Motor starting control method, device, centrifuge and storage medium

Abstract

This invention discloses a motor starting control method, device, centrifuge, and storage medium. The method includes: acquiring the output current and / or back electromotive force (EMF) of the motor during startup; controlling the motor to stop and brake when the output current is greater than a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, so that the motor can restart with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple. Therefore, by comparing the real-time acquired output current with the preset first multiple of the starting current, the sensitivity of output current judgment can be improved, making it easier to identify motor faults. Simultaneously, the comparison result of the acquired back EMF with the preset EMF threshold further improves the predictive ability of motor faults, enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a motor starting control method, device, centrifuge, and storage medium. Background Technology

[0002] If the load fluctuates significantly during motor startup, it can easily cause overcurrent or loss of synchronism during startup.

[0003] Currently, related technologies typically detect the motor's output current after a period of operation to determine if the motor has started normally. If the output current is detected to be too high or consistently zero, the motor is judged to have stopped due to overcurrent or loss of synchronism. However, this method usually compares the output current with a preset fixed threshold, which is not sensitive enough for motor fault detection and makes it difficult to determine motor faults in a timely manner. That is, the motor may have already stopped due to overcurrent or loss of synchronism before the fault detection results are available. Furthermore, after the motor stops, professional maintenance personnel are required to intervene to troubleshoot the fault and restart the motor, which affects the user experience. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, the first objective of this invention is to propose a motor starting control method. This method compares the real-time acquired output current with a preset first multiple of the starting current, which improves the sensitivity of output current judgment, making it easier to identify motor faults. Simultaneously, the comparison between the acquired back electromotive force and a preset electromotive force threshold further enhances the predictive ability of motor faults, enabling timely prediction of motor failures. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and enhancing the user experience.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a centrifuge.

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

[0008] To achieve the above objectives, a first aspect of the present invention provides a motor starting control method, comprising: acquiring the output current and / or back electromotive force when the motor starts; controlling the motor to stop and brake when the output current is greater than a preset first multiple of the starting current and / or the back electromotive force is less than a preset electromotive force threshold, so that the motor can be restarted with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

[0009] According to the motor starting control method of this invention, the output current and / or back electromotive force (EMF) of the motor during startup are acquired. When the output current is greater than a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, the motor is controlled to stop and brake, so that the motor can restart with a preset second multiple of the starting current. Therefore, by comparing the real-time acquired output current with the preset first multiple of the starting current, the sensitivity of output current judgment can be improved, making it easier to identify motor faults. Simultaneously, the comparison result of the acquired back EMF with the preset EMF threshold further improves the predictive ability of motor faults, enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and enhancing the user experience.

[0010] According to one embodiment of the present invention, the motor starting process includes an open-loop starting stage, wherein acquiring the output current and / or back electromotive force during motor starting includes: acquiring the output current and / or back electromotive force during the open-loop starting stage.

[0011] According to one embodiment of the present invention, obtaining the output current when the motor starts includes: obtaining the three-phase current when the motor starts; calculating the effective value of the current based on the three-phase current as the output current.

[0012] According to one embodiment of the present invention, obtaining the output current when the motor starts includes: obtaining the three-phase current when the motor starts; performing coordinate transformation on the three-phase current to obtain the α-axis current and β-axis current in a two-phase stationary coordinate system; and calculating the effective value of the current based on the α-axis current and β-axis current as the output current.

[0013] According to one embodiment of the present invention, obtaining the back electromotive force when a motor starts includes: obtaining the three-phase current when the motor starts; performing coordinate transformation on the three-phase current to obtain the d-axis current and q-axis current in a two-phase rotating coordinate system; calculating the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current, and calculating the back electromotive force based on the d-axis voltage and q-axis voltage and the d-axis current and q-axis current.

[0014] According to one embodiment of the present invention, after the motor stops and brakes, the method further includes: increasing the starting current and controlling the motor to restart.

[0015] According to one embodiment of the present invention, the preset electromotive force threshold is determined based on the theoretical value of the back electromotive force when the motor is running at a set frequency.

[0016] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium storing a motor start control program thereon, which, when executed by a processor, implements the motor start control method as described in the first aspect embodiment.

[0017] According to the computer-readable storage medium of the present invention, the above-described motor start-up control method improves the sensitivity of output current judgment by comparing the real-time acquired output current with a preset first multiple of the start-up current, thereby making it easier to identify motor faults. At the same time, the comparison result of the acquired back electromotive force with a preset electromotive force threshold can further improve the predictive ability of motor faults, thereby enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted by controlling the motor with a preset second multiple of the start-up current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and improving the user experience.

[0018] To achieve the above objectives, a third aspect of the present invention provides a centrifuge, including a memory, a processor, and a motor start control program stored in the memory and executable on the processor. When the processor executes the motor start control program, it implements the motor start control method as described in the first aspect embodiment.

[0019] According to the centrifuge of the present invention, the above-described motor start control method improves the sensitivity of output current judgment by comparing the real-time acquired output current with a preset first multiple of the start current, thereby making it easier to identify motor faults. At the same time, the comparison result of the acquired back electromotive force with a preset electromotive force threshold can further improve the predictive ability of motor faults, thereby enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted by controlling the motor with a preset second multiple of the start current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and improving the user experience.

[0020] To achieve the above objectives, a fourth aspect of the present invention provides a motor starting control device, comprising: an acquisition module for acquiring the output current and / or back electromotive force when the motor starts; and a control module for controlling the motor to stop and brake when the output current is greater than a preset first multiple of the starting current and / or the back electromotive force is less than a preset electromotive force threshold, so that the motor can restart with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

[0021] According to an embodiment of the present invention, the motor starting control device acquires the output current and / or back electromotive force (EMF) of the motor during startup via an acquisition module. When the output current is greater than a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, the control module controls the motor to stop and brake, so that the motor can restart with a preset second multiple of the starting current. Therefore, by comparing the real-time acquired output current with the preset first multiple of the starting current, the sensitivity of output current judgment can be improved, making it easier to identify motor faults. Simultaneously, the comparison result of the acquired back EMF with the preset EMF threshold further improves the predictive ability of motor faults, enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and enhancing the user experience.

[0022] 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

[0023] Figure 1 A flowchart of a motor starting control method according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of a motor starting control device according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic block diagram of a centrifuge according to an embodiment of the present invention. Detailed Implementation

[0026] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0027] It should be noted that during motor startup, significant load fluctuations can easily cause overcurrent or loss of synchronism. Currently, related technologies typically detect the motor's output current after a period of startup to determine if the motor has started normally. If the detected output current is too high or remains zero, the motor is judged to have stopped due to overcurrent or loss of synchronism. However, this method cannot promptly diagnose motor faults; the motor may have already stopped due to overcurrent or loss of synchronism before the fault detection results are available. Furthermore, after the motor stops, professional maintenance personnel are required to troubleshoot the fault and restart the motor, impacting the user experience.

[0028] Based on this, the motor starting control method proposed in this application compares the real-time acquired output current with a preset first multiple of the starting current, which can improve the sensitivity of output current judgment and make it easier to judge motor faults. At the same time, the comparison result of the acquired back electromotive force with the preset electromotive force threshold can further improve the predictive ability of motor faults, so as to predict motor faults in a timely manner. Furthermore, after the motor stops running, it can also be restarted with a preset second multiple of the starting current, which improves the automation level of the motor, avoids manual troubleshooting and repeated restarts, and improves the user experience.

[0029] The motor starting control method proposed in the embodiments of the present invention is described below with reference to the accompanying drawings.

[0030] Figure 1 This is a flowchart of a motor starting control method according to an embodiment of the present invention. Figure 1 As shown, the motor starting control method includes the following steps:

[0031] Step S101: Obtain the output current and / or back electromotive force when the motor starts.

[0032] It should be noted that in some embodiments, the output current when the motor starts can be obtained by a current sensor; back electromotive force refers to the electromotive force generated by resisting the change of current. Generally, in any electrical device with an inductive load that converts electrical energy into magnetic energy, there will be back electromotive force at the moment of power on / off. Therefore, when the motor starts, the motor coil is energized, and a corresponding back electromotive force will be generated. In some embodiments, the back electromotive force can be calculated based on information such as rotor angular velocity and number of winding turns.

[0033] Specifically, during the motor startup process, the individual output current of the motor, or the individual back electromotive force, or the output current and back electromotive force of the motor during startup are acquired in real time.

[0034] Step S102: When the output current is greater than a preset first multiple of the starting current and / or the back electromotive force is less than a preset electromotive force threshold, control the motor to stop and brake so that the motor can restart with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

[0035] Optionally, the preset electromotive force threshold is determined based on the theoretical value of the back electromotive force when the motor is running at a set frequency.

[0036] Specifically, during motor start-up control, the starting current is acquired in real time via the motor's built-in current sensor. A preset electromotive force (EMF) threshold is determined before starting the motor. When the motor runs at a set frequency, the theoretical value of the back EMF is calculated based on this set frequency. The specific calculation formula is: E = Ke μ, where E is the theoretical value of the back electromotive force, and K e The back electromotive force coefficient of the motor is μ, and the set frequency is μ. The preset electromotive force threshold is determined based on the theoretical value of the back electromotive force obtained. For example, 0.5 times the theoretical value of the back electromotive force is used as the preset electromotive force threshold.

[0037] Furthermore, the real-time acquired output current is compared with a preset first multiple of the starting current. For example, the real-time acquired output current is compared with 1.8 times the starting current. If the output current is greater than the preset first multiple of the starting current, it indicates that the output current during the motor start-up phase exceeds the reasonable range, and motor overcurrent may occur. The real-time acquired back electromotive force is compared with a preset electromotive force threshold. If the back electromotive force is less than the preset electromotive force threshold, it indicates that the actual rotation frequency of the motor is less than the preset frequency. The motor may not have accelerated to the preset frequency due to excessive load, and motor step loss may occur.

[0038] When the output current exceeds a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, the motor is controlled to stop and brake. In other words, when the motor output current exceeds a preset first multiple of the starting current, it is determined that the motor may experience overcurrent. To avoid damage to the motor from overcurrent, the motor is stopped before the overcurrent occurs. When the back EMF is less than the preset EMF threshold, it is determined that the motor may experience step loss. To avoid damage to the motor from step loss, the motor is stopped before step loss occurs. When both the output current exceeds a preset first multiple of the starting current and the back EMF is less than the preset EMF threshold, it indicates that the motor may experience both overcurrent and step loss simultaneously. To prevent motor malfunction, the motor is stopped in advance.

[0039] It should be noted that when the output current and back EMF are simultaneously acquired and compared with the preset first multiple of the starting current and the preset EMF threshold respectively, if the output current is greater than the preset first multiple of the starting current, the motor will be controlled to stop running regardless of whether the back EMF is less than the preset EMF threshold. Similarly, if the back EMF is less than the preset EMF threshold, the motor will be controlled to stop running regardless of whether the output current is greater than the preset first multiple of the starting current. In other words, when any overcurrent or step loss phenomenon is about to occur, the motor will be controlled to stop running to ensure safe motor start-up.

[0040] After the motor stops running, it can be braked to restart it. When restarting the motor, it can be controlled to start the motor according to a preset second multiple of the starting current, for example, 1.2 times the starting current. This increases the starting current of the motor restart, thereby reducing the probability of restart failure by increasing the starting current and restarting. It should be noted that the preset second multiple can be adjusted. When the preset second multiple is adjusted to 1, the motor is controlled to restart according to the original starting current. This allows for flexible control of the motor starting current. Furthermore, the automatic repeated starting of the motor improves the degree of automation and avoids manual troubleshooting and repeated starting.

[0041] Therefore, by comparing the real-time acquired output current with a preset first multiple of the starting current, the sensitivity of output current judgment can be improved, making it easier to identify motor faults. At the same time, the comparison result of the acquired back electromotive force with the preset electromotive force threshold can further improve the predictive ability of motor faults, thus enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and improving the user experience.

[0042] In some embodiments, the motor starting process includes an open-loop starting phase, wherein acquiring the output current and / or back electromotive force during motor starting includes: acquiring the output current and / or back electromotive force during the open-loop starting phase. That is, when the motor starting includes an open-loop starting phase, during the motor starting process, the individual output current or individual back electromotive force during the open-loop starting phase of the motor is acquired in real time, or the output current and back electromotive force during the open-loop starting phase of the motor are acquired simultaneously.

[0043] In some embodiments, obtaining the output current during motor startup includes: obtaining the three-phase current during motor startup; and calculating the effective value of the current based on the three-phase current as the output current. That is, the output current can be determined based on the effective value of the three-phase current. Specifically, the three-phase current I during motor startup is obtained using a current sensor built into the motor. u I v and I w The effective value of the current is calculated based on the three-phase current and used as the output current. The specific calculation formula is as follows:

[0044]

[0045] Among them, I s For the output current, I u Let I be the phase current. v Let I be the phase current. w Let w be the phase current.

[0046] In some embodiments, obtaining the output current during motor startup includes: obtaining the three-phase current during motor startup; performing coordinate transformation on the three-phase current to obtain the α-axis current and β-axis current in a two-phase stationary coordinate system; and calculating the effective value of the current based on the α-axis current and β-axis current as the output current. That is, the effective value determined by the α-axis current and β-axis current after the three-phase current transformation can also be used as the output current. Specifically, the obtained three-phase current I... u I v and I w A coordinate transformation is performed to obtain the α-axis current and β-axis current in the two-phase stationary coordinate system. The specific α-axis current and β-axis current obtained are shown below:

[0047]

[0048]

[0049] Among them, I α Let I be the α-axis current. β For the β-axis current, I u Let I be the phase current. v Let I be the phase current. w Let w be the phase current and k be a coefficient. If the phase amplitude remains unchanged before and after the transformation, then k = 1.5. If the magnitude and direction of the resultant vector are the same before and after the transformation, then k = 1. If the power is equal before and after the transformation, then...

[0050] The effective value of the current is calculated based on the α-axis current and the β-axis current, and then used as the output current. The specific calculation formula is as follows:

[0051]

[0052] Among them, I s For the output current, I α Let I be the α-axis current. β This is the β-axis current.

[0053] In some embodiments, obtaining the back electromotive force when the motor starts includes: obtaining the three-phase current when the motor starts; performing coordinate transformation on the three-phase current to obtain the d-axis current and q-axis current in a two-phase rotating coordinate system; calculating the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current, and calculating the back electromotive force based on the d-axis voltage and q-axis voltage and the d-axis current and q-axis current.

[0054] Specifically, in obtaining the three-phase current I of the motor u I v and I wThen, by performing a coordinate transformation on the three-phase currents, the d-axis current and q-axis current in a two-phase rotating coordinate system can be obtained. The specific d-axis current and q-axis current obtained are shown below:

[0055] I d =I α cosωt+I β sinωt

[0056] I q =-I α sinωt+I β cosωt

[0057] Among them, I d I is the d-axis current. q I is the q-axis current. α Let I be the α-axis current. β ω is the β-axis current, and ω is the rotor angular velocity.

[0058] The d-axis voltage and q-axis voltage are calculated based on the d-axis current and q-axis current, using the following formulas:

[0059]

[0060]

[0061] Among them, U d U is the d-axis voltage. q I is the q-axis voltage. d Let I be the d-axis current. q R is the q-axis current, ω is the rotor angular velocity, and R is the q-axis current. s For stator resistance, φ q For q-axis flux linkage, φ d For d-axis flux linkage, φ f For rotor flux linkage, L d For the d-axis inductance, L q It is the q-axis inductance.

[0062] The back electromotive force can be calculated from the d-axis voltage, q-axis voltage, d-axis current, and q-axis current, as shown in the following formula:

[0063] E d =U d +ωL q I q -R s I d

[0064] E q =U q -ωL d I d -R s Iq

[0065]

[0066] in, For the reaction potential, E d E is the d-axis reaction potential. q It is the q-axis reaction potential.

[0067] Calculate the starting potential If the back electromotive force is compared with a preset electromotive force threshold, and the back electromotive force is less than the preset electromotive force threshold, the motor is stopped and braked so that the motor can be restarted.

[0068] In summary, by acquiring the output current and / or back EMF during motor startup, and controlling the motor to stop and brake when the output current exceeds a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, the motor can be restarted with a preset second multiple of the starting current. Therefore, comparing the real-time acquired output current with the preset first multiple of the starting current improves the sensitivity of output current judgment, making it easier to identify motor faults. Simultaneously, comparing the acquired back EMF with the preset EMF threshold further enhances the predictive ability of motor faults, enabling timely prediction of motor malfunctions. Furthermore, the ability to restart the motor with a preset second multiple of the starting current after it has stopped improves the automation level of the motor, avoids manual troubleshooting and repeated restarts, and enhances the user experience.

[0069] Figure 2 This is a schematic diagram of a motor starting control device according to an embodiment of the present invention. Figure 2 As shown, the motor start control device 100 includes an acquisition module 110 and a control module 120.

[0070] The acquisition module 110 is used to acquire the output current and / or back electromotive force when the motor starts; the control module 120 is used to control the motor to stop and brake when the output current is greater than a preset first multiple of the starting current and / or the back electromotive force is less than a preset electromotive force threshold, so that the motor can restart with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

[0071] In some embodiments, the motor starting process includes an open-loop starting phase, and the acquisition module 110 is specifically used to: acquire the output current and / or back electromotive force during the open-loop starting phase.

[0072] In some embodiments, the acquisition module 110 is specifically used to: acquire the three-phase current when the motor starts; calculate the effective value of the current based on the three-phase current, and use it as the output current.

[0073] In some embodiments, the acquisition module 110 is specifically used to: acquire the three-phase current when the motor starts; perform coordinate transformation on the three-phase current to obtain the α-axis current and β-axis current in the two-phase stationary coordinate system; and calculate the effective value of the current based on the α-axis current and β-axis current as the output current.

[0074] In some embodiments, the acquisition module 110 is specifically used to: acquire the three-phase current when the motor starts; perform coordinate transformation on the three-phase current to obtain the d-axis current and q-axis current in a two-phase rotating coordinate system; calculate the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current, and calculate the back electromotive force based on the d-axis voltage and q-axis voltage and the d-axis current and q-axis current.

[0075] In some embodiments, the preset electromotive force threshold is determined based on the theoretical value of the back electromotive force when the motor is running at a set frequency.

[0076] It should be noted that the description of the motor starting control device in this application is the same as the description of the motor starting control method in this application, and will not be repeated here.

[0077] According to an embodiment of the present invention, the motor starting control device acquires the output current and / or back electromotive force (EMF) of the motor during startup via an acquisition module. When the output current is greater than a preset first multiple of the starting current and / or the back EMF is less than a preset EMF threshold, the control module controls the motor to stop and brake, so that the motor can restart with a preset second multiple of the starting current. Therefore, by comparing the real-time acquired output current with the preset first multiple of the starting current, the sensitivity of output current judgment can be improved, making it easier to identify motor faults. Simultaneously, the comparison result of the acquired back EMF with the preset EMF threshold further improves the predictive ability of motor faults, enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted with a preset second multiple of the starting current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and enhancing the user experience.

[0078] Figure 3 This is a schematic block diagram of a centrifuge according to an embodiment of the present invention. Figure 3 As shown, the centrifuge 200 includes a memory 210 and a processor 220. The motor start control program is stored in the memory 210 and can run on the processor 220. When the processor 220 executes the program, it implements the motor start control method described above.

[0079] According to the centrifuge of the present invention, the above-described motor start control method improves the sensitivity of output current judgment by comparing the real-time acquired output current with a preset first multiple of the start current, thereby making it easier to identify motor faults. At the same time, the comparison result of the acquired back electromotive force with a preset electromotive force threshold can further improve the predictive ability of motor faults, thereby enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted by controlling the motor with a preset second multiple of the start current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and improving the user experience.

[0080] In addition, embodiments of the present invention also provide a computer-readable storage medium storing a motor start control program thereon, which, when executed by a processor, implements the above-described motor start control method.

[0081] According to the computer-readable storage medium of the present invention, the above-described motor start-up control method improves the sensitivity of output current judgment by comparing the real-time acquired output current with a preset first multiple of the start-up current, thereby making it easier to identify motor faults. At the same time, the comparison result of the acquired back electromotive force with a preset electromotive force threshold can further improve the predictive ability of motor faults, thereby enabling timely prediction of motor faults. Furthermore, after the motor stops running, it can be restarted by controlling the motor with a preset second multiple of the start-up current, improving the automation level of the motor, avoiding manual troubleshooting and repeated restarts, and improving the user experience.

[0082] 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.

[0083] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0084] 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.

[0085] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0087] 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 starting control method, characterized in that, include: Obtain the output current and back electromotive force of the motor when it starts; When the output current is greater than a preset first multiple of the starting current and the back electromotive force is less than a preset electromotive force threshold, the motor is controlled to stop and brake so that the motor can be restarted with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

2. The method according to claim 1, characterized in that, The motor's starting process includes an open-loop starting phase, wherein acquiring the motor's output current and back electromotive force during startup includes: During the open-loop startup phase, the output current and back electromotive force are acquired.

3. The method according to claim 1 or 2, characterized in that, Obtaining the output current of the motor during startup includes: Obtain the three-phase current when the motor starts; The effective value of the current is calculated based on the three-phase current and used as the output current.

4. The method according to claim 1 or 2, characterized in that, Obtaining the output current of the motor during startup includes: Obtain the three-phase current when the motor starts; The three-phase currents are transformed to obtain the α-axis current and β-axis current in a two-phase stationary coordinate system. The effective value of the current is calculated based on the α-axis current and the β-axis current, and is used as the output current.

5. The method according to claim 1 or 2, characterized in that, Obtaining the back electromotive force when the motor starts includes: Obtain the three-phase current when the motor starts; The three-phase currents are transformed to obtain the d-axis current and q-axis current in a two-phase rotating coordinate system. The d-axis voltage and q-axis voltage are calculated based on the d-axis current and q-axis current, and the back electromotive force is calculated based on the d-axis voltage and q-axis voltage, as well as the d-axis current and q-axis current.

6. The method according to claim 1, characterized in that, The preset electromotive force threshold is determined based on the theoretical value of the back electromotive force when the motor is running at a set frequency.

7. A computer-readable storage medium, characterized in that, It stores a motor start control program, which, when executed by a processor, implements the motor start control method according to any one of claims 1-6.

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

9. A motor starting control device, characterized in that, include: The acquisition module is used to acquire the output current and back electromotive force of the motor when it starts. The control module is used to control the motor to stop and brake when the output current is greater than a preset first multiple of the starting current and the back electromotive force is less than a preset electromotive force threshold, so that the motor can be restarted with a preset second multiple of the starting current, wherein the preset first multiple is greater than the preset second multiple.

Images