Power regulation circuit, method, motor device and cleaning device

Abstract

This application discloses a power regulation circuit, method, motor device, and cleaning device. The circuit includes a control module and a thyristor chopper module. The control module is used to acquire a target power ratio for a target motor, obtain a target off-time based on the target power ratio, and determine the transmission time of a turn-on signal based on the target off-time and a zero-crossing detection signal of the AC power supply. The thyristor chopper module is used to connect the AC power supply to the target motor in response to the turn-on signal and disconnect the AC power supply from the target motor at the zero-crossing point of the AC power supply, thereby adjusting the operating power of the target motor. This application adjusts the operating power of the target motor according to the power ratio. Compared with the prior art, which adjusts the power equally according to the time dimension of the AC power time function curve, this ensures that the target motor operates at the power corresponding to the target power ratio, and makes the power change uniform during continuous power adjustment, thus improving the linearity of power change.

Description

Technical Field

[0001] This application relates to the field of motor control technology, specifically to a power regulation circuit, method, motor equipment, and cleaning equipment. Background Technology

[0002] Most AC-powered electrical appliances can suppress their operating noise by adjusting the AC motor's operating power to operate at its minimum.

[0003] Most existing AC motors use AC chopping to regulate power, specifically by adjusting the motor power according to the time function curve of AC power, dividing it equally along the time dimension.

[0004] However, since the output signal of AC power is a sine wave, and the existing technology adjusts the motor power equally according to the time dimension, the power will be uneven due to the nature of the sine wave, which makes the AC motor unable to operate at the preset operating power. Furthermore, when continuously adjusting the power, the power change is not obvious in the first 30% and the last 30% of the time dimension, while the power change is drastic in the middle 40% of the time dimension, resulting in uneven power change and poor linearity. Summary of the Invention

[0005] This application provides a power regulation circuit, method, motor device, and cleaning device, aiming to solve the problems of inaccurate power regulation and poor linearity caused by the prior art of regulating motor power in equal parts according to the time dimension of the AC time function curve.

[0006] In a first aspect, this application provides a power regulation circuit, which includes a control module and a thyristor chopper module, wherein the target motor is connected to an AC power supply through the thyristor chopper module;

[0007] The control module is used to obtain the target power ratio for the target motor, obtain the target off-time based on the target power ratio, and determine the transmission time of the turn-on signal based on the target off-time and the zero-crossing detection signal of the AC power supply; the target off-time is the disconnection time between the target motor and the AC power supply.

[0008] The thyristor chopper module is used to connect the AC power supply and the target motor in response to a conduction signal, and to disconnect the AC power supply and the target motor when the AC power supply crosses zero, so as to adjust the operating power of the target motor.

[0009] In one possible implementation of this application, the control module is configured with a linear association table, which stores multiple reference power ratios arranged in an arithmetic progression and the corresponding start-up duration ratio for each reference power ratio; the start-up duration ratio is the proportion of the time the target motor is connected to the AC power supply within the target unit cycle to the cycle duration of the target unit cycle.

[0010] The control module is used to obtain the target on-time ratio corresponding to the target power ratio in the linear correlation table based on the target power ratio and the linear correlation table, obtain the target off-time ratio within the target unit cycle based on the target on-time ratio, and obtain the target off-time based on the target off-time ratio and the cycle length of the target unit cycle.

[0011] In one possible implementation of this application, the thyristor chopper module includes an isolating switch unit and a bidirectional thyristor. The isolating switch unit is connected to the control module and the bidirectional thyristor respectively, and the target motor is connected to the AC power supply through the bidirectional thyristor.

[0012] The disconnector unit is configured to output a drive signal to the bidirectional thyristor in response to a conduction signal;

[0013] The bidirectional thyristor is configured to turn on in response to a drive signal to connect the AC power supply and the target motor, and to disconnect the AC power supply and the target motor at the zero-crossing point of the AC power supply.

[0014] In one possible implementation of this application, the power regulation circuit further includes a zero-crossing detection module connected to the AC power supply, the zero-crossing detection module including a unidirectional conduction isolation unit connected to the AC power supply and the control module respectively;

[0015] The unidirectional conduction isolation unit is used to obtain an alternating zero-crossing detection signal output to the control module based on the alternating switching of the positive and negative half-cycles of the AC power output signal.

[0016] Secondly, this application also provides a power regulation method, which is applied to the control module of the power regulation circuit of the first aspect, and the power regulation method includes:

[0017] Obtain the target power ratio for the target motor;

[0018] The target shutdown time is obtained based on the target power ratio; the target shutdown time is the duration during which the target motor is disconnected from the AC power supply.

[0019] Based on the target off-time and the zero-crossing detection signal of the AC power supply, the timing of sending the turn-on signal is determined so that the thyristor chopper module of the power regulation circuit responds to the turn-on signal to connect the AC power supply and the target motor.

[0020] In one possible implementation of this application, the target off-time is obtained based on the target power ratio, and prior to this, the method includes:

[0021] Based on the ratio of the average active power of the AC power supply within the target cycle to the full-load power of the AC motor, the corresponding relationship between the power ratio and the on-time ratio within half the target cycle is obtained; the on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle; the target unit cycle is the first unit cycle among multiple unit cycles obtained by equally dividing the target cycle into half the target cycle according to the preset calculation cycle.

[0022] Based on the correspondence and the preset multiple arithmetic progression reference power ratios, a linear association table is obtained. The linear association table stores multiple arithmetic progression reference power ratios and the on-time ratio corresponding to each reference power ratio.

[0023] In one possible implementation of this application, the target turn-off duration is obtained based on the target power ratio, including:

[0024] Based on the preset linear correlation table and the target power ratio, the target on-time ratio corresponding to the target power ratio is obtained; the linear correlation table stores multiple reference power ratios arranged in an arithmetic progression and the on-time ratio corresponding to each reference power ratio; the on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle; the target unit cycle is the first unit cycle among multiple unit cycles obtained by dividing the target cycle into half according to the preset calculation cycle.

[0025] The target shutdown duration ratio within the target unit cycle is obtained based on the target on-time ratio.

[0026] The target shutdown duration is obtained based on the target shutdown duration ratio and the cycle duration of the target unit cycle.

[0027] In one possible implementation of this application, determining the transmission time of the turn-on signal based on the target turn-off duration and the zero-crossing detection signal of the AC power supply includes:

[0028] The current zero-crossing moment of the AC power supply is determined based on the zero-crossing detection signal;

[0029] The transmission time of the conduction signal is obtained based on the current zero-crossing time and the target off-time.

[0030] Thirdly, this application also provides an electric motor device that includes the power regulation circuit of the first aspect.

[0031] Fourthly, this application also provides a cleaning device, which includes a power regulation circuit as described in the first aspect or any possible implementation of the first aspect, the power regulation circuit being used to regulate the operating power of the main motor of the cleaning device.

[0032] In one possible implementation of this application, the cleaning device further includes a dirt detection unit for detecting dirt data on the surface to be cleaned, and a control module of the power regulation circuit for obtaining a target power ratio for the main motor based on the dirt data.

[0033] Fifthly, this application also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the power regulation method of the second aspect.

[0034] From the above, it can be concluded that this application has the following beneficial effects:

[0035] In this application, the control module obtains the target off-time based on the target power ratio for the target motor, and then determines the timing for sending a turn-on signal to the thyristor chopper module based on the target off-time and the zero-crossing detection signal of the AC power supply. This causes the thyristor chopper module to respond to the turn-on signal, connecting the AC power supply and the target motor. Furthermore, the thyristor chopper module disconnects the AC power supply and the target motor at the zero-crossing point of the AC power supply, thereby achieving power regulation of the target motor. This application regulates the operating power of the target motor based on the power ratio, which, compared to the prior art of equally dividing the power according to the time dimension of the AC power time function curve, ensures that the target motor operates at the power corresponding to the target power ratio. Moreover, during continuous power adjustment, the power changes uniformly, improving the linearity of power changes and the reliability of the target motor. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a functional module of the power regulation circuit provided in the embodiments of this application;

[0038] Figure 2 This is a schematic diagram of another functional module of the power regulation circuit provided in the embodiments of this application;

[0039] Figure 3 This is a schematic diagram of the circuit principle of the thyristor chopper module provided in the embodiments of this application;

[0040] Figure 4 This is a schematic diagram of another functional module of the power regulation circuit provided in the embodiments of this application;

[0041] Figure 5This is a schematic diagram of the circuit principle of the zero-crossing detection module provided in the embodiments of this application;

[0042] Figure 6 This is a waveform diagram of the zero-crossing detection signal provided in the embodiments of this application;

[0043] Figure 7 This is a schematic flowchart of a power regulation method provided in an embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the structure of the motor device provided in the embodiments of this application;

[0045] Figure 9 This is a schematic diagram of the cleaning equipment provided in the embodiments of this application;

[0046] Figure 10 This is a flowchart illustrating a motor rapid start-stop control method provided in an embodiment of this application;

[0047] Figure 11 This is a schematic diagram showing the amplitude relationship of three back electromotive forces provided in the embodiments of this application. Detailed Implementation

[0048] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] It should be noted that in the embodiments of this application, "connection" can be understood as electrical connection. The connection between two electrical components can be a direct or indirect connection between the two electrical components. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components.

[0051] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0052] This application provides a power regulation circuit, method, motor device, and cleaning device, which are described in detail below.

[0053] First, this application provides a power regulation circuit that can be used to adjust the operating power of a target motor so that the target motor operates based on a predetermined power. The target motor can be an AC motor powered by an AC power source, and can be applied to AC-powered electrical equipment such as floor scrubbers and vacuum cleaners to drive the equipment.

[0054] Please see Figure 1 , Figure 1 This is a functional module diagram of the power regulation circuit provided in the embodiments of this application, such as... Figure 1 As shown, the power regulation circuit of this application embodiment includes a control module 100 and a silicon controlled rectifier (SCR) chopper module 300. The target motor 200 is connected to the AC power supply 100 through the SCR chopper module 300.

[0055] The control module 100 can be used to obtain the target power ratio for the target motor 200, obtain the target off-time based on the target power ratio, and determine the transmission time of the turn-on signal based on the target off-time and the zero-crossing detection signal of the AC power supply 400; the target off-time is the disconnection time between the target motor 200 and the AC power supply 400.

[0056] The thyristor chopper module 300 can be used to connect the AC power supply 400 and the target motor 200 in response to a conduction signal, and to disconnect the AC power supply 400 and the target motor 200 when the AC power supply 400 crosses zero, so as to adjust the operating power of the target motor 200.

[0057] In this embodiment of the application, the target power ratio obtained by the control module 100 can be carried in the external input signal. When the external input signal is input to the control module 100, the control module 100 can obtain the target power ratio from the external input signal.

[0058] In some application scenarios, the external input signal can be a pulse width modulation (PWM) signal or a user-defined power signal. When the PWM signal is input to the control module 100, the control module 100 can obtain the target power ratio for the target motor 200 based on the duty cycle of the PWM signal. When the user-defined power signal is input to the control module 100, the control module 100 can directly extract the target power ratio carried in the power signal.

[0059] In other application scenarios, the control module 100 can calculate the target power ratio for the target motor 200 based on the external input signal.

[0060] For example, the external input signal can be an analog voltage signal. When the analog voltage signal is input to the control module 100, the control module 100 can obtain the target power ratio for the target motor 200 based on the ratio between the voltage amplitude of the analog voltage signal and the preset maximum voltage amplitude.

[0061] It is understandable that the target power ratio is relative to the full-load power of the target motor 200. For example, the power ratio corresponding to the full-load power should be 1, that is, 100%. Therefore, in this embodiment of the application, the value range of the target power ratio is 0 to 100%.

[0062] The target power ratio corresponds to the operating power of the target motor 200, and the operating power of the target motor 200 is related to the connection time between the target motor 200 and the AC power supply 400, that is, the length of time the AC power supply 400 supplies power to the target motor 200. In other words, the operating power of the target motor 200 can also be considered to be related to the disconnection time between the AC power supply 400 and the target motor 200.

[0063] Therefore, the control module 100 can obtain the target shutdown duration, which represents the disconnection time between the target motor 200 and the AC power supply 400, based on the acquired target power ratio. This target shutdown duration represents the duration during which the target motor 200 and the AC power supply 400 are disconnected, i.e., the duration during which the AC power supply 400 is disconnected from the target motor 200 and cannot supply power to the target motor 200.

[0064] In this embodiment, the AC power supply 400 can be mains power, and the output signal waveform of the AC power supply 400 can be a sine wave. Since in an AC system, when the waveform transitions from the positive half-cycle to the negative half-cycle, it will pass through the zero position. Therefore, it can be understood that within one cycle, the AC power supply 400 will pass through the zero position at least once, and within multiple consecutive cycles, the AC power supply will intermittently pass through the zero position according to the cycle.

[0065] The thyristor chopper module 300 can disconnect the target motor 200 from the AC power supply 400 each time the AC power supply 400 passes through the zero position, thus breaking the circuit between the target motor 200 and the AC power supply 400.

[0066] Therefore, between two adjacent zero points, the control module 100 can determine the transmission time of the turn-on signal sent to the thyristor chopper module 300 based on the target turn-off duration. Thus, when the target turn-off duration arrives, a turn-on signal is sent to the thyristor chopper module 300 to enable the thyristor chopper module 300 to connect the AC power supply 400 and the target motor 200. In other words, the thyristor chopper module 300 can respond to the turn-on signal to enable conduction between the AC power supply 400 and the target motor 200, so that the AC power supply 400 can supply power to the target motor 200.

[0067] Understandably, the target off-time between any two adjacent zero points can be the same or different. When the target off-time between any two adjacent zero points is the same, the target motor 200 operates based on the target power corresponding to the fixed target power ratio. When the target off-time between any two adjacent zero points is different, the target power ratio is continuously changing. In this case, the target motor 200 operates based on the continuously changing target power corresponding to the continuously changing target power ratio.

[0068] Therefore, the power regulation circuit of this application embodiment can not only enable the target motor 200 to operate based on a fixed operating power, but also continuously adjust the operating power of the target motor 200.

[0069] In this embodiment, the control module 100 obtains the target off-time based on the target power ratio for the target motor 200, and then determines the transmission time of the turn-on signal to be sent to the thyristor chopper module 300 based on the target off-time and the zero-crossing detection signal of the AC power supply 400. This causes the thyristor chopper module 300 to connect the AC power supply 400 and the target motor 200 in response to the turn-on signal, and the thyristor chopper module 300 disconnects the AC power supply 400 and the target motor 200 when the AC power supply 400 crosses zero, thereby realizing the power regulation of the target motor 200.

[0070] As can be seen, in this embodiment of the application, adjusting the operating power of the target motor 200 according to the power ratio, compared with the prior art of adjusting the power equally according to the time dimension of the AC time function curve, can ensure that the target motor 200 operates at the power corresponding to the target power ratio, and when the power is continuously adjusted, the power changes uniformly, thereby improving the linearity of the power change and the reliability of the target motor 200.

[0071] Next, continue with Figure 1 The modules shown are described in detail, along with the specific implementation methods that may be used in practical applications.

[0072] In some embodiments of this application, the control module 100 may be configured with a linear association table, which may store multiple reference power ratios arranged in an arithmetic progression and the on-time ratio corresponding to each reference power ratio; the on-time ratio is the proportion of the on-time of the target motor 200 and the AC power supply 400 within the target unit cycle to the cycle duration of the target unit cycle.

[0073] The control module 100 can be used to obtain the target on-time ratio corresponding to the target power ratio in the linear correlation table based on the target power ratio and the linear correlation table, obtain the target off-time ratio within the target unit cycle based on the target on-time ratio, and obtain the target off-time based on the target off-time ratio and the cycle length of the target unit cycle.

[0074] In this embodiment, the multiple arithmetic progression reference power ratios stored in the linear association table can be obtained based on a preset step size. For example, if the step size is set to 5%, the multiple arithmetic progression reference power ratios can be 0%, 5%, 10%, 15%, ..., 95%, 100% respectively. It should be noted that the step size can also be any other positive number, such as 1%, 2%, 10%, etc. It can be understood that the smaller the step size, the more precise the power adjustment. The choice of step size can be determined according to the actual application scenario, and is not limited here.

[0075] Each reference power ratio in the linear correlation table corresponds to an on-time ratio. This on-time ratio can represent the proportion of the on-time of the target motor 200 and the AC power supply 400 within the target unit cycle to the cycle duration of the target unit cycle. For example, the on-time ratio corresponding to a reference power ratio of 40% can be 45%, and the on-time ratio corresponding to a reference power ratio of 55% can be 53%, etc.

[0076] In this embodiment, the relationship between the reference power ratio and the on-time ratio can be expressed by the following formula:

[0077]

[0078] Where ε is the reference power ratio and α is the on-time ratio.

[0079] By substituting different reference power ratios into the above calculation formula, the corresponding on-time ratio can be obtained.

[0080] For example, if the step size is 5%, the linear association table can be as shown in Table 1:

[0081] Table 1 Linear Association Table

[0082]

[0083]

[0084] Therefore, once the control module 100 obtains the target power ratio, it can call the linear association table to obtain the target on-time ratio corresponding to the target power ratio. Since there are two connection states between the target motor 200 and the AC power supply 400 within one target unit cycle—one is on and the other is off—the sum of the target on-time ratio and the target off-time ratio is 100%. Based on the relationship between the target on-time ratio and the target off-time ratio, the target off-time ratio within the target unit cycle can be obtained. Then, based on the product of the target off-time ratio and the cycle length of the target unit cycle, the disconnection time between the target motor 200 and the AC power supply 400, i.e., the target off-time, can be obtained.

[0085] In another implementation, the control module 100 can also store the data of the second column of Table 1, namely the on-time ratio α, as an array of length 21, i.e., α

[21] ={0,20,26,...,100}. When the control module 100 obtains the target power ratio, it can divide the target power ratio by the step size to obtain the index corresponding to the target on-time ratio, thereby obtaining the target on-time ratio corresponding to the target power ratio. It can be understood that if the target power ratio and the step size are not divisible or the result is not an integer, the result is rounded down to obtain the corresponding index.

[0086] For example, if the target power ratio is 62% and the step size is 5%, then the index obtained by rounding down the result is 12, and then the value corresponding to α

[12] is obtained from the array. 55% is obtained to get the target on-time ratio corresponding to the target power ratio of 62%.

[0087] Then, based on 100%-55%, the target shutdown duration ratio of 45% is obtained. If the target cycle duration is 100us, the disconnection duration between the target motor 200 and the AC power supply 400 is obtained by multiplying the target shutdown duration ratio of 45% and the target cycle duration of 100us. That is, the target shutdown duration is 45us.

[0088] Since the thyristor chopper module 300 disconnects the target motor 200 from the AC power supply 400 at the zero-crossing point, the thyristor chopper module 300 disconnects the target motor 200 from the AC power supply 400 at the current zero-crossing point of the AC power supply 400. After a target off-time of 45µs, the control module 100 sends a turn-on signal to the thyristor chopper module 300, thereby turning on the target motor 200 from the AC power supply 400. This continues until another zero-crossing point arrives, at which point the thyristor chopper module 300 disconnects the target motor 200 from the AC power supply 400 again. Therefore, the time when the turn-on signal is sent is after the current zero-crossing point has arrived and after the target off-time has elapsed.

[0089] Please see Figure 2 , Figure 2 This is a schematic diagram of another functional module of the power regulation circuit provided in the embodiments of this application. In some embodiments of this application, the thyristor chopper module 300 may include an isolating switch unit 301 and a bidirectional thyristor T1. The isolating switch unit 301 is connected to the control module 100 and the bidirectional thyristor T1 respectively. The target motor 200 is connected to the AC power supply 400 through the bidirectional thyristor T1.

[0090] The disconnector unit 301 can be configured to output a drive signal to the bidirectional thyristor T1 in response to a conduction signal; the bidirectional thyristor T1 can be configured to conduct in response to the drive signal to connect the AC power supply 400 and the target motor 200, and to disconnect the AC power supply 400 and the target motor 200 when the AC power supply 400 crosses zero.

[0091] In this embodiment of the application, the control module 100 may be a microcontroller unit (MCU). Under normal circumstances, the MCU operates in a low-voltage environment, while the output signal of the AC power supply 400 is a high-voltage signal. Therefore, in order to protect the control module 100 from interference or damage by the high-voltage signal, the isolating switch unit 301 may be used to isolate the AC power supply 400 from the control module 100.

[0092] Understandably, the isolated AC power supply 400 can be configured with two operating states: on or off. When the isolating switch unit 301 receives a conduction signal, the isolated AC power supply 400 can conduct, thereby outputting a drive signal to the control electrode of the bidirectional thyristor T1, thus turning on the bidirectional thyristor T1 and connecting the AC power supply 400 to the target motor 200. Conversely, if no conduction signal is input to the isolating switch unit 301, the isolating switch unit 301 is off, and no drive signal is output to the bidirectional thyristor T1, thus turning off the bidirectional thyristor T1. Furthermore, due to the device characteristics of the bidirectional thyristor T1, it can be turned off at the zero-crossing point of the AC power supply 400, thereby achieving AC chopping.

[0093] Since the triggering of a bidirectional thyristor can be achieved using a DC signal, an AC phase signal, or a pulse signal, the conduction signal in the embodiments of this application can be a DC signal, an AC phase signal, or a pulse signal.

[0094] Please see Figure 3 , Figure 3 This is a schematic diagram of a circuit principle of the thyristor chopper module provided in the embodiments of this application. In one implementation, the isolating switch unit 301 includes an optocoupler PC1, which is connected to the MCU through a connecting chip U12. The specific circuit connection structure is as follows:

[0095] The MCU's CTR_MOTOR pin is connected to pin 5 of the U12 chip, and pin 3 of the U12 chip is connected to the cathode of the light source of the optocoupler PC1. The anode of the light source is connected to the +5V power supply through the forty-first resistor R41, and is also connected to the ground GND through the thirty-second capacitor C32.

[0096] The second end of the photodetector of the optocoupler PC1 is connected to the control electrode of the bidirectional thyristor T1. The first end of the photodetector is connected to the first end of the bidirectional thyristor T1 through the forty-third resistor R43. The first end of the bidirectional thyristor T1 is connected to the live wire L of the AC power supply 400. The second end of the bidirectional thyristor T1 is connected to the fourth pin of the jumper interface JP5, i.e., the live wire interface L_M. The first and second pins of the jumper interface JP5 are connected to the neutral wire N of the AC power supply 400, respectively. The target motor 200 is connected to the jumper interface JP5 and is connected to the live wire interface L_M of the fourth pin and the neutral wire N of the first and second pins, respectively.

[0097] The working principle of this thyristor chopper module is as follows:

[0098] When the CTR_MOTOR pin of the MCU outputs a conduction signal, such as a pulse signal, the 3rd and 4th pins of the connecting chip U12 are connected. Since the 4th pin of the connecting chip U12 is connected to the ground GND, the cathode of the light source of the optocoupler PC1 is connected to the ground GND. As a result, the cathode potential of the light source of the optocoupler PC1 is lower than its anode potential, the light source of the optocoupler PC1 emits light, and the photodetector of the optocoupler PC1 is turned on. As a result, the second end of the photodetector of the optocoupler PC1 outputs a drive signal, such as a pulse signal, to the control electrode of the bidirectional thyristor T1. The bidirectional thyristor T1 responds to the pulse signal and turns on the live wire L and the live wire interface L_M, thereby enabling the target motor 200 to be powered through the live wire interface L_M of the jumper interface JP5.

[0099] When the zero-crossing point of the AC power supply 400 arrives, due to the device characteristics of the bidirectional thyristor T1, the bidirectional thyristor T1 is turned off, resulting in no voltage at the live wire interface L_M, and the target motor 200 is de-energized.

[0100] When the MCU's CTR_MOTOR pin has no conduction signal, such as a pulse signal output, the connection between pins 3 and 4 of the chip U12 is broken, the optocoupler PC1 is turned off, the bidirectional thyristor T1 is turned off, there is no voltage at the live wire interface L_M, and the target motor 200 is disconnected from the AC power supply 400.

[0101] In this embodiment, the MCU outputs a pulse signal, i.e. a drive signal, to the bidirectional thyristor T1 by controlling the on / off state of the optocoupler PC1, thereby turning on the bidirectional thyristor T1. Combined with the property of the bidirectional thyristor T1 to turn off at the zero crossing point, AC chopping is achieved, thus realizing power regulation.

[0102] Please see Figure 4 , Figure 4This is a schematic diagram of another functional module of the power regulation circuit provided in the embodiments of this application. In some embodiments of this application, the power regulation circuit may also include a zero-crossing detection module 500 connected to the AC power supply 400. The zero-crossing detection module 500 includes a unidirectional conduction isolation unit 501 connected to the AC power supply 400 and the control module 100 respectively.

[0103] The unidirectional conduction isolation unit 501 can be used to obtain an alternating zero-crossing detection signal output to the control module 100 based on the alternating switching of the positive and negative half-cycles of the AC power supply 400 output signal.

[0104] Understandably, the output signal of AC power supply 400 is a sine wave within one cycle. Therefore, the working state of unidirectional conduction isolation unit 501 can be different when the output signal of AC power supply 400 is in the positive half cycle and when the output signal of AC power supply 400 is in the negative half cycle. Thus, according to the switching of the working state, the output level alternately outputs a zero-crossing detection signal to the control module 100, so as to reflect the periodic change of AC power supply 400 through the level jump.

[0105] In one implementation, when the output signal of the AC power supply 400 is in the positive half-cycle, the unidirectional conduction isolation unit 501 can output a high level, and when the output signal of the AC power supply 400 is in the negative half-cycle, the unidirectional conduction isolation unit 501 can output a low level. Thus, when the output signal of the AC power supply 400 transitions from the positive half-cycle to the negative half-cycle and passes through the zero point, the zero-crossing detection signal changes from a high level to a low level. The falling edge at the transition from high to low level indicates the zero-crossing point of the AC power supply 400. Upon entering the next cycle, the output signal of the AC power supply 400... When the output signal transitions from the negative half-cycle to the positive half-cycle and passes through the zero position, the zero-crossing detection signal changes from low level to high level. The rising edge when the low level changes to the high level can also reflect the zero-crossing point of the AC power supply 400. Thus, the control module 100 can determine the zero-crossing time of the AC power supply 400 based on the rising and falling edges of the zero-crossing detection signal. After the zero-crossing time arrives, the target motor 200 is kept disconnected from the AC power supply 400 within the target off-time, and a turn-on signal is sent to the thyristor chopper module 300 at the end of the target off-time.

[0106] In another implementation, when the output signal of the AC power supply 400 is in the positive half-cycle, the unidirectional conduction isolation unit 501 can output a low level, and when the output signal of the AC power supply 400 is in the negative half-cycle, the unidirectional conduction isolation unit 501 can output a high level. Thus, when the output signal of the AC power supply 400 transitions from the positive half-cycle to the negative half-cycle and passes through the zero point, the zero-crossing detection signal jumps from a low level to a high level. The rising edge of this transition reflects the zero-crossing point of the AC power supply 400. Upon entering the next cycle, the AC power supply 400... When the output signal transitions from the negative half-cycle to the positive half-cycle and passes through the zero position, the zero-crossing detection signal changes from a high level to a low level. The falling edge when the high level changes to a low level can also reflect the zero-crossing point of the AC power supply 400. Thus, the control module 100 can determine the zero-crossing time of the AC power supply 400 based on the rising and falling edges of the zero-crossing detection signal. After the zero-crossing time arrives, the target motor 200 is kept disconnected from the AC power supply 400 within the target off-time, and a turn-on signal is sent to the thyristor chopper module 300 at the end of the target off-time.

[0107] Please see Figure 5 , Figure 5 This is a schematic diagram of a zero-crossing detection module provided in an embodiment of this application. In one implementation, the unidirectional conduction isolation unit 501 includes an optocoupler PC4, and the zero-crossing detection module 500 further includes multiple voltage-dividing resistors connected to the anode of the light source of the optocoupler PC4, such as... Figure 5 The sixty-fifth resistor R65, the sixty-sixth resistor R66, and the one hundredth resistor R100 are shown. The anode of the light source of the optocoupler PC4 is connected to the live wire L of the AC power supply 400 through the sixty-fifth resistor R65, the sixty-sixth resistor R66, and the one hundredth resistor R100. The cathode of the light source of the optocoupler PC4 is connected to the neutral wire N of the AC power supply 400 through the fourteenth diode D14. The cathode of the light source of the optocoupler PC4 is connected to the anode of the fourteenth diode D14, and the cathode of the fourteenth diode D14 is connected to the neutral wire N.

[0108] The first end of the optical receiver of the optocoupler PC4 is connected to the power supply terminal MCU_3V3 of the MCU through the sixty-second resistor R62, and the first end of the optical receiver is also connected to the LINE_CROSSE pin of the MCU through the sixty-seventh resistor R67. The second end of the optical receiver is connected to the ground terminal GND.

[0109] Combination Figure 6 The zero-crossing detection signal shown illustrates the working principle of this zero-crossing detection module, specifically as follows:

[0110] When the output signal of AC power supply 400 is in the positive half-cycle, the light source of optocoupler PC4 and the fourteenth diode D14 are turned on, thus turning on the photodetector of optocoupler PC4. Since the second end of the photodetector is connected to ground GND, the potential of the first end of the photodetector is pulled low, and the first end of the photodetector outputs a low-level zero-crossing detection signal to the LINE_CROSSE pin of the MCU.

[0111] When the output signal of AC power supply 400 is in the negative half-cycle, the light source of optocoupler PC4 and the fourteenth diode D14 are cut off, so the photodetector of optocoupler PC4 is not conducting. Since the first end of the photodetector is connected to the power supply terminal MCU_3V3 of MCU through the sixty-second resistor R62, the potential of the first end of the photodetector is pulled high at this time. Therefore, the first end of the photodetector outputs a high-level zero-crossing detection signal to the LINE_CROSSE pin of MCU.

[0112] When the output signal of AC power supply 400 is in the positive half-cycle again, the first terminal of the photodetector outputs a low-level zero-crossing detection signal to the LINE_CROSSE pin of the MCU again; thus, when the output signal of AC power supply 400 alternates between the positive and negative half-cycles, the zero-crossing detection signal outputs an alternating level zero-crossing detection signal to the LINE_CROSSE pin of the MCU, so as to reflect the zero-crossing of AC power supply 400 through the rising and falling edges during the level alternation process.

[0113] The power regulation circuit of this application embodiment has a simple structure and low cost, and can quickly and accurately adjust the target motor according to the specified power ratio. When continuously adjusting the power, the power change is more uniform and has good linearity, and has broad application prospects.

[0114] Based on the above embodiments, this application also provides a power regulation method. The main body executing the power regulation method can be a control module of a power regulation circuit, or a motor device that integrates the control module or the power regulation circuit, wherein the control module can be implemented in hardware or software.

[0115] This power regulation method can be applied to Figures 1 to 5 In the control module 100 of the power regulation circuit in any embodiment, the operating power of the target motor is adjusted so that the target motor operates based on a set power. This power regulation method includes:

[0116] Obtain the target power ratio for the target motor; obtain the target off-time based on the target power ratio; the target off-time is the disconnection time between the target motor and the AC power supply; determine the transmission time of the turn-on signal based on the target off-time and the zero-crossing detection signal of the AC power supply, so that the thyristor chopper module of the power regulation circuit responds to the turn-on signal to connect the AC power supply and the target motor.

[0117] like Figure 7 As shown, Figure 7 This is a flowchart illustrating a power regulation method provided in an embodiment of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0118] In this embodiment of the application, the power regulation method may include the following steps.

[0119] Step S701: Obtain the target power ratio for the target motor.

[0120] Step S702: Obtain the target shutdown time based on the target power ratio; the target shutdown time is the duration during which the target motor is disconnected from the AC power supply.

[0121] Step S703: Determine the transmission time of the turn-on signal based on the target turn-off duration and the zero-crossing detection signal of the AC power supply, so that the thyristor chopper module of the power regulation circuit responds to the turn-on signal to connect the AC power supply and the target motor.

[0122] according to Figures 1 to 5 Based on the description of the power regulation circuit in any embodiment, it can be understood that the power regulation method of the control module in this application embodiment can obtain the target off-time according to the target power ratio for the target motor, and then determine the sending time of sending the turn-on signal to the thyristor chopper module according to the target off-time and the zero-crossing detection signal of the AC power supply. This causes the thyristor chopper module to respond to the turn-on signal to connect the AC power supply and the target motor, and the thyristor chopper module to disconnect the AC power supply and the target motor when the AC power supply crosses zero, thereby realizing the power regulation of the target motor.

[0123] In this embodiment, the operating power of the target motor is adjusted according to the power ratio. Compared with the prior art, which adjusts the power equally according to the time dimension of the AC time function curve, this ensures that the target motor operates at the power corresponding to the target power ratio. Furthermore, when the power is continuously adjusted, the power changes uniformly, improving the linearity of power change and the reliability of the target motor.

[0124] In some embodiments of this application, the target off-time is obtained based on the target power ratio. Prior to this, the method may further include:

[0125] Based on the ratio of the average active power of the AC power supply within the target cycle to the full-load power of the AC motor, the corresponding relationship between the power ratio and the on-time ratio within half the target cycle is obtained; the on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle; the target unit cycle is the first unit cycle among multiple unit cycles obtained by equally dividing the target cycle into half the target cycle according to the preset calculation cycle.

[0126] Based on the correspondence and the preset multiple arithmetic progression reference power ratios, a linear association table is obtained. The linear association table stores multiple arithmetic progression reference power ratios and the on-time ratio corresponding to each reference power ratio.

[0127] In this embodiment of the application, the total active power Pt can be obtained by integrating the active power of the AC power source within the target period:

[0128]

[0129] Where S is the apparent power of the AC power supply. It is the power factor, T is the target period, and t is the time variable, with a value range of [0,T].

[0130] The average active power P′ of the AC power source during the target period is:

[0131]

[0132] Ignoring the power factor, the ratio of the average active power of the AC power supply to the full-load power of the AC motor during the target cycle, i.e., the power ratio ε, is:

[0133]

[0134] Due to the characteristics of bidirectional thyristors, the positive and negative half-cycles of the AC power supply have the same on-time. Therefore, when dividing the power equally, only one positive half-cycle, i.e., half the target cycle, needs to be considered. The ratio of the integration time to the half-target cycle is then calculated. If the on-time ratio is set to α, then the relationship between the power ratio and the on-time ratio is as follows:

[0135]

[0136] For example, for a 230V, 50Hz AC power supply, if the MCU's calculation cycle is 100µs, then by dividing the 100µs calculation cycle into half the target cycle of 10ms, we can obtain 100 unit cycles, each unit cycle being 100µs. The target unit cycle is the first unit cycle in these 100 unit cycles, i.e., the first 100µs of the half-target cycle of 10ms. If the target motor's power is 230W when the AC power is fully on, and the power is divided into 5% increments based on a preset step size, then the reference power ratios can be 0%, 5%, 10%, 15%, ..., 95%, 100%. Based on the correspondence in the above formula and the reference power ratios, we can obtain the linear correlation table shown in Table 1.

[0137] Therefore, when the control module obtains the target power ratio, it obtains the corresponding target on-time ratio based on the target power ratio. Since the sum of the target on-time ratio and the target off-time ratio is 1, the target off-time ratio within the target unit cycle can be obtained based on the target on-time ratio. Then, the target off-time is obtained by multiplying the target off-time ratio by the cycle length of the target unit cycle.

[0138] In some embodiments of this application, determining the transmission time of the turn-on signal based on the target turn-off duration and the zero-crossing detection signal of the AC power supply may further include:

[0139] The current zero-crossing time of the AC power supply is determined based on the zero-crossing detection signal; the transmission time of the conduction signal is obtained based on the current zero-crossing time and the target off-time.

[0140] Because the thyristor chopper module disconnects the target motor from the AC power supply at the zero-crossing point, the thyristor chopper module disconnects the target motor from the AC power supply at the current zero-crossing point and maintains the disconnection for the target off-time. The moment the target off-time ends is the moment the turn-on signal is sent, i.e., after the target off-time has elapsed since the current zero-crossing point, the control module sends a turn-on signal to the thyristor chopper module, thereby enabling the thyristor chopper module to connect the target motor to the AC power supply for the current half-target cycle. This continues until the next zero-crossing point arrives, at which point the thyristor chopper module disconnects the target motor from the AC power supply again. This process is repeated to adjust the operating power of the target motor.

[0141] It should be noted that the relevant content of the control module in this application corresponds one-to-one with the above, and those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the power regulation circuit and control module described above can be referred to as follows: Figures 1 to 5 The description of the power regulation circuit in any embodiment will not be repeated here.

[0142] In one application example, for a 230V, 50Hz AC power supply, the MCU's calculation cycle is 100µs, the target motor's power is 230W when the AC power is fully on, and the preset step size is 5%. Based on the correspondence between the power ratio and the on-time ratio and multiple reference power ratios arranged in an arithmetic progression, a linear correlation table as shown in Table 2 can be obtained.

[0143] Table 2 Linear Association Table

[0144]

[0145]

[0146] In other words, the linear association table can associate and record not only the reference power ratio and the on-time ratio, but also the on-time and motor power. The control module can also directly obtain the corresponding on-time ratio based on the target motor power, thereby determining the target off-time and the transmission time of the conduction signal. Figure 8 As shown, Figure 8 This is a schematic diagram of a motor device provided in an embodiment of this application. To better implement the power regulation circuit in this application, based on the power regulation circuit, this application also provides a motor device 800, which may include, for example... Figures 1 to 5 In any embodiment of the power regulation circuit, the control module in the power regulation circuit can perform the following: Figure 7 The power adjustment method in any embodiment is used to adjust the operating power of the motor device 800.

[0147] like Figure 8 As shown, it illustrates a structural schematic diagram of the motor device involved in this application, specifically:

[0148] The motor device may include components such as a power regulation circuit, an input unit, and an output unit. Those skilled in the art will understand that... Figure 8 The device structure shown does not constitute a limitation on the device. The motor device 800 may also include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0149] The input unit of the motor device 800 can be used to receive external input signals, digital or character information, and generate signal inputs related to user settings and function control.

[0150] Please see Figure 9 , Figure 9This is a schematic diagram of a cleaning device provided in an embodiment of this application. In order to better implement the power regulation circuit in this application, this application also provides a cleaning device 900, which integrates any of the power regulation circuits provided in this application. The power regulation circuit is electrically connected to the main motor of the cleaning device 900 and is used to regulate the operating power of the main motor.

[0151] In some embodiments of this application, the cleaning device 900 may further include a dirt detection unit 902, which can be used to detect dirt data on the surface to be cleaned, so that the control module of the power regulation circuit can determine the target power ratio for the main motor 901 based on the dirt data.

[0152] The cleaning device 900 in this application embodiment can be a floor scrubber, carpet cleaner, vacuum cleaner, sweeping robot, or other intelligent cleaning device. The power adjustment method in the above embodiment can be applied to the cleaning device 900 to adjust the operating power of its main motor and thus control the operation of the main motor. The cleaning device 900 in this application embodiment can act on the surface of objects such as floors, carpets, and glass to clean their surfaces.

[0153] Understandably, for surfaces with a lot of dirt, increasing the operating power of the main motor 901 can better clean the dirt and achieve the ideal cleaning effect; while for surfaces with less dirt, appropriately reducing the operating power of the main motor 901 can ensure the cleaning effect while saving energy and reducing noise.

[0154] Therefore, in this embodiment, the control module can determine the target power ratio of the main motor 901 based on the dirt data detected by the dirt detection unit 902.

[0155] In some embodiments, the cleaning device 900 may be configured with a cleaning mechanism that cleans the surface to be cleaned through frictional contact. This cleaning mechanism is equipped with a suction port for absorbing dirt during cleaning, thereby recovering the dirt. A dirt detection unit 902 may be disposed in the suction port for detecting the amount of dirt recovered. In this embodiment, the dirt detection unit 902 may be any existing dirt sensor or a device integrating a dirt sensor.

[0156] It is understandable that dirt data can be used to characterize the degree or amount of dirt on the surface to be cleaned. If the dirt data of the dirt detection unit 902 is large, it can be determined that the surface to be cleaned is dirty. Conversely, if the dirt data is small, it can be determined that the surface to be cleaned is less dirty. Therefore, the control module can determine the degree of dirt on the surface to be cleaned based on the dirt data, and then obtain the corresponding target power ratio based on the determined degree of dirt.

[0157] If the amount of dirt increases, the operating power of the main motor 901 should be increased accordingly to achieve a better cleaning effect. Similarly, if the amount of dirt decreases, the operating power of the main motor 901 should be decreased accordingly to save energy and reduce noise. Therefore, when the amount of dirt increases, the target power ratio of the main motor 901 can be increased accordingly, and when the amount of dirt decreases, the target power ratio of the main motor 901 can be decreased accordingly.

[0158] In one specific implementation, there can be a one-to-one correspondence between dirty data or dirty data within a certain range and the target power ratio. For example, the dirty data range (xx, yy) corresponds to the target power ratio A, and the dirty data range (ww, vv) corresponds to the target power ratio B, etc., where xx <yy<ww<zz,A<B。

[0159] A mapping table between dirt data and power ratio is pre-configured in the control module. When the control module obtains the dirt data output by the dirt detection unit 902, it can substitute the dirt data into the mapping table to find the target power ratio corresponding to the dirt data. Then, the target off-time is obtained based on the target power ratio. The transmission time of the conduction signal is determined based on the target off-time and the zero-crossing detection signal. The control module controls the thyristor chopper module to electrically connect the AC power supply to the main motor 901 according to the conduction signal, so that the main motor 901 runs based on the target power corresponding to the target power ratio to clean the surface to be cleaned.

[0160] For example, when cleaning equipment 900 operates in zone one, the dirt detection unit 902 detects dirt data as ZW1, and the operating power of the main motor 901 is 115W, corresponding to a power ratio of 50%. When cleaning equipment 900 moves from zone one to a dirtier zone two, the dirt data detected by the dirt detection unit 902 increases from ZW1 to ZW2. After the control module obtains the dirt data ZW2, it looks up the table and finds that the target power ratio corresponding to this dirt data ZW2 is 70%. Then, the control module outputs a conduction signal to control the connection between the AC power supply and the main motor 901, thereby increasing the operating power of the main motor 901 from 115W to 161W. The cleaning equipment 900 then cleans zone two based on the operating power of 161W to ensure the cleaning effect.

[0161] The cleaning equipment 900 operates in Zone 3. The dirt detection unit 902 detects dirt data as ZW3, and the operating power of the main motor 901 is 184W, corresponding to a power ratio of 80%. When the cleaning equipment 900 moves from Zone 3 to the cleaner Zone 4, the dirt data detected by the dirt detection unit 902 decreases from ZW3 to ZW4. After the control module obtains the dirt data ZW4, it looks up the table and finds that the target power ratio corresponding to this dirt data ZW4 is 40%. Then, the control module controls the connection between the AC power supply and the main motor 901 by outputting a conduction signal, thereby reducing the operating power of the main motor 901 from 184W to 92W. The cleaning equipment 900 then cleans Zone 4 based on the operating power of 92W, which ensures the cleaning effect, saves energy and reduces noise, and improves the user experience.

[0162] In another specific implementation, when the change in dirt data does not exceed a preset change threshold, the power ratio of the main motor 901, i.e., its operating power, can remain unchanged. That is, the main motor 902 continues to clean the surface to be cleaned based on the current operating power. However, when the change in dirt data exceeds the preset change threshold, the control module can adjust the current power ratio according to a preset power ratio step size to obtain the corresponding target power ratio. Then, based on the target power ratio, the target off-time is obtained. Finally, based on the target off-time and the zero-crossing detection signal, the transmission time of the conduction signal is determined. This allows the control module to electrically connect the AC power supply to the main motor 901 according to the conduction signal, so that the main motor 901 operates at the target power corresponding to the target power ratio to clean the surface to be cleaned.

[0163] For example, when cleaning equipment 900 moves from zone five to zone six, the dirt detection unit 902 detects dirt data increasing from ZW5 to ZW6. The current operating power of the main motor 901 is 115W, corresponding to a power ratio of 50%. If the difference between ZW6 and ZW5 exceeds a preset threshold, the control module adjusts the power ratio to 60% according to a preset power ratio step size, such as 10%. The control module then controls the output of a conduction signal based on the target power ratio of 60% to control the connection between the AC power supply and the main motor 901, increasing the operating power of the main motor 901 from 115W to 138W. The cleaning equipment 900 then cleans zone six based on an operating power of 138W. If the difference between ZW6 and ZW5 is less than or equal to the preset threshold, the power ratio is not adjusted. The control module continues to control the output of a conduction signal based on the current power ratio of 50% to control the connection between the AC power supply and the main motor 901, maintaining the operating power of the main motor 901 at 115W for cleaning zone six.

[0164] The cleaning device 900 moves from zone seven to zone eight. The dirt detection unit 902 detects a decrease in dirt data from ZW7 to ZW8. The current operating power of the main motor 901 is 115W, corresponding to a power ratio of 50%. If the difference between ZW7 and ZW8 exceeds a preset threshold, the control module adjusts the power ratio to 30% according to a preset power ratio step size, such as 20%. The control module then controls the output of the conduction signal based on the target power ratio of 30% to control the connection between the AC power supply and the main motor 901, reducing the operating power of the main motor 901 from 115W to 69W. The cleaning device 900 then cleans zone eight based on an operating power of 69W. If the difference between ZW7 and ZW8 is less than or equal to the preset threshold, the power ratio is not adjusted. The control module continues to control the output of the conduction signal based on the current power ratio of 50% to control the connection between the AC power supply and the main motor 901, maintaining the operating power of the main motor 901 at 115W for cleaning zone eight.

[0165] Understandably, the control module in this embodiment can also continuously adjust the power ratio. For example, if the change in dirt data exceeds a preset change threshold at the current sampling time, the control module adjusts the power ratio according to a preset power ratio step size, thereby adjusting the operating power of the main motor 602. If the change in dirt data still exceeds the change threshold at the next sampling time, the control module can continue to adjust the power ratio according to a preset power ratio step size, further adjusting the operating power of the main motor 902 until the change in dirt data is less than or equal to the change threshold, at which point the power adjustment stops, so that the main motor 902 of the cleaning device 900 operates based on the current operating power.

[0166] The cleaning device 900 of this application embodiment can intelligently adjust the operating power of the main motor 902 to the ideal power according to the degree of dirt on the surface to be cleaned. This not only ensures the accuracy of power adjustment but also ensures the cleaning effect, while saving energy and reducing noise.

[0167] Those skilled in the art will understand that all or part of the steps in the various methods described above can be accomplished by instructions, or by instructions controlling related hardware, and these instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0168] Therefore, this application provides a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc. Computer instructions are stored thereon, and these computer instructions are loaded by a processor to execute the steps in any of the power regulation methods provided in this application. For example, when the computer instructions are executed by the processor, they perform the following functions:

[0169] Obtain the target power ratio for the target motor;

[0170] The target shutdown time is obtained based on the target power ratio; the target shutdown time is the duration during which the target motor is disconnected from the AC power supply.

[0171] Based on the target off-time and the zero-crossing detection signal of the AC power supply, the timing of sending the turn-on signal is determined so that the thyristor chopper module of the power regulation circuit responds to the turn-on signal to connect the AC power supply and the target motor.

[0172] The computer instructions stored in the computer-readable storage medium can execute the present application as follows. Figure 7 Corresponding to the steps in the power regulation method in any embodiment, the present application can be implemented as described above. Figure 7 For details on the beneficial effects that the power regulation method can achieve in any embodiment, please refer to the preceding description, which will not be repeated here.

[0173] Since sensorless brushless motors need to obtain the initial position of the rotor when starting, they often need to be restarted when the rotor stops rotating or the speed is low during rapid start-stop. Therefore, there are currently two methods for controlling the rapid start-stop of brushless motors: one is to delay the start-up after the motor stops for a period of time; the other is to brake the motor after it stops to reduce the speed and then start it after a period of time.

[0174] However, existing fast start-stop control methods have limited applicability if the time from motor shutdown to restart is long, and cannot meet the requirements of high-speed start-stop applications. If the time from shutdown to restart is short, the braking current will be generated during braking. In some applications with large rotational inertia, the braking current will put too much burden on the system, which may lead to problems such as damage to components and overheating.

[0175] In view of the above problems, this application also provides a method for controlling the rapid start and stop of a motor. The method can control the rapid start and stop of a motor. The subject executing the method can be a motor control device or a motor device that integrates the motor control device.

[0176] like Figure 10 As shown, Figure 10 This is a flowchart illustrating a motor rapid start-stop control method provided in an embodiment of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here. The motor rapid start-stop control method may include the following multiple steps.

[0177] Step S1001: During the shutdown process of the target motor, determine the current position and current speed of the rotor based on the three back electromotive forces of the target motor.

[0178] Understandably, from the moment the target motor stops, the rotor will not stop rotating immediately, but will continue to rotate. The rotor rotation cuts the magnetic field lines and generates an electromotive force. The direction of this electromotive force is opposite to the voltage applied across the target motor, so it is a back electromotive force.

[0179] In this embodiment, the three-phase back electromotive force of the target motor can be obtained by sampling the three-phase phase voltage of the target motor.

[0180] Understandably, the phase difference between any two phases of the three back electromotive forces is 120°. Therefore, the current position of the rotor can be determined by the amplitude relationship of the three back electromotive forces.

[0181] Please see Figure 11 , Figure 11 This is a schematic diagram of the amplitude relationship of the three back electromotive forces provided in the embodiments of this application. By comparing the magnitude of the voltage amplitude of each phase in the three back electromotive forces, the region where the rotor is located, i.e., the current position, can be determined.

[0182] If the voltage amplitude of phase C, Uc, is greater than the voltage amplitude of phase A, Ua, and the voltage amplitude of phase B, Ub, then it can be determined that the rotor is currently in region I, i.e., the region of 0-60°.

[0183] If the voltage amplitude of phase A, Ua, is greater than the voltage amplitude of phase C, Uc, and the voltage amplitude of phase B, Ub, then it can be determined that the rotor is currently in region II, i.e., the region of 60°-120°.

[0184] If the voltage amplitude of phase A, Ua, is greater than the voltage amplitude of phase B, Ub, and the voltage amplitude of phase C, Uc, then it can be determined that the rotor is currently in region III, i.e., the region of 120°-180°.

[0185] If the voltage amplitude of phase B, Ub, is greater than the voltage amplitude of phase A, Ua, and the voltage amplitude of phase C, Uc, then it can be determined that the rotor is currently in region IV, i.e., the region of 180°-240°.

[0186] If the voltage amplitude of phase B, Ub, is greater than the voltage amplitude of phase C, Uc, and the voltage amplitude of phase A, Ua, then it can be determined that the rotor is currently in region V, which is the region of 240°-300°.

[0187] If the voltage amplitude of phase C, Uc, is greater than the voltage amplitude of phase B, Ub, and the voltage amplitude of phase A, Ua, then the rotor is currently in region VI, which is the region of 300°-360°.

[0188] Furthermore, according to the formula for calculating back electromotive force: e = BLRω, where e is the back electromotive force, B is the magnetic flux density, L is the length of the conductor in the magnetic field, R is the radius of rotation, and ω is the rotational speed, the formula for calculating the rotor speed can be obtained: ω = e / BLR. Then, the current rotational speed of the rotor can be calculated based on the current amplitude of the back electromotive force.

[0189] Step S1002: Based on the current rotor position and current speed, perform virtual phase commutation on the three-phase voltage of the target motor and synchronously perform virtual phase conduction.

[0190] It is understandable that the motor is driven by specific commutation processes, where the commutation process corresponding to one full rotation of the rotor (360°) can be:

[0191] Phase A is connected to a positive voltage, phase B is connected to a negative voltage, and phase C is left floating.

[0192] Phase C is connected to a positive voltage, phase B is connected to a negative voltage, and phase A is left floating.

[0193] Phase C is connected to a positive voltage, phase A is connected to a negative voltage, and phase B is left floating.

[0194] Phase B is connected to a positive voltage, phase A is connected to a negative voltage, and phase C is left floating.

[0195] Phase B is connected to a positive voltage, phase C is connected to a negative voltage, and phase A is left floating.

[0196] Phase A is connected to a positive voltage, phase C is connected to a negative voltage, and phase B is left floating.

[0197] According to the above energizing sequence, the rotor can be made to rotate. When the rotor rotates to the horizontal position, it will continue to rotate due to inertia. If the current is reversed at this time, the rotor will continue to rotate. It can be understood that although there is no horizontal position when three phases are energized, there is a quasi-equilibrium state. Therefore, when the rotor rotates to the quasi-equilibrium state, a commutation operation can be performed to make the rotor continue to rotate.

[0198] Therefore, after obtaining the current position and current speed of the rotor in step S1001, it can be determined whether the rotor has reached the pseudo-balanced state or when the rotor will reach the pseudo-balanced state. Since the target motor is in a stopped state, i.e. not powered, when the rotor reaches the pseudo-balanced state, the virtual conduction phase of the three-phase voltage of the target motor at the current moment can be simulated. That is, when the rotor reaches the pseudo-balanced state, the three-phase voltage of the target motor is virtually commutated.

[0199] Step S1003: In response to the start command for the target motor, determine the real phase based on the current virtual conduction phase to perform real commutation and bring the target motor into the running state.

[0200] When the target motor receives a start command, such as a start pulse signal, it can respond to the start command by directly controlling the corresponding phase to be energized or left floating according to the virtual conduction phase obtained in step S1002, so that the target motor can quickly enter the running state.

[0201] The motor rapid start-stop control method of this application performs virtual commutation on the target motor based on the rotor's position and speed during the shutdown process. It simulates the commutation operation when the rotor rotates to a pseudo-equilibrium state to obtain a virtual conduction phase. When the target motor receives a start command, it controls the energization of the corresponding phase according to the virtual conduction phase, thereby realizing the rapid start of the target motor. Compared with the existing motor rapid start-stop control methods, it does not require waiting for the motor speed to decrease, nor does it require braking operation. It eliminates the risk of overheating and damage to components, improves the reliability and safety of motor rapid start-stop, and has a wide range of applications.

[0202] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0203] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For specific implementation of each of the above units or structures, please refer to the previous embodiments, which will not be repeated here.

[0204] The power regulation circuit, method, motor device, and cleaning device provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above description is only for the purpose of helping to understand the circuit, method, and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A power conditioning circuit, characterized by, It includes a control module and a thyristor chopper module, and the target motor is connected to the AC power supply through the thyristor chopper module; The control module is used to acquire the target power ratio for the target motor, obtain the target shutdown duration based on the target power ratio, and determine the transmission time of the turn-on signal based on the target shutdown duration and the zero-crossing detection signal of the AC power supply; the target shutdown duration is the disconnection duration between the target motor and the AC power supply. The thyristor chopper module is used to connect the AC power supply and the target motor in response to the conduction signal, and to disconnect the AC power supply and the target motor when the AC power supply crosses zero, so as to adjust the operating power of the target motor. The control module is configured with a linear association table, which stores multiple reference power ratios arranged in an arithmetic progression and the corresponding on-time ratio for each reference power ratio. The on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle. The target unit cycle is the first unit cycle among multiple unit cycles obtained by dividing the target cycle into half according to a preset calculation cycle. The control module is configured to obtain, based on the target power ratio and the linear correlation table, a target on-time ratio corresponding to the target power ratio in the linear correlation table; obtain a target off-time ratio within the target unit cycle based on the target on-time ratio; and obtain the target off-time based on the target off-time ratio and the cycle length of the target unit cycle.

2. The power regulation circuit according to claim 1, characterized in that, The thyristor chopper module includes an isolating switch unit and a bidirectional thyristor. The isolating switch unit is connected to the control module and the bidirectional thyristor respectively. The target motor is connected to the AC power supply through the bidirectional thyristor. The disconnector unit is configured to output a drive signal to the bidirectional thyristor in response to the conduction signal; The bidirectional thyristor is configured to connect the AC power supply and the target motor in response to the drive signal, and to disconnect the AC power supply and the target motor at the zero-crossing point of the AC power supply.

3. The power regulation circuit according to claim 1, characterized in that, The power regulation circuit further includes a zero-crossing detection module connected to the AC power supply, and the zero-crossing detection module includes a unidirectional conduction isolation unit connected to the AC power supply and the control module respectively. The unidirectional conduction isolation unit is used to obtain the alternating zero-crossing detection signal based on the alternating switching of the positive and negative half-cycles of the AC power output signal and output it to the control module.

4. A power regulation method, characterized in that, The method, applied to the control module of the power regulation circuit according to any one of claims 1-3, comprises: Obtain the target power ratio for the target motor; The target shutdown duration is obtained based on the target power ratio; the target shutdown duration is the duration during which the target motor is disconnected from the AC power supply. Based on the target off-time and the zero-crossing detection signal of the AC power supply, the transmission time of the turn-on signal is determined so that the thyristor chopper module of the power regulation circuit responds to the turn-on signal to connect the AC power supply and the target motor. The step of obtaining the target shutdown duration based on the target power ratio includes: Based on a preset linear correlation table and the target power ratio, a target on-time ratio corresponding to the target power ratio is obtained; the linear correlation table stores multiple reference power ratios arranged in an arithmetic progression and an on-time ratio corresponding to each reference power ratio; the on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle; the target unit cycle is the first unit cycle among multiple unit cycles obtained by equally dividing the target cycle according to a preset calculation cycle; Based on the target power ratio and the linear correlation table, the target on-time ratio corresponding to the target power ratio in the linear correlation table is obtained. Based on the target on-time ratio, the target off-time ratio within the target unit cycle is obtained. Based on the target off-time ratio and the cycle length of the target unit cycle, the target off-time is obtained.

5. The power regulation method according to claim 4, characterized in that, Before obtaining the target shutdown duration based on the target power ratio, the method includes: Based on the ratio of the average active power of the AC power supply within the target cycle to the full-load power of the target motor, the corresponding relationship between the power ratio and the on-time ratio within half the target cycle is obtained; the on-time ratio is the proportion of the on-time of the target motor and the AC power supply within the target unit cycle to the cycle duration of the target unit cycle. The linear correlation table is obtained based on the correspondence and the preset reference power ratios arranged in multiple arithmetic progressions.

6. The power regulation method according to claim 4, characterized in that, The step of determining the transmission time of the turn-on signal based on the target turn-off duration and the zero-crossing detection signal of the AC power supply includes: The current zero-crossing time of the AC power supply is determined based on the zero-crossing detection signal; The transmission time of the conduction signal is obtained based on the current zero-crossing time and the target off-time.

7. A motor device, characterized in that, The motor device includes the power regulation circuit according to any one of claims 1-3.

8. A cleaning device, characterized in that, The cleaning equipment includes the power regulation circuit according to any one of claims 1-3, wherein the power regulation circuit is used to regulate the operating power of the main motor of the cleaning equipment.

9. The cleaning equipment according to claim 8, characterized in that, The cleaning equipment also includes a dirt detection unit, which is used to detect dirt data on the surface to be cleaned. The control module of the power regulation circuit is used to obtain the target power ratio for the main motor based on the dirt data.

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