates the current average value within the first sampling period (i.e., the above-mentioned average current value) based on the first sampling current and the second sampling current.

[0032] Furthermore, the determining device determines the current average value in the first sampling period as the above-mentioned peak current value.

[0033] Furthermore, the determining device may also determine the peak current value by directly sampling the current at the carrier wave peak position in the first sampling period.

[0034] In this technical solution, the determination device can calculate the peak current value of the first sampling period by averaging the current values ​​collected at the start and end of the first sampling period, thereby improving the accuracy of the determined peak current value.

[0035] In the above technical solution, the step of determining the rotor position information of the motor in the second sampling period based on the first command voltage and the peak current value specifically includes: performing flux estimation based on the peak current value and the first command voltage to determine the rotor position information in the second sampling period.

[0036] In this technical solution, the determination device calculates the rotor position of the motor based on the peak current value of the first sampling period and the first command voltage by means of flux estimation to determine the rotor position information of the motor in the second sampling period. Specifically, the speed value of the motor when it is running in the first sampling period and the position of the carrier wave peak in the first sampling period can be calculated based on the peak current value and the first command voltage, and the rotor position of the motor when it is running in the second sampling period can be calculated based on the speed value and the position of the carrier wave peak. Therefore, the determination device can determine the rotor position information of the motor in the second sampling period by means of flux estimation based on the peak current value and the first command voltage in the first sampling period.

[0037] In this technical solution, since the above-mentioned peak current value and the above-mentioned first command voltage are both within the first sampling period, the determination device calculates the rotor position of the motor through the current and voltage having an instantaneous corresponding relationship, thereby improving the accuracy of the determined rotor position information of the motor, thereby ensuring the stability and reliability of the motor operation when the operating state of the motor is controlled according to the rotor position information.

[0038] In the above technical solution, the flux estimation is performed based on the peak current value and the first command voltage of the first sampling period, and the step of determining the rotor position information in the second sampling period specifically includes: determining the first carrier peak position in the first sampling period and the first average speed of the rotor of the motor in the first sampling period based on the peak current value and the first command voltage of the first sampling period; and determining the rotor position information in the second sampling period based on the first carrier peak position and the first average speed.

[0039] In this technical solution, the specific steps for the determination device to determine the rotor position information of the motor in the second sampling period according to the peak current value and the first command voltage in the first sampling period by means of flux estimation are as follows: the determination device adopts a position sensorless control algorithm to determine the first carrier peak position in the first sampling period and the first average speed of the motor rotor in the first sampling period according to the above-mentioned peak current value and the first command voltage.

[0040] Specifically, the process of determining the first carrier peak position in the first sampling period based on the above-mentioned peak current value and the first command voltage is as follows: the determination device first calculates the magnetic flux of the motor when it is running in the first sampling period based on the first command voltage and the peak current value, and estimates the carrier valley position of the first sampling period and the carrier valley position of the second sampling period based on the magnetic flux, and then determines the first carrier peak position in the above-mentioned first sampling period based on the carrier valley position of the first sampling period and the carrier valley position of the second sampling period.

[0041] Furthermore, the determining device calculates the rotor position of the motor in the second sampling period according to the first carrier wave peak position and the first average speed, so as to determine the rotor position information in the second sampling period.

[0042] In this technical solution, the determination device can determine the first average speed of the electronic rotor and the first carrier wave peak position within the first sampling period based on the peak current value and the first command voltage within the first sampling period, and then calculate the motor's rotor position within the second sampling period based on the first average speed and the first carrier wave peak position. In this technical solution, because the peak current value and the first command voltage are both within the first sampling period, the determination device calculates the motor's rotor position based on the current and voltage that have an instantaneous correspondence, thereby improving the accuracy of the determined motor's rotor position information and ensuring the stability and reliability of the motor's operation when the motor's operating state is controlled based on this rotor position information.

[0043] According to the second aspect of the present invention, the present invention proposes a device for determining the rotor position, which is used for a motor. The device for determining the rotor position includes: a processing module, used to determine a first command voltage at a first moment, and to determine a peak current value at a carrier wave peak moment of a first sampling period, wherein the first moment is the starting moment of the first sampling period; the processing module is also used to determine the rotor position information of the motor in a second sampling period based on the first command voltage and the peak current value; wherein the second sampling period is the next sampling period of the first sampling period.

[0044] In this technical solution, the second sampling period is used to indicate the current sampling period, and the first sampling period is used to indicate the next sampling period of the current sampling period; the first moment is used to indicate the moment of the carrier wave valley in the first sampling period, that is, the starting moment of the first sampling period; the first instruction voltage is used to indicate the voltage value acting on the first sampling period.

[0045] Specifically, the first command voltage at the first moment is calculated by the processing module. Specifically, the first command voltage can be calculated based on data of a sampling period before the first sampling period.

[0046] Furthermore, the peak current value at the carrier peak moment of the first sampling period is determined by the processing module. Specifically, the peak current value can be determined by the average current value of the motor at the start and end moments of the above-mentioned first sampling period, or by directly collecting the current value at the carrier peak moment of the first sampling period.

[0047] Furthermore, the processing module determines the rotor position information of the motor in the second sampling period (i.e., the current sampling period) based on the peak current value and the first command voltage. Specifically, the carrier wave peak position of the first sampling period and the average speed value of the rotor when the motor is running in the first sampling period can be calculated based on the peak current value and the voltage acting on the first sampling period (i.e., the first command voltage). The processing module can calculate the rotor position of the motor in the second sampling period based on the carrier wave peak position and the average speed value. Therefore, the processing module can determine the rotor position information of the motor in the second sampling period based on the peak current value and the first command voltage.

[0048] In this technical solution, a processing module first determines a first command voltage at a first moment and a peak current value at a carrier wave peak moment in a first sampling period. The rotor position of the motor during the second sampling period is calculated based on the peak current value and the first command voltage, thereby determining the rotor position information of the motor during the second sampling period. In the technical solution of the present invention, the processing module calculates the rotor position of the motor using current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor and ensuring the stability and reliability of the motor operation when the motor's operating state is controlled based on the rotor position information.

[0049] In the above technical solution, the device for determining the rotor position also includes an acquisition module, which is used to obtain a first sampled current of the motor at a first moment; the acquisition module is also used to obtain a feedback speed within a third sampling period, and the third sampling period is a sampling period before the first sampling period; the processing module is also used to determine a first command current based on the preset speed and feedback speed of the motor; the processing module is also used to determine a first command voltage based on the first command current and the first sampled current.

[0050] In this technical solution, the third sampling period is used to indicate a sampling period before the first sampling period, and the feedback speed is used to indicate a speed value of the motor obtained when the motor runs in the third sampling period.

[0051] Specifically, the specific steps for calculating the first command voltage are as follows: first, using an acquisition module, acquires the current value of the motor at the first moment (i.e., the first sampled current) and the feedback speed value of the motor during the third sampling period. Specifically, a speed sensor is provided on the motor, and a current sensor is provided in the motor control circuit. The acquisition module can acquire the first sampled current through the current sensor, and the acquisition module can acquire the feedback speed through the speed sensor.

[0052] Furthermore, the processing module calculates a first command current based on the feedback speed and the preset speed of the motor. Specifically, the processing module calculates the first command current by inputting the feedback speed and the preset speed into a speed regulator.

[0053] Specifically, the speed regulator is a program module for calculating the command current. The first command current can be calculated by inputting the speed command (ie, the feedback speed and the preset speed) into the program module.

[0054] Furthermore, the processing module calculates a first command voltage based on the first sampled current and the first command current. Specifically, the processing module can calculate the voltage value of the third sampling period based on the first sampled current and the first command current, and can determine the first command voltage based on the voltage value of the third sampling period.

[0055] Specifically, the processing module calculates a voltage value of a third sampling period by inputting the first sampled current and the first command current into the current regulator, and then determines the first command voltage based on the voltage value of the third sampling period. Specifically, the voltage value of the third sampling period is equal to the first command voltage.

[0056] Specifically, the current regulator is a program module for calculating the command voltage. By inputting the current command (ie, the first sampled current and the first command current) into the program module, the first command voltage can be calculated.

[0057] It should be noted that the current regulator generally calculates the first command voltage based on the command current determined by the speed regulator and the feedback current from the motor's previous control cycle. The first sampled current is precisely the current sampled during the motor's previous control cycle. To simplify the calculation of the first command voltage, the technical solution of the present invention uses the first sampled current instead of the feedback current to calculate the first command voltage. This increases the speed of calculating the first command voltage without affecting the accuracy of the calculated first command voltage.

[0058] Exemplarily, the current regulator may be a PI regulator, but is not limited thereto.

[0059] In this technical solution, the processing module is capable of determining a first command current based on the feedback speed within the third sampling period acquired by the acquisition module and the preset speed of the motor. The processing module then calculates a voltage value for the third sampling period based on the first command current and the feedback current (i.e., the first sampled current), thereby determining the first command voltage. In the technical solution of the present invention, the calculation of the first command voltage comprehensively considers the feedback speed and feedback current of the motor, thereby improving the accuracy of the determined first command voltage and, in turn, improving the accuracy of the motor rotor position information calculated based on the command voltage in subsequent steps.

[0060] In the above technical solution, the acquisition module is also used to obtain the second sampling current of the motor at a second moment, and the second moment is the end moment of the first sampling cycle; the processing module is also used to determine the average current value within the first sampling cycle based on the first sampling current and the second sampling current, and determine the average current value as the peak current value.

[0061] In this technical solution, the second moment is used to indicate the carrier wave valley moment of the second sampling period, that is, the end moment of the first sampling period and the start moment of the second sampling period.

[0062] In this technical solution, the process of determining the peak current value within the first sampling period is as follows: first, the current value of the motor at the second moment (i.e., the above-mentioned second sampling current) is obtained through the acquisition module, and the processing module calculates the current average value within the first sampling period (i.e., the above-mentioned average current value) based on the first sampling current and the second sampling current.

[0063] Furthermore, the processing module determines the current average value in the first sampling period as the peak current value.

[0064] Furthermore, the processing module may also determine the peak current value by directly acquiring the current at the carrier peak position of the first sampling period acquired by the acquisition module.

[0065] In this technical solution, the processing module can calculate the peak current value of the first sampling period by averaging the current values ​​obtained at the start and end of the first sampling period, thereby improving the accuracy of the determined peak current value.

[0066] In the above technical solution, the processing module is further used to estimate the flux linkage according to the peak current value and the first command voltage, and determine the rotor position information in the second sampling period.

[0067] In this technical solution, the processing module calculates the rotor position of the motor based on the peak current value and the first command voltage by means of flux estimation to determine the rotor position information of the motor in the second sampling period. Specifically, the speed value of the motor when it is running in the first sampling period and the position of the carrier wave peak in the first sampling period can be calculated based on the peak current value and the first command voltage, and the rotor position of the motor when it is running in the second sampling period can be calculated based on the speed value and the position of the carrier wave peak. Therefore, the processing module can determine the rotor position information of the motor in the second sampling period by means of flux estimation based on the peak current value and the first command voltage in the first sampling period.

[0068] In this technical solution, since the above-mentioned peak current value and the above-mentioned first command voltage are both within the first sampling period, the processing module calculates the rotor position of the motor through the current and voltage having an instantaneous corresponding relationship, thereby improving the accuracy of the determined rotor position information of the motor, thereby ensuring the stability and reliability of the motor operation when the operating state of the motor is controlled according to the rotor position information.

[0069] In the above technical solution, the processing module is also used to determine the first carrier peak position within the first sampling period and the first average speed of the electronic rotor within the first sampling period based on the peak current value and the first instruction voltage of the first sampling period; the processing module is also used to determine the rotor position information in the second sampling period based on the first carrier peak position and the first average speed.

[0070] In this technical solution, the specific steps of determining the rotor position information of the motor in the second sampling period according to the peak current value and the first command voltage in the first sampling period by means of flux estimation are as follows: the processing module adopts a position sensorless control algorithm to determine the first carrier peak position in the first sampling period and the first average speed of the motor rotor in the first sampling period according to the above-mentioned peak current value and the first command voltage.

[0071] Specifically, the process of determining the first carrier peak position in the first sampling period based on the above-mentioned peak current value and the first instruction voltage is as follows: the processing module first calculates the magnetic flux of the motor when it is running in the first sampling period based on the first instruction voltage and the peak current value, and estimates the carrier valley position of the first sampling period and the carrier valley position of the second sampling period based on the magnetic flux, and then determines the first carrier peak position in the above-mentioned first sampling period based on the carrier valley position of the first sampling period and the carrier valley position of the second sampling period.

[0072] Furthermore, the processing module calculates the rotor position of the motor in the second sampling period according to the first carrier wave peak position and the first average speed, so as to determine the rotor position information in the second sampling period.

[0073] In this technical solution, the processing module can determine the first average speed of the electronic rotor and the first carrier wave peak position within the first sampling period based on the peak current value and the first command voltage of the first sampling period, and then calculate the rotor position of the motor within the second sampling period based on the first average speed and the first carrier wave peak position. In this technical solution, because the peak current value and the first command voltage are both within the first sampling period, the processing module calculates the rotor position of the motor using the current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor and thereby ensuring the stability and reliability of the motor operation when the motor's operating state is controlled based on this rotor position information.

[0074] According to the third aspect of the present invention, a device for determining the rotor position 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 method for determining the rotor position proposed in the above technical solution of the present invention, and thus has all the beneficial technical effects of the method for determining the rotor position proposed in the above technical solution of the present invention, which will not be further elaborated here.

[0075] 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 method for determining rotor position as provided in the above technical solution of the present invention. Therefore, the method has all the beneficial technical effects of the method for determining rotor position provided in the above technical solution of the present invention, and no further details will be given here.

[0076] According to a fifth aspect of the present invention, a motor is provided, comprising the apparatus for determining rotor position according to the above technical solution of the present invention, and / or the readable storage medium according to the above technical solution of the present invention. Thus, the motor has all the beneficial technical effects of the apparatus for determining rotor position according to the above technical solution of the present invention, and / or the readable storage medium according to the above technical solution of the present invention, and no further details will be given here.

[0077] According to a sixth aspect of the present invention, a laundry processing device is provided, comprising the rotor position determination device or the motor provided by the aforementioned technical solution of the present invention. The device thus possesses all the beneficial technical effects of the rotor position determination device or the motor provided by the aforementioned technical solution of the present invention, and no further details will be given here.

[0078] 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

[0079] 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:

[0080] Figure 1 One of the schematic flow charts of a method for determining a rotor position according to an embodiment of the present invention is shown;

[0081] Figure 2 A second schematic flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown;

[0082] Figure 3 A third schematic flow chart showing a method for determining a rotor position according to an embodiment of the present invention;

[0083] Figure 4 A fourth schematic flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown;

[0084] Figure 5 A fifth schematic flow chart showing a method for determining a rotor position according to an embodiment of the present invention;

[0085] Figure 6 One of the schematic block diagrams of a device for determining a rotor position according to an embodiment of the present invention is shown;

[0086] Figure 7 A second schematic block diagram showing a device for determining a rotor position according to an embodiment of the present invention;

[0087] Figure 8 A schematic diagram of current sampling and PWM update timing according to an embodiment of the present invention is shown;

[0088] Figure 9 A schematic diagram of three-phase PWM duty cycle and U-phase current in an embodiment of the present invention is shown;

[0089] Figure 10 A schematic block diagram of a motor control system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0090] 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.

[0091] 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.

[0092] The following combination Figures 1 to 10 , the rotor position determination method, device, motor and clothing processing device proposed in the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0093] Example 1

[0094] Figure 1 A flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown, wherein the control method includes:

[0095] Step S102: determining a first command voltage at a first moment, and determining a peak current value at a carrier wave peak moment of a first sampling period, where the first moment is a starting moment of the first sampling period;

[0096] Step S104: determining the rotor position information of the motor in the second sampling period according to the first command voltage and the peak current value.

[0097] The second sampling period is the next sampling period of the first sampling period.

[0098] It should be noted that the execution subject of the rotor position determination method proposed in the present invention may be a rotor position determination device. In order to more clearly describe the rotor position determination method proposed in the present invention, the following technical solution is exemplified by taking the execution subject as the rotor position determination device.

[0099] In this embodiment, Figure 8 As shown, the second sampling period is used to indicate the current sampling period, and the first sampling period is used to indicate the previous sampling period of the current sampling period; the first moment is used to indicate the moment of the carrier wave valley in the first sampling period, that is, the starting moment of the first sampling period; the first command voltage is used to indicate the voltage value acting on the first sampling period, which is the voltage value determined according to the sampling period before the first sampling period.

[0100] Specifically, the determining device calculates the first command voltage. Specifically, the first command voltage can be calculated based on data of a sampling period before the first sampling period.

[0101] Furthermore, the determination device determines the peak current value at the carrier peak moment of the first sampling period. Specifically, the peak current value can be determined by the average current value of the motor at the start and end moments of the above-mentioned first sampling period, or by directly collecting the current value at the carrier peak moment of the first sampling period.

[0102] Furthermore, the determination device determines the rotor position information of the motor in the second sampling period (i.e., the current sampling period) based on the peak current value and the first command voltage. Specifically, the carrier wave peak position of the first sampling period and the average speed value of the rotor of the motor when the motor is running in the first sampling period can be calculated based on the peak current value and the voltage acting on the first sampling period (i.e., the first command voltage). The determination device can calculate the rotor position of the motor when the motor is running in the second sampling period based on the carrier wave peak position and the average speed value. Therefore, the determination device can calculate the rotor position of the motor when the motor is running in the second sampling period based on the first command voltage and the peak current value.

[0103] It should be noted that, by injecting the first command voltage at the first moment, the determining device can cause the motor to obtain a corresponding current condition during operation within the first sampling period. That is, the aforementioned peak current value is the result of injecting the first specified voltage during motor operation. Therefore, the aforementioned peak current value has an instantaneous correspondence with the first command voltage injected at the first moment.

[0104] In an embodiment of the present invention, the determination device calculates the rotor position of the motor by using the current and voltage having an instantaneous corresponding relationship, thereby improving the accuracy of the determined rotor position information of the motor and ensuring the stability and reliability of the motor operation when the operating state of the motor is controlled according to the rotor position information.

[0105] Figure 2 A flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown, wherein the control method includes:

[0106] Step S202: obtaining a first sampled current of the motor at a first moment;

[0107] Step S204: obtaining the feedback speed in a third sampling period, where the third sampling period is a sampling period preceding the first sampling period;

[0108] Step S206: determining a first command current according to the preset speed and the feedback speed of the motor;

[0109] Step S208: determining a first command voltage according to the first command current and the first sampled current;

[0110] Step S210: determining a peak current value at a carrier wave peak moment of a first sampling period, where the first moment is a starting moment of the first sampling period;

[0111] Step S212: determining the rotor position information of the motor in the second sampling period according to the first command voltage and the peak current value.

[0112] In this embodiment, the third sampling period is used to indicate a sampling period before the first sampling period, and the feedback speed is used to indicate a speed value of the motor obtained when the motor runs in the third sampling period.

[0113] Specifically, the determining device calculates the first command voltage by obtaining the current value of the motor at the first moment (i.e., the first sampled current) and the feedback speed value of the motor during the third sampling period. Specifically, the motor is provided with a speed sensor, and the motor control circuit is provided with a current sensor. The determining device can obtain the first sampled current through the current sensor, and the determining device can obtain the feedback speed through the speed sensor.

[0114] Furthermore, the determining device calculates a first command current based on the feedback speed and the preset speed of the motor. Specifically, the determining device calculates the first command current by inputting the feedback speed and the preset speed into a speed regulator.

[0115] Specifically, the speed regulator is a program module for calculating the command current. The first command current can be calculated by inputting the speed command (ie, the feedback speed and the preset speed) into the program module.

[0116] Furthermore, the determining device calculates a first command voltage based on the first sampled current and the first command current. Specifically, the determining device can calculate the voltage value of the third sampling period based on the first sampled current and the first command current, and can determine the first command voltage based on the voltage value of the third sampling period.

[0117] Specifically, the determining device calculates the voltage value of the third sampling period by inputting the first sampling current and the first command current into the current regulator, and then determines the first command voltage according to the voltage value of the third sampling period.

[0118] Specifically, the formula for determining the first command voltage according to the voltage value of the third sampling period is as follows:

[0119] u est =u k-1 ;

[0120] Among them, u est Used to indicate the first command voltage, u k-1 Used to indicate the voltage value of the third sampling period.

[0121] Specifically, the current regulator is a program module for calculating the command voltage. By inputting the current command (ie, the first sampled current and the first command current) into the program module, the first command voltage can be calculated.

[0122] It should be noted that the current regulator generally calculates the first command voltage based on the command current determined by the speed regulator and the feedback current from the motor's previous control cycle. The first sampled current is precisely the current sampled during the motor's previous control cycle. To simplify the calculation of the first command voltage, in an embodiment of the present invention, the first sampled current replaces the feedback current in calculating the first command voltage. This improves the calculation rate of the first command voltage without affecting the accuracy of the calculated first command voltage.

[0123] Exemplarily, the current regulator may be a PI regulator, but is not limited thereto.

[0124] In this embodiment, the determination device first determines a first command current based on the feedback speed obtained during the third sampling period and the preset speed of the motor. The device then calculates a voltage value during the third sampling period based on the first command current and the feedback current (i.e., the first sampled current), thereby determining the first command voltage. In this embodiment of the present invention, the calculation of the first command voltage comprehensively considers the feedback speed and feedback current of the motor, thereby improving the accuracy of the determined first command voltage and, in turn, improving the accuracy of the motor rotor position information calculated based on the command voltage in subsequent steps.

[0125] Figure 3 A flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown, wherein the control method includes:

[0126] Step S302: obtaining a first sampled current of the motor at a first moment;

[0127] Step S304: obtaining the feedback speed in a third sampling period, where the third sampling period is a sampling period preceding the first sampling period;

[0128] Step S306: determining a first command current according to the preset speed and the feedback speed of the motor;

[0129] Step S308: determining a first command voltage according to the first command current and the first sampled current;

[0130] Step S310: obtaining a second sampled current of the motor at a second moment, where the second moment is the end moment of the first sampling period;

[0131] Step S312: determining an average current value in the first sampling period according to the first sampling current and the second sampling current, and determining the average current value as the peak current value;

[0132] Step S314: determining the rotor position information of the motor in the second sampling period according to the first command voltage and the peak current value.

[0133] In this embodiment, the second moment is used to indicate the carrier wave valley moment of the second sampling period, that is, the end moment of the first sampling period and the start moment of the second sampling period.

[0134] In this embodiment, the process of determining the peak current value within the first sampling period is as follows: the determination device first obtains the current value of the motor at the second moment (i.e., the above-mentioned second sampling current), and then calculates the current average value within the first sampling period (i.e., the above-mentioned average current value) based on the first sampling current and the second sampling current.

[0135] Specifically, the formula for calculating the average current of the motor when it runs in the first sampling period based on the first sampling current and the second sampling current is as follows:

[0136]

[0137] Among them, i est Used to indicate the above average current, i k Used to indicate the first sampling current, i k+1 Used to indicate the second sampling current.

[0138] Furthermore, the determining device determines the current average value in the first sampling period as the above-mentioned peak current value.

[0139] For example, according to Figure 9 It can be seen that the current at the carrier wave peak position in the first sampling period can be basically considered to be equal to i in the first sampling period. k with i k+1 Therefore, the determination device can also determine the above-mentioned peak current value by directly collecting the current at the carrier peak position of the first sampling period.

[0140] In this embodiment, the determining device can calculate the peak current value of the first sampling period by averaging the current values ​​collected at the start and end of the first sampling period, thereby improving the accuracy of the determined peak current value.

[0141] Figure 4 A flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown, wherein the control method includes:

[0142] Step S402: determining a first command voltage at a first moment, and determining a peak current value at a carrier wave peak moment of a first sampling period, where the first moment is a starting moment of the first sampling period;

[0143] Step S404: performing flux estimation according to the peak current value and the first command voltage to determine the rotor position information in the second sampling period.

[0144] In this embodiment, the determination device calculates the rotor position of the motor based on the peak current value of the first sampling period and the first command voltage by flux estimation to determine the rotor position of the motor when the motor is operating in the second sampling period. Specifically, the speed value of the motor when operating in the first sampling period and the position of the carrier wave peak in the first sampling period can be calculated based on the peak current value and the first command voltage, and the rotor position of the motor when operating in the second sampling period can be calculated based on the speed value and the position of the carrier wave peak. Therefore, the determination device can determine the rotor position of the motor when the motor is operating in the second sampling period by flux estimation based on the peak current value and the first command voltage.

[0145] In this embodiment, since the above-mentioned peak current value and the above-mentioned first command voltage are both within the first sampling period, the determination device calculates the rotor position of the motor through the current and voltage having an instantaneous corresponding relationship, thereby improving the accuracy of the determined rotor position information of the motor, thereby ensuring the stability and reliability of the motor operation when the operating state of the motor is controlled according to the rotor position information.

[0146] Figure 5 A flow chart of a method for determining a rotor position according to an embodiment of the present invention is shown, wherein the control method includes:

[0147] Step S502: determining a first command voltage at a first moment, and determining a peak current value at a carrier wave peak moment of a first sampling period, where the first moment is a starting moment of the first sampling period;

[0148] Step S504: determining a first carrier wave peak position within a first sampling period and a first average speed of a rotor of the motor within the first sampling period according to the peak current value and the first command voltage;

[0149] Step S506: determining the rotor position information in the second sampling period according to the first carrier wave peak position and the first average speed.

[0150] In this embodiment, the specific steps of the determination device calculating the rotor position of the motor when the motor is running in the second sampling period according to the above-mentioned peak current value and the first instruction voltage by means of flux estimation are as follows: the determination device adopts a position sensorless control algorithm to determine the first carrier peak position in the first sampling period and the first average speed of the motor rotor in the first sampling period according to the above-mentioned peak current value and the first instruction voltage.

[0151] Specifically, the calculation formula for the first average speed and the motor speed when the motor is running in the first sampling period is as follows:

[0152]

[0153] Among them, R s Used to indicate the phase resistance of the motor; ω is used to indicate the motor speed (i.e. the motor speed during the first sampling period); Used to indicate the permanent magnet flux of the motor; u d and u q Used to indicate the voltage component of the first command voltage in the dq coordinate system; i d and i q It is used to indicate the current component of the above peak current value in the dq coordinate system; L d and L q Used to indicate the direct and quadrature axis inductance, where the dq coordinate system is used to indicate the rotating coordinate system of the motor.

[0154] Specifically, the formula for determining the first average speed according to the motor speed during the first sampling period is as follows:

[0155] ω est =ω k ;

[0156] Among them, ω est Used to indicate the first average speed, ω k Used to indicate the motor speed during the first sampling period.

[0157] Specifically, the process of determining the first carrier peak position in the first sampling period based on the above-mentioned peak current value and the first command voltage is as follows: the determination device first calculates the magnetic flux of the motor when it is running in the first sampling period based on the first command voltage and the peak current value, and estimates the carrier valley position in the first sampling period and the carrier valley position in the second sampling period based on the magnetic flux, and then determines the first carrier peak position in the above-mentioned first sampling period based on the carrier valley position in the first sampling period and the carrier valley position in the second sampling period.

[0158] Specifically, the formula for calculating the flux linkage of the motor when it is running in the first sampling period according to the first command voltage and the peak current value is as follows:

[0159]

[0160] Among them, ψ α and ψ β It is used to indicate the magnetic flux component of the motor in the αβ coordinate system when the motor is running in the first sampling period, u α and u β It is used to indicate the voltage component of the first command voltage in the αβ coordinate system, i α and i βIt is used to indicate the current component of the peak current value in the first sampling period in the αβ coordinate system, and the αβ coordinate system is used to indicate the stationary coordinate system of the motor.

[0161] Specifically, the calculation formula for determining the first carrier wave peak position in the first sampling period according to the carrier wave valley position in the first sampling period and the carrier wave valley position in the second sampling period is as follows:

[0162]

[0163] Among them, θ est Used to indicate the peak position of the first carrier wave, θ k Used to indicate the carrier wave valley position in the first sampling period, θ k+1 Used to indicate the carrier wave valley position in the second sampling period.

[0164] Furthermore, the determining device calculates the rotor position of the motor in the second sampling period according to the first carrier wave peak position and the first average speed, so as to determine the rotor position information in the second sampling period.

[0165] Specifically, based on the first carrier wave peak position and the first average speed, the formula for calculating the rotor position of the motor when the motor is running in the second sampling period is as follows:

[0166]

[0167] Among them, θ is used to indicate the rotor position of the motor when the motor is running in the second sampling period, θ est Used to indicate the peak position of the first carrier wave, ω est Used to indicate the first average speed, T s Used to indicate the sampling period.

[0168] In this embodiment, the determination device is capable of determining a first average speed of the electronic rotor and a first carrier wave peak position in the first sampling period based on the peak current value and the first command voltage in the first sampling period, and further calculating the rotor position of the motor in the second sampling period based on the first average speed and the first carrier wave peak position. In this embodiment, because both the peak current value and the first command voltage are within the first sampling period, the determination device calculates the rotor position of the motor using the current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor and thereby ensuring the stability and reliability of the motor operation when the motor's operating state is controlled based on this rotor position information.

[0169] Example 2:

[0170] Figure 6A schematic block diagram of a device for determining the rotor position of an embodiment of the present invention is shown. The device 600 for determining the rotor position is used for a motor. The device 600 for determining the rotor position includes: a processing module 602, for determining a first command voltage at a first moment, and a peak current value at a carrier wave peak moment in a first sampling period, where the first moment is the starting moment of the first sampling period; the processing module 602 is further used to determine the rotor position information of the motor in a second sampling period based on the first command voltage and the peak current value; wherein the second sampling period is the next sampling period of the first sampling period.

[0171] In this embodiment, the second sampling period is used to indicate the current sampling period, and the first sampling period is used to indicate the next sampling period of the current sampling period; the first moment is used to indicate the moment of the carrier wave valley in the first sampling period, that is, the starting moment of the first sampling period; the first instruction voltage is used to indicate the voltage value acting on the first sampling period.

[0172] Specifically, the first command voltage at the first moment is calculated by the processing module 602. Specifically, the first command voltage can be calculated based on data of a sampling period before the first sampling period.

[0173] Furthermore, the peak current value at the carrier peak moment of the first sampling period is determined by the processing module 602. Specifically, the peak current value can be determined by the average current value of the motor at the start and end moments of the above-mentioned first sampling period, or by directly collecting the current value at the carrier peak moment of the first sampling period.

[0174] Furthermore, the processing module 602 determines the rotor position information of the motor in the second sampling period (i.e., the current sampling period) based on the peak current value and the first command voltage. Specifically, the carrier wave peak position of the first sampling period and the average speed value of the rotor when the motor is running in the first sampling period can be calculated based on the peak current value and the voltage acting on the first sampling period (i.e., the first command voltage). The processing module 602 can calculate the rotor position of the motor in the second sampling period based on the carrier wave peak position and the average speed value. Therefore, the processing module 602 can determine the rotor position information of the motor in the second sampling period based on the peak current value and the first command voltage.

[0175] In this embodiment, processing module 602 first determines a first command voltage at a first moment and a peak current value at a carrier wave peak moment in a first sampling period. Based on the peak current value and the first command voltage, the rotor position of the motor during the second sampling period is calculated, thereby determining the rotor position information of the motor during the second sampling period. In this embodiment of the present invention, processing module 602 calculates the rotor position of the motor using the current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor and ensuring the stability and reliability of the motor operation when the motor's operating state is controlled based on the rotor position information.

[0176] In the above embodiment, the rotor position determination device 600 also includes an acquisition module 604, which is used to obtain a first sampled current of the motor at a first moment; the acquisition module 604 is also used to obtain a feedback speed within a third sampling period, and the third sampling period is a sampling period before the first sampling period; the processing module 602 is also used to determine a first command current based on the preset speed and feedback speed of the motor; the processing module 602 is also used to determine a first command voltage based on the first command current and the first sampled current.

[0177] In this embodiment, the third sampling period is used to indicate a sampling period before the first sampling period, and the feedback speed is used to indicate a speed value of the motor obtained when the motor runs in the third sampling period.

[0178] Specifically, the specific steps for calculating the first command voltage are as follows: first, the current value of the motor at the first moment (i.e., the first sampled current) and the feedback speed value of the motor during the third sampling period are obtained by the acquisition module 604. Specifically, the motor is provided with a speed sensor, and the control circuit of the motor is provided with a current sensor. The acquisition module 604 can obtain the first sampled current through the current sensor, and the acquisition module 604 can obtain the feedback speed through the speed sensor.

[0179] Furthermore, the processing module 602 calculates a first command current based on the feedback speed and the preset speed of the motor. Specifically, the processing module 602 calculates the first command current by inputting the feedback speed and the preset speed into a speed regulator.

[0180] Specifically, the speed regulator is a program module for calculating the command current. The first command current can be calculated by inputting the speed command (ie, the feedback speed and the preset speed) into the program module.

[0181] Furthermore, the processing module 602 calculates a first command voltage based on the first sampled current and the first command current. Specifically, the processing module 602 can calculate the voltage value of the third sampling period based on the first sampled current and the first command current, and can determine the first command voltage based on the voltage value of the third sampling period.

[0182] Specifically, the processing module 602 calculates the voltage value of the third sampling period by inputting the first sampled current and the first command current into the current regulator, and then determines the first command voltage based on the voltage value of the third sampling period. Specifically, the voltage value of the third sampling period is equal to the first command voltage.

[0183] Specifically, the current regulator is a program module for calculating the command voltage. By inputting the current command (ie, the first sampled current and the first command current) into the program module, the first command voltage can be calculated.

[0184] It should be noted that the current regulator generally calculates the first command voltage based on the command current determined by the speed regulator and the feedback current from the motor's previous control cycle. The first sampled current is precisely the current sampled during the motor's previous control cycle. To simplify the calculation of the first command voltage, in an embodiment of the present invention, the first sampled current replaces the feedback current in calculating the first command voltage. This improves the calculation rate of the first command voltage without affecting the accuracy of the calculated first command voltage.

[0185] Exemplarily, the current regulator may be a PI regulator, but is not limited thereto.

[0186] In this embodiment, processing module 602 is capable of determining a first command current based on the feedback speed during the third sampling period obtained by acquisition module 604 and the preset speed of the motor. The processing module 602 then calculates a voltage value during the third sampling period based on the first command current and the feedback current (i.e., the first sampled current), thereby determining the first command voltage. In this embodiment of the present invention, the calculation of the first command voltage comprehensively considers the feedback speed and feedback current of the motor, thereby improving the accuracy of the determined first command voltage and, in turn, improving the accuracy of the motor rotor position information calculated based on the command voltage in subsequent steps.

[0187] In the above embodiment, the acquisition module 604 is also used to obtain the second sampling current of the motor at the second moment, and the second moment is the end moment of the first sampling period; the processing module 602 is also used to determine the average current value within the first sampling period based on the first sampling current and the second sampling current, and determine the average current value as the peak current value.

[0188] In this embodiment, the second moment is used to indicate the carrier wave valley moment of the second sampling period, that is, the end moment of the first sampling period and the start moment of the second sampling period.

[0189] In this embodiment, the process of determining the peak current value within the first sampling period is as follows: first, the current value of the motor at the second moment (i.e., the above-mentioned second sampling current) is obtained through the acquisition module 604, and the processing module 602 calculates the current average value within the first sampling period (i.e., the above-mentioned average current value) based on the first sampling current and the second sampling current.

[0190] Furthermore, the processing module 602 determines the average current value in the first sampling period as the peak current value.

[0191] Furthermore, the processing module 602 may also determine the peak current value by directly acquiring the current at the carrier peak position of the first sampling period acquired by the acquiring module 604 .

[0192] In this embodiment, the processing module 602 can calculate the peak current value of the first sampling period by averaging the current values ​​obtained at the start and end of the first sampling period, thereby improving the accuracy of the determined peak current value.

[0193] In the above embodiment, the processing module 602 is further configured to perform flux estimation according to the peak current value and the first command voltage, and determine the rotor position information in the second sampling period.

[0194] In this embodiment, the processing module 602 calculates the rotor position of the motor based on the peak current value and the first command voltage by means of flux estimation to determine the rotor position information of the motor in the second sampling period. Specifically, the speed value of the motor when it is running in the first sampling period and the position of the carrier wave peak in the first sampling period can be calculated based on the peak current value and the first command voltage, and the rotor position of the motor when it is running in the second sampling period can be calculated based on the speed value and the position of the carrier wave peak. Therefore, the processing module 602 can determine the rotor position information of the motor in the second sampling period by means of flux estimation based on the peak current value and the first command voltage in the first sampling period.

[0195] In this embodiment, since the above-mentioned peak current value and the above-mentioned first command voltage are both within the first sampling period, the processing module 602 calculates the rotor position of the motor through the current and voltage having an instantaneous corresponding relationship, thereby improving the accuracy of the determined rotor position information of the motor, thereby ensuring the stability and reliability of the motor operation when the operating state of the motor is controlled according to the rotor position information.

[0196] In the above embodiment, the processing module 602 is also used to determine the first carrier peak position within the first sampling period and the first average speed of the electronic rotor within the first sampling period based on the peak current value and the first command voltage of the first sampling period; the processing module 602 is also used to determine the rotor position information in the second sampling period based on the first carrier peak position and the first average speed.

[0197] In this embodiment, the specific steps of determining the rotor position information of the motor in the second sampling period according to the peak current value and the first command voltage in the first sampling period by means of flux estimation are as follows: the processing module 602 adopts a position sensorless control algorithm to determine the first carrier peak position in the first sampling period and the first average speed of the motor rotor in the first sampling period according to the above-mentioned peak current value and the first command voltage.

[0198] Specifically, the process of determining the first carrier peak position in the first sampling period based on the above-mentioned peak current value and the first command voltage is as follows: the processing module 602 first calculates the magnetic flux of the motor when it is running in the first sampling period based on the first command voltage and the peak current value, and estimates the carrier valley position of the first sampling period and the carrier valley position of the second sampling period based on the magnetic flux, and then determines the first carrier peak position in the above-mentioned first sampling period based on the carrier valley position of the first sampling period and the carrier valley position of the second sampling period.

[0199] Furthermore, the processing module 602 calculates the rotor position of the motor in the second sampling period according to the first carrier wave peak position and the first average speed, so as to determine the rotor position information in the second sampling period.

[0200] In this embodiment, the processing module 602 can determine the first average speed of the electronic rotor and the first carrier wave peak position within the first sampling period based on the peak current value and the first command voltage within the first sampling period, and further calculate the rotor position of the motor within the second sampling period based on the first average speed and the first carrier wave peak position. In this embodiment, because the peak current value and the first command voltage are both within the first sampling period, the processing module 602 calculates the rotor position of the motor using the current and voltage having an instantaneous correspondence, thereby improving the accuracy of the determined rotor position information of the motor, thereby ensuring the stability and reliability of the motor operation when the motor operating state is controlled based on the rotor position information.

[0201] Example 3:

[0202] Figure 7A schematic block diagram of a device for determining a rotor position according to an embodiment of the present invention is shown, wherein the device 700 for determining a rotor position includes: a memory 702, in which a program or instruction is stored; and a processor 704, which executes the program or instruction stored in the memory 702 to implement the steps of the method for determining a rotor position as proposed above in the present invention, thereby having all the beneficial technical effects of the method for determining a rotor position proposed in the above embodiment of the present invention, which will not be described in detail here.

[0203] Example 4:

[0204] 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 method for determining the rotor position as described in the above embodiments of the present invention. Therefore, all the beneficial technical effects of the method for determining the rotor position as described in the above embodiments of the present invention are achieved, and further details will not be given here.

[0205] Embodiment 5:

[0206] According to a fifth embodiment of the present invention, a motor is provided, comprising the apparatus for determining rotor position and / or the readable storage medium provided in the above embodiments of the present invention. This motor thus exhibits all the beneficial technical effects of the apparatus for determining rotor position and / or the readable storage medium provided in the above embodiments of the present invention, and will not be further elaborated upon herein.

[0207] Example 6:

[0208] According to a sixth embodiment of the present invention, a laundry processing device is provided, comprising the rotor position determination device or the motor provided in the above-mentioned embodiments of the present invention. Thus, the device possesses all the beneficial technical effects of the rotor position determination device or the motor provided in the above-mentioned embodiments of the present invention, and no further details will be given here.

[0209] Embodiment seven:

[0210] For example, the method for determining the rotor position proposed in this embodiment can be used for the following Figure 10 In the control system of the motor shown in FIG. 1 , specifically, the rotor position information of the motor determined by the rotor position determination method proposed in this embodiment can be fed back to the IPARK (inverse transformation) coordinate transformation module, so that the IPARK coordinate transformation module can adjust the u input to the SVPWM module according to the fed-back rotor position information. α (α-axis voltage component) and u β (β-axis voltage component), thereby achieving precise control of the motor's operating state. Since u is input to the SVPWM moduleα and u β Adjustments are made based on the feedback of rotor position information to ensure the stability and reliability of motor operation.

[0211] 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.

[0212] 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.

[0213] The above are merely preferred embodiments of the present invention and are 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 shall be included within the scope of protection of the present invention.

Claims

1. A method for determining a rotor position, characterized in that: The method for determining the rotor position is used for a motor, and the method for determining the rotor position includes: Determining a first command voltage at a first moment, and determining a peak current value at a carrier wave peak moment of a first sampling period, wherein the first moment is a start moment of the first sampling period; determining rotor position information of the motor in a second sampling period according to the first command voltage and the peak current value; The second sampling period is the next sampling period of the first sampling period; Determining the rotor position information of the motor in the second sampling period according to the first command voltage and the peak current value specifically includes: performing flux estimation according to the peak current value and the first command voltage to determine the rotor position information in the second sampling period; The performing flux estimation according to the peak current value and the first command voltage to determine the rotor position information in the second sampling period specifically includes: determining a first carrier wave peak position within the first sampling period and a first average speed of the rotor of the motor within the first sampling period according to the peak current value and the first command voltage; The rotor position information in the second sampling period is determined according to the first carrier wave peak position and the first average rotational speed.

2. The method for determining the rotor position according to claim 1, wherein: The determining of the first command voltage at the first moment specifically includes: Acquire a first sampled current of the motor at the first moment; Acquiring a feedback rotational speed in a third sampling period, where the third sampling period is a sampling period preceding the first sampling period; determining a first command current according to a preset speed of the motor and the feedback speed; The first command voltage is determined according to the first command current and the first sampled current.

3. The method for determining the rotor position according to claim 2, wherein: The determining of the peak current value within the first sampling period specifically includes: Acquire a second sampled current of the motor at a second moment, where the second moment is an end moment of the first sampling period; An average current value in the first sampling period is determined according to the first sampling current and the second sampling current, and the average current value is determined as the peak current value.

4. A device for determining a rotor position, characterized in that: The rotor position determining device is used for a motor, and the rotor position determining device includes: a processing module, configured to determine a first command voltage at a first moment, and determine a peak current value at a carrier wave peak moment of a first sampling period, wherein the first moment is a start moment of the first sampling period; The processing module is further configured to determine rotor position information of the motor in a second sampling period according to the first command voltage and the peak current value; The second sampling period is the next sampling period of the first sampling period; The processing module is further configured to perform flux estimation based on the peak current value and the first command voltage to determine the rotor position information in the second sampling period; The processing module is further configured to determine a first carrier wave peak position within the first sampling period and a first average speed of the rotor of the motor within the first sampling period according to the peak current value and the first command voltage; The processing module is further configured to determine the rotor position information in the second sampling period according to the first carrier wave peak position and the first average speed.

5. The device for determining the rotor position according to claim 4, characterized in that: The device for determining the rotor position further comprises: an acquisition module, configured to acquire a first sampled current of the motor at the first moment; The acquisition module is further configured to acquire the feedback speed in a third sampling period, where the third sampling period is a sampling period preceding the first sampling period; The processing module is further configured to determine a first command current according to a preset speed of the motor and the feedback speed; The processing module is further configured to determine the first command voltage according to the first command current and the first sampled current.

6. The device for determining the rotor position according to claim 5, characterized in that: The acquisition module is further configured to acquire a second sampled current of the motor at a second moment, where the second moment is the end moment of the first sampling period; The processing module is further configured to determine an average current in the first sampling period according to the first sampling current and the second sampling current, and determine the average current as the peak current value.

7. A device for determining a rotor position, 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 method for determining the rotor position according to any one of claims 1 to 3 are implemented.

8. 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 method for determining the rotor position according to any one of claims 1 to 3 are implemented.

9. A motor, characterized in that: include: The device for determining the rotor position according to any one of claims 4 to 7; and / or The readable storage medium according to claim 8.

10. A clothes processing device, characterized in that: include: The device for determining the rotor position according to any one of claims 4 to 7; or The motor as claimed in claim 9.

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