Motor control method, system, motor controller, storage medium and home appliance

Abstract

The application discloses a motor control method, system, motor controller, storage medium and household appliance. The method comprises the following steps: acquiring a voltage phase waveform of an alternating power supply, sampling the voltage phase waveform, obtaining a maximum voltage value and a minimum voltage value, and determining a power supply period and a reference voltage value according to the maximum voltage value and the minimum voltage value; when the voltage sampling value is greater than or equal to the reference voltage value, counting a reference phase point corresponding to the reference voltage value, and synchronously starting a clock counter of a motor control chip; when the number of the reference phase points reaches a target value, acquiring a count value of the clock counter, and determining a motor angular frequency calculation clock according to the target value, the count value of the clock counter and the power supply period; determining a rotor position angular frequency according to the motor angular frequency calculation clock, and controlling the motor according to the rotor position angular frequency. The method improves the precision of the rotor position angular frequency, thereby improving the control precision of the motor.

Description

Technical Field

[0001] This invention relates to the field of home appliance control technology, and in particular to a motor control method, a motor controller, a computer-readable storage medium, a motor control system, and a home appliance. Background Technology

[0002] As home appliances increasingly demand low-carbon and environmentally friendly features, DC inverter motors are being used more and more widely. This places higher demands on the functionality and precision of DC inverter motor controllers, such as constant power output control. However, the low-precision RC oscillators inside MCUs (Micro-controller Units) cannot meet the requirements for high-precision power control of DC inverter motors.

[0003] In related technologies, to meet the requirements of high-precision speed and power control for DC inverter motors, a high-precision oscillation circuit is typically designed for the MCU. However, the cost of this high-precision oscillation circuit is around 0.5-1 yuan, and to ensure its reliable operation, it needs to be protected against three types of damage or even waterproofing during the manufacturing process. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a motor control method that can improve the accuracy of the rotor position angular frequency, thereby improving the control accuracy of the motor.

[0005] The second objective of this invention is to provide a motor controller.

[0006] A third objective of this invention is to provide a computer-readable storage medium.

[0007] The fourth objective of this invention is to provide a motor control system.

[0008] The fifth objective of this invention is to provide a household appliance.

[0009] To achieve the above objectives, a first aspect of the present invention provides a motor control method, comprising: acquiring a voltage phase waveform of an AC power supply; sampling the voltage phase waveform to obtain a maximum voltage value and a minimum voltage value of the AC power supply, and determining a power supply period and a reference voltage value based on the maximum voltage value and the minimum voltage value; when the voltage sampling value is greater than or equal to the reference voltage value, counting the reference phase points corresponding to the reference voltage value, and synchronously starting a clock counter of a motor control chip; when the number of reference phase points reaches a target value, acquiring the count value of the clock counter, and determining a motor angular frequency calculation clock based on the target value, the count value of the clock counter, and the power supply period; determining the rotor position angular frequency based on the motor angular frequency calculation clock, and controlling the motor based on the rotor position angular frequency.

[0010] According to one embodiment of the present invention, before sampling the voltage phase waveform, the method further includes: performing low-pass filtering on the voltage phase waveform.

[0011] According to one embodiment of the present invention, determining a power supply cycle and a reference voltage value based on the maximum voltage value and the minimum voltage value includes: determining a time interval between adjacent minimum voltage values ​​and maximum voltage values, and determining the power supply cycle based on the time interval; determining a reference phase point, and determining calculation parameters based on the reference phase point; and determining the reference voltage value based on the maximum voltage value, the minimum voltage value, and the calculation parameters.

[0012] According to one embodiment of the present invention, when the reference phase point is a 6° phase point, the reference voltage value is calculated according to the following formula:

[0013] U1 = Umin + (Umax - Umin) / N, where U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

[0014] According to one embodiment of the present invention, the motor angular frequency calculation clock is calculated according to the following formula:

[0015] H = Y * Z / X, where H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter.

[0016] The motor control method according to embodiments of the present invention can improve the accuracy of rotor position angular frequency, thereby improving the control accuracy of the motor.

[0017] To achieve the above objectives, a second aspect of the present invention provides a motor controller, including a memory, a processor, and a motor control program stored in the memory and executable on the processor. When the processor executes the motor control program, it implements the motor control method.

[0018] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium storing a motor control program thereon, which, when executed by a processor, implements the motor control method described above.

[0019] To achieve the above objectives, a fourth aspect of the present invention provides a motor control system, comprising: a rectifier unit for rectifying an AC power supply; a voltage sampling unit for sampling the voltage phase waveform output by the rectifier unit to obtain the maximum and minimum voltage values ​​of the AC power supply; and a motor control chip for determining a power supply cycle and a reference voltage value based on the maximum and minimum voltage values, and counting reference phase points corresponding to the reference voltage value when the voltage sampling value is greater than or equal to the reference voltage value, and synchronously starting a clock counter of the motor control chip, and acquiring the count value of the clock counter when the number of reference phase points reaches a target value, and determining a motor angular frequency calculation clock based on the target value, the count value of the clock counter, and the power supply cycle, and determining a rotor position angular frequency based on the motor angular frequency calculation clock, so as to control the motor according to the rotor position angular frequency.

[0020] According to one embodiment of the present invention, the motor control system further includes a low-pass filter unit for performing low-pass filtering processing on the voltage phase waveform.

[0021] According to one embodiment of the present invention, the motor control chip is further configured to: determine the time interval between adjacent minimum voltage values ​​and maximum voltage values, and determine the power supply cycle based on the time interval; determine a reference phase point, and determine calculation parameters based on the reference phase point; and determine the reference voltage value based on the maximum voltage value, the minimum voltage value, and the calculation parameters.

[0022] According to one embodiment of the present invention, the motor control chip is further configured to calculate the reference voltage value according to the following formula when the reference phase point is a 6° phase point:

[0023] U1 = Umin + (Umax - Umin) / N, where U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

[0024] According to one embodiment of the present invention, the motor control chip calculates the motor angular frequency calculation clock according to the following formula:

[0025] H = Y * Z / X, where H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter.

[0026] The motor control system according to embodiments of the present invention can improve the accuracy of rotor position angular frequency, thereby improving the control accuracy of the motor.

[0027] To achieve the above objectives, a fifth aspect of the present invention provides a household appliance including the aforementioned motor control system.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] Figure 1 This is a schematic flowchart of a motor control method according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the voltage phase waveform and the AC power supply voltage waveform according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the voltage phase waveform of a specific embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of motor speed control according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of a motor control system according to an embodiment of the present invention;

[0034] Figure 6 This is a topology diagram of a motor control system according to an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of a motor control system according to another embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of a household appliance according to an embodiment of the present invention. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] The following is a reference appendix. Figure 1-8 This invention describes a motor control method, system, motor controller, storage medium, and household appliance according to embodiments of the present invention.

[0039] Figure 1 This is a schematic flowchart of a motor control method according to an embodiment of the present invention. Figure 1 As shown, the motor control method includes the following steps:

[0040] S101. Obtain the voltage phase waveform of the AC power supply.

[0041] Specifically, after rectifying the AC power supply, the voltage phase waveform of the AC power supply is obtained.

[0042] S102. Sample the voltage phase waveform to obtain the maximum and minimum voltage values ​​of the AC power supply, and determine the power supply cycle and reference voltage value based on the maximum and minimum voltage values.

[0043] As an example, the voltage phase waveform can be low-pass filtered before sampling. Specifically, a low-pass filter can be used to filter out high-frequency harmonic components in the power grid.

[0044] Further, sampling the voltage phase waveform to obtain the maximum and minimum voltage values ​​of the AC power supply, and then determining the power supply period and reference voltage value based on the maximum and minimum voltage values, may include steps S201-S202:

[0045] S201. Determine the time interval between adjacent minimum and maximum voltage values, and determine the power supply cycle based on the time interval.

[0046] Specifically, such as Figure 2 As shown, the period of the voltage phase waveform of the AC power supply is consistent with the period of the AC power supply voltage waveform. Therefore, this embodiment of the invention determines the power supply period by determining the time interval between adjacent minimum and maximum voltage values.

[0047] S202. Determine the reference phase point, and determine the calculation parameters based on the reference phase point, and determine the reference voltage value based on the maximum voltage value, the minimum voltage value, and the calculation parameters.

[0048] As an example, such as Figure 3 As shown, when the reference phase point is 6°, the reference voltage value is calculated according to the following formula:

[0049] U1 = Umin + (Umax - Umin) / N,

[0050] Where U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

[0051] Specifically, the 6° phase point is found by using an extraction algorithm of the reference phase point close to zero phase. The calculation parameters are determined based on the 6° phase point to obtain the maximum voltage value Umax and the minimum voltage value Umin. Then, the reference voltage value corresponding to the 6° phase point is obtained according to the formula U1=Umin+(Umax-Umin) / N.

[0052] S103. When the voltage sample value is greater than or equal to the reference voltage value, count the reference phase point corresponding to the reference voltage value and start the clock counter of the motor control chip synchronously.

[0053] Specifically, the voltage sample value is compared with the reference voltage value corresponding to the reference phase point. When the voltage sample value is greater than or equal to the reference voltage value, the reference phase point corresponding to the reference voltage value is counted, and the clock counter of the motor control chip is started synchronously.

[0054] S104. When the number of reference phase points reaches the target value, obtain the count value of the clock counter, and determine the motor angular frequency and calculate the clock based on the target value, the count value of the clock counter and the power supply cycle.

[0055] Specifically, the target value Y of the reference phase point can be set according to the accuracy requirements. When the number of reference phase points equals the target value Y, the clock counter of the motor control chip stops counting. The count value of the clock counter at this time is obtained, and the motor angular frequency calculation clock is calculated according to the formula H = Y * Z / X, where H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter. Thus, the accurate time of the motor angular frequency calculation clock can be obtained.

[0056] It should be noted that, due to the irregular amplitude of the voltage phase waveform of AC power supply, which varies greatly, and the presence of high-frequency harmonic components in the power grid, it is difficult to determine the phase and frequency with high precision. A phase error exists near the zero phase, with a minimum of approximately 5 degrees. Therefore, this embodiment of the invention addresses the zero-phase deviation problem by accumulating the number of reference phase points.

[0057] S105. Calculate the rotor position angular frequency based on the motor angular frequency, and control the motor based on the rotor position angular frequency.

[0058] Specifically, the rotor position angular frequency ω is determined by calculating the clock based on the motor's angular frequency, and the motor output power is equal to the product of the rotor position angular frequency ω and the output torque T, and the motor speed is determined based on the rotor position angular frequency ω (see [reference]). Figure 4 This allows for the control of the motor. By improving the accuracy of the rotor position angular frequency, the control precision of the motor's output power and speed can be increased.

[0059] In summary, this motor control method obtains the maximum and minimum voltage values ​​of the AC power supply by sampling the voltage phase waveform. Based on these values, it determines the power supply cycle and reference voltage value. When the sampled voltage value is greater than or equal to the reference voltage value, it counts the reference phase points corresponding to the reference voltage value and synchronously starts the clock counter of the motor control chip. When the number of reference phase points reaches the target value, it acquires the count value of the clock counter. Based on the target value, the count value of the clock counter, and the power supply cycle, it determines the motor angular frequency calculation clock. Then, it determines the rotor position angular frequency based on the calculated motor angular frequency clock and controls the motor based on the rotor position angular frequency. By improving the accuracy of the calculated motor angular frequency clock, the accuracy of the rotor position angular frequency is improved, thereby increasing the control accuracy of the motor output power and motor speed. Furthermore, by eliminating the need to design a high-precision oscillation circuit, it not only saves costs but also improves reliability, making it highly valuable for engineering applications.

[0060] Based on the motor control method of the above embodiments, the present invention also proposes a motor controller, including a memory, a processor, and a motor control program stored in the memory and executable on the processor. When the processor executes the motor control program, it implements the above-described motor control method.

[0061] When the computer program corresponding to the above-described motor control method stored on the motor controller of this embodiment is executed, it samples the voltage phase waveform to obtain the maximum and minimum voltage values ​​of the AC power supply, and determines the power supply cycle and reference voltage value based on the maximum and minimum voltage values. When the voltage sample value is greater than or equal to the reference voltage value, it counts the reference phase points corresponding to the reference voltage value and synchronously starts the clock counter of the motor control chip. When the number of reference phase points reaches the target value, it obtains the count value of the clock counter, and determines the motor angular frequency calculation clock based on the target value, the count value of the clock counter, and the power supply cycle. Then, it determines the rotor position angular frequency based on the motor angular frequency calculation clock and controls the motor based on the rotor position angular frequency. By improving the accuracy of the motor angular frequency calculation clock, the accuracy of the rotor position angular frequency can be improved, thereby improving the control accuracy of the motor output power and motor speed.

[0062] Based on the motor control method of the above embodiments, the present invention also proposes a computer-readable storage medium storing a motor control program thereon, which implements the above motor control method when executed by a processor.

[0063] When the computer-readable storage medium of this invention, storing a computer program corresponding to the above-described motor control method, is executed, it samples the voltage phase waveform to obtain the maximum and minimum voltage values ​​of the AC power supply. Based on these values, it determines the power supply cycle and a reference voltage value. When the sampled voltage value is greater than or equal to the reference voltage value, it counts the reference phase points corresponding to the reference voltage value and synchronously starts the clock counter of the motor control chip. When the number of reference phase points reaches a target value, it acquires the count value of the clock counter. Based on the target value, the count value of the clock counter, and the power supply cycle, it determines the motor angular frequency calculation clock. Then, based on the motor angular frequency calculation clock, it determines the rotor position angular frequency and controls the motor according to the rotor position angular frequency. By improving the accuracy of the motor angular frequency calculation clock, the accuracy of the rotor position angular frequency is improved, thereby increasing the control accuracy of the motor output power and motor speed. Furthermore, by eliminating the need to design a high-precision oscillation circuit, it not only saves costs but also increases reliability, possessing high engineering application value.

[0064] Figure 5 This is a schematic diagram of the structure of a motor control system according to an embodiment of the present invention. Figure 5 As shown, the motor control system 100 includes: a rectifier unit 10, a voltage sampling unit 20, and a motor control chip 30. The rectifier unit 10 is used to rectify the AC power supply; the voltage sampling unit 20 is used to sample the voltage phase waveform output by the rectifier unit to obtain the maximum and minimum voltage values ​​of the AC power supply; the motor control chip 30 is used to determine the power supply cycle and reference voltage value based on the maximum and minimum voltage values, and when the voltage sampling value is greater than or equal to the reference voltage value, count the reference phase points corresponding to the reference voltage value, and synchronously start the clock counter of the motor control chip; when the number of reference phase points reaches a target value, obtain the count value of the clock counter, and determine the motor angular frequency calculation clock based on the target value, the clock counter count value, and the power supply cycle; and determine the rotor position angular frequency based on the motor angular frequency calculation clock, so as to control the motor according to the rotor position angular frequency.

[0065] In this example, the rectifier unit 10 is supplied with AC power (see...). Figure 6 The live wire (L) and neutral wire (N) are rectified. Further, see... Figure 6The voltage sampling unit 20 includes: a first resistor R1 and a second resistor R2 connected between the positive and negative output terminals (i.e., 1 and 4) of the rectifier unit 10 (i.e., the positive output terminal 4 of the rectifier unit 10 is connected to the first resistor R1, and the negative output terminal 1 of the rectifier unit 10 is connected to the second resistor R2), a first diode D1, and an optocoupler O1. The first resistor R1 and the second resistor R2 are connected in series and have a first node a; the anode of the first diode D1 is connected to the positive output terminal 4 of the rectifier unit 10, and the cathode of the first diode D1 is connected to the positive terminal of the subsequent filter capacitor C1; the anode of the photodiode D2 of the optocoupler O1 is connected to the first node a, the cathode of the photodiode D2 of the optocoupler O1 is grounded, the collector of the phototransistor P1 of the optocoupler O1 is connected to the pull-up power supply VCC through a third resistor R3, the emitter of the phototransistor P1 of the optocoupler O1 is grounded to GND, and the collector of the phototransistor P1 of the optocoupler O1 serves as the output terminal of the voltage sampling unit 20. Therefore, the voltage sampling unit 20 samples the voltage phase waveform output by the rectifier unit 10 to obtain the maximum and minimum voltage values ​​of the AC power supply.

[0066] See Figure 6-7 The motor control system 100 may also include a low-pass filter unit 40 for low-pass filtering of the voltage phase waveform. Specifically, the low-pass filter unit 40 may include a filter capacitor C1, which can filter high-frequency harmonic components in the power grid.

[0067] In this example, the negative terminal of the filter capacitor C1 is connected to the negative output terminal 1 of the rectifier unit 10 and the IPM (Intelligent Power Module) 50, and the negative terminal of the filter capacitor C1 is connected to the IPM 50.

[0068] Furthermore, the motor control chip 30 is connected to the output terminal of the voltage sampling unit 20. It is used to determine the power supply cycle and reference voltage value based on the maximum voltage value and the minimum voltage value, and count the reference phase point corresponding to the reference voltage value when the voltage sampling value is greater than or equal to the reference voltage value. It also synchronously starts the clock counter of the motor control chip, and when the number of reference phase points reaches the target value, it acquires the count value of the clock counter, and determines the motor angular frequency calculation clock based on the target value, the count value of the clock counter and the power supply cycle. It also determines the rotor position angular frequency based on the motor angular frequency calculation clock, so as to control the motor according to the rotor position angular frequency.

[0069] Furthermore, the motor control chip 30 is also used to determine the time interval between adjacent minimum and maximum voltage values, and determine the power supply cycle based on the time interval; determine a reference phase point, and determine calculation parameters based on the reference phase point; and determine a reference voltage value based on the maximum and minimum voltage values ​​and the calculation parameters.

[0070] Specifically, such as Figure 2 As shown, the period of the voltage phase waveform of the AC power supply is consistent with the period of the AC power supply voltage waveform. Therefore, this embodiment of the invention determines the power supply period by determining the time interval between adjacent minimum and maximum voltage values.

[0071] Furthermore, such as Figure 3 As shown, when the reference phase point is 6°, the reference voltage value is calculated according to the following formula:

[0072] U1 = Umin + (Umax - Umin) / N,

[0073] Where U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

[0074] Specifically, the 6° phase point is found by using an extraction algorithm of the reference phase point close to zero phase. The calculation parameters are determined based on the 6° phase point to obtain the maximum voltage value Umax and the minimum voltage value Umin. Then, the reference voltage value corresponding to the 6° phase point is obtained according to the formula U1=Umin+(Umax-Umin) / N.

[0075] Furthermore, the motor control chip 30 is also used to count the reference phase point corresponding to the reference voltage value when the voltage sample value is greater than or equal to the reference voltage value, and to synchronously start the clock counter of the motor control chip.

[0076] Specifically, the voltage sample value is compared with the reference voltage value corresponding to the reference phase point. When the voltage sample value is greater than or equal to the reference voltage value, the reference phase point corresponding to the reference voltage value is counted, and the clock counter of the motor control chip is started synchronously.

[0077] Furthermore, the motor control chip 30 is also used to acquire the count value of the clock counter when the number of reference phase points reaches the target value, and to determine the motor angular frequency calculation clock based on the target value, the count value of the clock counter and the power cycle.

[0078] Specifically, the target value Y of the reference phase point can be set according to the accuracy requirements. When the number of reference phase points equals the target value Y, the clock counter of the motor control chip stops counting. The count value of the clock counter at this time is obtained, and the motor angular frequency calculation clock is calculated according to the formula H = Y * Z / X, where H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter. Thus, the accurate time of the motor angular frequency calculation clock can be obtained.

[0079] It should be noted that, due to the irregular amplitude of the voltage phase waveform of AC power supply, which varies greatly, and the presence of high-frequency harmonic components in the power grid, it is difficult to determine the phase and frequency with high precision. A phase error exists near the zero phase, with a minimum of approximately 5 degrees. Therefore, this embodiment of the invention addresses the zero-phase deviation problem by accumulating the number of reference phase points.

[0080] Furthermore, the motor control chip 30 is also used to calculate the clock based on the motor angular frequency to determine the rotor position angular frequency, so as to control the motor M according to the rotor position angular frequency.

[0081] Specifically, the rotor position angular frequency ω is determined by calculating the clock based on the motor's angular frequency, and the motor output power is equal to the product of the rotor position angular frequency ω and the output torque T, and the motor speed is determined based on the rotor position angular frequency ω (see [reference]). Figure 4 This allows for the control of motor M. By improving the accuracy of the rotor position angular frequency, the control accuracy of both the motor output power and motor speed can be increased.

[0082] It should be noted that, see Figure 6 The IPM50 is connected to the motor control chip 30 and the motor M to protect the entire system. The IPM50 is an advanced power switching device, consisting of a high-speed, low-power IGBT (Insulated Gate Bipolar Transistor) chip and optimized gate-level drive and protection circuitry. The built-in drive and protection circuitry simplifies and improves the system hardware, shortens system development time, and enhances self-protection capabilities under fault conditions.

[0083] The motor control system 100 based on the above embodiments, such as Figure 8 As shown, the present invention also proposes a household appliance 200, including the aforementioned motor control system 100.

[0084] The home appliance 200 of this invention obtains the maximum and minimum voltage values ​​of the AC power supply by sampling the voltage phase waveform, and determines the power cycle and reference voltage value based on the maximum and minimum voltage values. When the voltage sampling value is greater than or equal to the reference voltage value, the reference phase point corresponding to the reference voltage value is counted, and the clock counter of the motor control chip is started synchronously. When the number of reference phase points reaches the target value, the count value of the clock counter is obtained, and the motor angular frequency calculation clock is determined based on the target value, the count value of the clock counter, and the power cycle. Then, the rotor position angular frequency is determined based on the motor angular frequency calculation clock, and the motor is controlled based on the rotor position angular frequency. By improving the accuracy of the motor angular frequency calculation clock, the accuracy of the rotor position angular frequency can be improved, thereby improving the control accuracy of the motor output power and motor speed. Furthermore, by eliminating the need to design a high-precision oscillation circuit, not only is the cost saved, but the reliability is also higher, which has high engineering application value.

[0085] Furthermore, other components and functions of the household appliance 200 in this embodiment of the invention are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0086] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0087] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0088] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0090] Furthermore, the terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this invention can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this invention, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly specified in the embodiments.

[0091] In this invention, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific implementation.

[0092] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A motor control method, characterized in that, include: Obtain the voltage phase waveform of the AC power supply; The voltage phase waveform is sampled to obtain the maximum and minimum voltage values ​​of the AC power supply, and the power supply cycle and reference voltage value are determined based on the maximum and minimum voltage values. When the voltage sample value is greater than or equal to the reference voltage value, the reference phase point corresponding to the reference voltage value is counted, and the clock counter of the motor control chip is started synchronously. When the number of reference phase points reaches the target value, the count value of the clock counter is obtained, and the motor angular frequency is determined and the clock is calculated based on the target value, the count value of the clock counter, and the power supply cycle. The rotor position angular frequency is determined by calculating the clock based on the motor angular frequency, and the motor is controlled based on the rotor position angular frequency.

2. The method according to claim 1, characterized in that, Before sampling the voltage phase waveform, the method further includes: The voltage phase waveform is subjected to low-pass filtering.

3. The method according to claim 1 or 2, characterized in that, Determining the power supply cycle and reference voltage value based on the maximum and minimum voltage values ​​includes: Determine the time interval between adjacent minimum and maximum voltage values, and determine the power supply cycle based on the time interval; A reference phase point is determined, and calculation parameters are determined based on the reference phase point. The reference voltage value is determined based on the maximum voltage value, the minimum voltage value, and the calculation parameters.

4. The method according to claim 3, characterized in that, When the reference phase point is a 6° phase point, the reference voltage value is calculated according to the following formula: U1 = Umin + (Umax - Umin) / N, Wherein, U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

5. The method according to claim 1, characterized in that, The motor angular frequency calculation clock is calculated using the following formula: H = Y * Z / X Wherein, H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter.

6. A motor controller, characterized in that, It includes a memory, a processor, and a motor control program stored in the memory and executable on the processor. When the processor executes the motor control program, it implements the motor control method according to any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, It stores a motor control program, which, when executed by a processor, implements the motor control method according to any one of claims 1-5.

8. A motor control system, characterized in that, include: The rectifier unit is used to rectify the AC power supply. A voltage sampling unit is used to sample the voltage phase waveform output by the rectifier unit to obtain the maximum and minimum voltage values ​​of the AC power supply. The motor control chip is used to determine the power supply cycle and reference voltage value based on the maximum voltage value and the minimum voltage value, and to count the reference phase points corresponding to the reference voltage value when the voltage sampling value is greater than or equal to the reference voltage value, and to synchronously start the clock counter of the motor control chip, and to obtain the count value of the clock counter when the number of reference phase points reaches a target value, and to determine the motor angular frequency calculation clock based on the target value, the count value of the clock counter and the power supply cycle, and to determine the rotor position angular frequency based on the motor angular frequency calculation clock, so as to control the motor according to the rotor position angular frequency.

9. The motor control system according to claim 8, characterized in that, It also includes a low-pass filter unit for performing low-pass filtering on the voltage phase waveform.

10. The motor control system according to claim 8 or 9, characterized in that, The motor control chip is also used for, Determine the time interval between adjacent minimum and maximum voltage values, and determine the power supply cycle based on the time interval; A reference phase point is determined, and calculation parameters are determined based on the reference phase point. The reference voltage value is determined based on the maximum voltage value, the minimum voltage value, and the calculation parameters.

11. The motor control system according to claim 10, characterized in that, The motor control chip is also used to calculate the reference voltage value according to the following formula when the reference phase point is a 6° phase point: U1 = Umin + (Umax - Umin) / N, Wherein, U1 is the reference voltage value, Umin is the minimum voltage value, Umax is the maximum voltage value, and N is the calculation parameter corresponding to the 6° phase point, with a value of 10.

12. The motor control system according to claim 8, characterized in that, The motor control chip calculates the motor angular frequency calculation clock according to the following formula: H = Y * Z / X Wherein, H is the motor angular frequency calculation clock, Y is the target value, Z is the power supply cycle, and X is the count value of the clock counter.

13. A household appliance, characterized in that, Includes the motor control system according to any one of claims 8-12.

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