Motor control method and electronic device

Abstract

The application provides a motor control method and an electronic device. The method comprises the following steps: when a starting instruction of a motor is acquired, detecting a performance parameter of the motor, wherein the performance parameter comprises a stator inductance value of the motor; acquiring a preset motor starting condition; the motor starting condition comprises that the stator inductance value is within a reference inductance threshold range; and starting the motor according to the starting instruction when the performance parameter meets the motor starting condition. The application detects the performance parameter of the motor before starting the motor, and allows the motor to start only when the performance parameter meets the preset motor starting condition, thereby avoiding the situation that the motor is started in the case that the motor has a fault and the motor is damaged, and achieving the purpose of protecting the motor.

Description

Technical Field

[0001] This application relates to the technical field of electronic device control, and more particularly to a motor control method and electronic device. Background Technology

[0002] Currently, most electronic devices, such as lawnmowers and automobiles, are driven by electric motors. However, during motor startup, abnormalities may occur within the motor (such as stator or rotor faults). Starting the motor despite these abnormalities can damage its circuitry and impair its normal operation. Summary of the Invention

[0003] The main objective of this application is to provide a motor control method and electronic device, which aims to prevent the motor in the electronic device from starting when there is an abnormality in the motor.

[0004] In a first aspect, this application provides a motor control method, which includes the following steps:

[0005] When a motor start command is received, the performance parameters of the motor are detected, including the stator inductance value of the motor.

[0006] Obtain preset motor starting conditions; the motor starting conditions include: the stator inductance value is within the reference inductance threshold range;

[0007] When the performance parameters meet the motor starting conditions, the motor is started according to the starting command.

[0008] In one example, detecting the performance parameters of the motor includes: applying an AC voltage to the stator of the motor; detecting the AC current flowing through the stator; and determining the stator inductance value of the motor based on the AC voltage and the AC current.

[0009] In one example, the stator of the motor includes multiple windings, and the stator inductance value includes the winding inductance value corresponding to each winding; the motor starting conditions include: the inductance value of each winding is within the range of the reference inductance threshold, and the deviation between any two winding inductance values ​​is less than or equal to the inductance deviation threshold.

[0010] In one example, the performance parameters also include the phase-to-phase resistance values ​​of the stator windings; the motor starting conditions also include: each of the phase-to-phase resistance values ​​is not 0, and the deviation between any two phase-to-phase resistance values ​​is less than or equal to the resistance deviation threshold.

[0011] In one example, detecting the performance parameters of the motor includes: applying a DC voltage between each phase node of the stator winding of the motor; detecting the DC current between each phase node; and determining the phase-to-phase resistance value between each phase node based on the DC voltage and the DC current.

[0012] In one example, applying a DC voltage between each phase node of the stator winding of the motor includes: determining the direct axis direction of the rotor of the motor; and inputting a corresponding DC voltage between each phase node of the stator winding of the motor, wherein the direction of the vector sum of the input DC voltages is in the same direction as the direct axis direction of the rotor.

[0013] In one example, the performance parameters also include the current temperature of the stator winding; the motor starting conditions also include: the current temperature is within a preset temperature range.

[0014] In one example, detecting the performance parameters of the motor further includes: obtaining the phase-to-phase resistance value of the stator winding of the motor; and determining the current temperature of the stator winding based on the phase-to-phase resistance value and the mapping relationship between the phase-to-phase resistance value and temperature.

[0015] In one example, detecting the performance parameters of the motor further includes detecting the current temperature of the stator winding via a temperature sensing device.

[0016] Secondly, this application also provides an electronic device, which includes a motor, a memory, and a processor; wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to implement the steps of the motor control method described above.

[0017] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the motor control method described above.

[0018] This application provides a motor control method and an electronic device. The method includes, upon receiving a motor start command, detecting the performance parameters of the motor, including the stator inductance value of the motor; obtaining preset motor start conditions; the motor start conditions including: the stator inductance value being within a reference inductance threshold range; and starting the motor according to the start command when the performance parameters meet the motor start conditions.

[0019] This application protects the motor by detecting its performance parameters before startup and only allowing startup if these parameters meet preset startup conditions. This avoids motor damage caused by starting the motor when it is faulty. The motor performance parameters may include the stator inductance value, which can be used to detect faults such as magnetic leakage in the rotor core. By detecting whether the stator inductance value is within a reference inductance threshold range, a rotor core fault can be identified, thus preventing motor damage caused by starting the motor when the rotor core is faulty. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic flowchart of a motor control method provided in an embodiment of this application;

[0022] Figure 2 A schematic diagram of a phase node of a stator winding provided in an embodiment of this application;

[0023] Figure 3 A schematic diagram of a DC voltage applied to a stator winding according to an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, 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.

[0026] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0027] This application provides a motor control method and an electronic device. The motor control method can be applied to an electronic device equipped with a motor, such as a car, lawnmower, machine tool with a walking structure, or device with a rotating structure. In some embodiments, the motor control method can also be applied to a stand-alone control device for controlling the electronic device equipped with a motor. For ease of explanation, the following embodiments are described using a scenario where the motor control method is applied to an electronic device equipped with a motor.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Please refer to Figure 1 , Figure 1 This is a schematic flowchart of a motor control method provided for an embodiment of this application.

[0030] like Figure 1 As shown, the motor control method includes steps S101 to S103.

[0031] Step S101: When the motor start command is received, the performance parameters of the motor are detected, including the stator inductance value of the motor.

[0032] The triggering method of the above-mentioned start command can be set according to actual needs. For example, in some embodiments, the start command can be triggered by the start button of the electronic device peripheral. When the user presses the start button, the electronic device can obtain the start command of the motor. For example, the electronic device obtains the start command of the motor through the motor control device or control chip. In other embodiments, the start command can also be sent to the motor through other control devices so that the electronic device can obtain the start command of the motor. In other embodiments, the start command can also be triggered in other ways, which are not limited in this application.

[0033] For example, when a start command is received, the performance parameters of the motor can be detected to achieve the purpose of detecting the motor's performance parameters before starting the motor and avoiding starting the motor under abnormal conditions.

[0034] For example, the performance parameters of a motor may include the stator inductance value of the motor. By detecting the stator inductance value of the motor, it is possible to detect whether the rotor core of the motor has a fault (such as demagnetization fault), thereby avoiding starting the motor when demagnetization occurs.

[0035] Step S102: Obtain preset motor starting conditions; the motor starting conditions include: the stator inductance value is within the reference inductance threshold range.

[0036] For example, by comparing the acquired preset motor starting conditions with the currently detected performance parameters, it can be determined whether the motor performance parameters meet the preset motor starting conditions.

[0037] For example, if the stator inductance value is within the reference inductance threshold range and the motor's performance parameters meet the preset motor starting conditions, then the motor can be started.

[0038] Step S103: When the performance parameters meet the motor starting conditions, start the motor according to the starting command.

[0039] For example, if the detected performance parameters meet the motor starting conditions, it can be determined that the motor is in a normal state. Then, the motor can be started according to the start command to avoid starting the motor under abnormal conditions and to protect the motor.

[0040] In some embodiments, detecting the performance parameters of the motor includes: applying an AC voltage to the stator of the motor; detecting the AC current flowing through the stator; and determining the stator inductance value of the motor based on the AC voltage and the AC current.

[0041] For example, by injecting an AC voltage into the motor's electronics and detecting the AC current flowing through the stator, the stator inductance value can be determined based on the AC voltage and AC current.

[0042] For example, the injected AC voltage can be of equal magnitude in the first and second directions to prevent the motor from rotating. The first and second directions refer to the flow directions of the AC voltage and current, respectively, and are opposite directions.

[0043] For example, after applying an AC voltage to the stator and detecting an AC current flowing through the stator, the stator inductance can be calculated using the following formula:

[0044]

[0045] Where V indicates AC voltage, I indicates AC current, R indicates phase-to-phase resistance, and L indicates the calculated phase-to-phase inductance value. Understandably, the stator phase-to-phase inductance value calculated using the above formula can be compared with a reference phase-to-phase inductance threshold to determine whether the performance parameters meet the motor starting conditions.

[0046] In practical implementation, the direct-axis (d-axis) inductance and / or quadrature-axis (q-axis) inductance of the motor can be determined based on the calculated phase-to-phase inductance values. The direct-axis inductance value is then compared with a reference direct-axis inductance threshold, and / or the quadrature-axis inductance value is compared with a reference quadrature-axis inductance threshold to determine whether the performance parameters meet the motor's starting conditions. The aforementioned inductance values ​​are merely illustrative and do not limit the inductance values ​​specified in this application.

[0047] For example, in some possible scenarios, if the phase-to-phase resistance is not detected, the phase-to-phase inductance can be calculated based on the typical value of the resistance; in other possible scenarios, different AC voltages can be applied to the stator of the motor, and the AC circuit flowing through the stator under each input AC voltage can be detected. The phase-to-phase inductance value can be determined based on each AC voltage and its corresponding AC current. That is, when different AC voltages are input, the phase-to-phase inductance value of the motor can be determined without knowing the specific value of the phase-to-phase resistance in the above formula.

[0048] In some embodiments, the stator of the motor includes multiple windings, and the stator inductance value includes the winding inductance value corresponding to each winding; the motor starting conditions include: the inductance value of each winding is within the range of the reference inductance threshold, and the deviation value between any two winding inductance values ​​is less than or equal to the inductance deviation threshold.

[0049] For example, the stator of a motor includes multiple windings, each with a corresponding winding inductance value. This winding inductance value corresponds to the phase-to-phase inductance value mentioned above; that is, the winding inductance value is the phase-to-phase inductance value of the winding. For ease of description, the following text will use the winding inductance value. It is understood that the winding inductance value corresponding to each winding can be calculated using the method mentioned above. If all winding inductance values ​​are within the reference inductance threshold range, and the deviation between any two winding inductance values ​​is less than or equal to the inductance deviation threshold, the performance parameters meet the motor starting conditions, and the motor can be started according to the starting command. However, if at least one winding inductance value is not within the reference inductance threshold range, it can be determined that the rotor core may be demagnetized, thus prohibiting the motor from starting. Furthermore, if all winding inductance values ​​are within the reference inductance threshold range, but at least one inductance value calculated from the corresponding inductance values ​​of any two windings has a deviation greater than the inductance deviation threshold, it is determined that the rotor core is abnormal, and the motor is also prohibited from starting.

[0050] Understandably, by determining whether the winding inductance value is within the reference inductance threshold range, and whether the deviation between any two winding inductance values ​​is less than the inductance deviation threshold, it is possible to determine whether there are abnormalities such as demagnetization in the motor core. Thus, in the event of abnormalities such as demagnetization in the motor core, the motor can be prevented from starting, thereby protecting the motor.

[0051] In some embodiments, the performance parameters may further include the phase-to-phase resistance values ​​of the stator windings; the motor starting conditions may further include: each of the phase-to-phase resistance values ​​is not 0, and the deviation between any two phase-to-phase resistance values ​​is less than or equal to the resistance deviation threshold.

[0052] For example, when the motor start command is received, the phase-to-phase resistance value of the motor stator winding can also be detected, and the performance parameters can be determined based on the phase-to-phase resistance value to determine whether the motor start conditions are met. For example, if the phase-to-phase resistance is not 0 and the deviation between any two identical resistance values ​​is less than or equal to the resistance deviation threshold, then the phase-to-phase resistance value is determined to meet the motor start conditions, and the motor is allowed to start.

[0053] Understandably, when a motor start command is received, the phase-to-phase resistance and stator inductance values ​​of the motor can be detected. If both the detected phase-to-phase resistance and stator inductance values ​​meet the motor start conditions, the motor is allowed to start. If at least one of the detected phase-to-phase resistance and stator inductance values ​​does not meet the motor start conditions, starting the motor is prohibited.

[0054] In some implementations, if the phase-to-phase resistance of the motor is detected first, and then the stator inductance is detected after the phase-to-phase resistance is determined, the phase-to-phase resistance of the motor can be substituted into R in the formula for detecting the stator inductance, thereby facilitating the calculation of the stator inductance and improving the detection speed. This application does not restrict the order of detecting the phase-to-phase resistance and stator inductance.

[0055] In some embodiments, the above-mentioned detection of motor performance parameters may further include: applying a DC voltage to each phase node of the stator winding of the motor; detecting the DC current between each phase node; and determining the phase-to-phase resistance value between each phase node based on the DC voltage and the DC current.

[0056] For example, such as Figure 2 As shown, the stator winding includes phase node A, phase node B, and phase node C. Optionally, a DC voltage is applied between phase node A and phase node B, and the DC current flowing through phase node A and phase node B is detected. The phase-to-phase resistance value Rab between phase node A and phase node B is calculated by analyzing the applied DC voltage and the detected DC current. It is understood that the above process can be performed on any two phase nodes until the phase-to-phase resistance values ​​between all adjacent phase nodes are obtained. Each phase-to-phase resistance value is then used to determine whether it meets the motor starting conditions.

[0057] For example, after calculating multiple phase-to-phase resistance values, the system determines whether the motor starting conditions are met based on these values. Specifically, if all phase-to-phase resistance values ​​are not zero, and the deviation between any two phase-to-phase resistance values ​​is less than or equal to the resistance deviation threshold, the motor starting conditions are met, and the motor is considered to be in normal condition, allowing it to start. If no phase-to-phase resistance value is detected, the motor is determined to be out of position, and starting the motor is prohibited. If only the phase-to-phase resistance values ​​of two adjacent phase nodes are detected, and the phase-to-phase resistance values ​​of other adjacent phase nodes are not detected, it is determined that the motor may have a winding disconnection anomaly, and starting the motor is prohibited. If all phase-to-phase resistance values ​​are detected, but the deviation between at least two phase-to-phase resistance values ​​is greater than the resistance deviation threshold, it indicates that the motor may have an anomaly such as thermal damage to the enameled wire causing a partial short circuit, or a broken phase in the delta connection, resulting in a phase-to-phase resistance deviation greater than the resistance deviation threshold. In this case, starting the motor is also prohibited. The aforementioned deviation value can be understood as the difference between two phase-to-phase resistance values.

[0058] By determining whether the motor starting conditions are met by measuring the interphase resistance values, we can judge whether the motor is in a normal state and start the motor only when it is in a normal state. This can avoid the motor being damaged if the motor is started when it is in an abnormal state.

[0059] Please see Figure 3 , Figure 3 This is a schematic diagram of a DC voltage applied to a stator winding according to an embodiment of this application.

[0060] In some embodiments, applying a DC voltage between each phase node of the stator winding of the motor includes: determining the direct axis (d-axis) direction of the rotor of the motor; and inputting a corresponding DC voltage between each phase node of the stator winding of the motor, wherein the direction of the vector sum of the input DC voltages is in the same direction as the direct axis (d-axis) direction of the rotor.

[0061] For example, by aligning the direction of the vector sum of the input voltage with the direction of the rotor's direct axis (d-axis), the rotor of the motor can be prevented from rotating during the application of DC voltage to detect the phase-to-phase resistance value, thereby improving the user experience.

[0062] For example, such as Figure 3 As shown, different DC voltages (e.g., ) are applied at the three phase nodes. Figure 3 The solid lines with arrows indicate voltages 1, 2, and 3, such that the vector sum of the DC voltages at each phase node (e.g., ...) Figure 3 The direction of the combined voltage shown is opposite to the direct axis direction of the rotor (e.g., the direction of the combined voltage shown). Figure 3 The directions indicated by the dashed lines are in the same direction.

[0063] It should be noted that the vector sum of multiphase voltages can be decomposed into components along the rotor's direct axis and quadrature axis. When the quadrature axis component is not zero, a rotational force is generated on the rotor, causing it to rotate. However, if the motor rotates during the electronic device's self-test process, such as a vehicle suddenly moving, it can easily affect the user experience. Therefore, the direction of the vector sum of the multiphase voltages needs to be aligned with the rotor's direct axis to prevent rotor rotation. Optionally, this can be achieved by inputting DC voltages of different magnitudes at different phase nodes to ensure that the direction of the vector sum of the multiphase voltages is aligned with the rotor's direct axis.

[0064] Optionally, data from the motor can be collected and analyzed using flux sensors, such as magnetic encoders or Hall effect sensors, to determine the rotor's direct axis direction. Alternatively, the rotor's direct axis direction can also be determined using the detected stator inductance value, such as the three-phase inductance.

[0065] In some embodiments, the performance parameters may also include the current temperature of the stator winding; the motor starting conditions may also include: the current temperature being within a preset temperature range.

[0066] For example, when a motor start command is received, the current temperature of the motor stator winding is also detected. If the detected current temperature is within a preset temperature range, it is determined that the current temperature meets the motor start conditions, and the motor is allowed to start. For example, the preset temperature range can be 0℃ to 85℃. If the current temperature is 70℃, that is, the current temperature is within the preset temperature range, it is determined that the current temperature meets the motor start conditions, and the motor is allowed to start.

[0067] In practice, upon receiving a motor start command, the system checks the stator inductance, phase-to-phase resistance of the stator windings, and the current temperature of the stator windings. Motor start is only permitted if all three conditions meet the start requirements. Conversely, if any one of these conditions fails to meet the start requirements, motor start is prohibited, thus preventing damage to the motor caused by starting it under abnormal conditions.

[0068] Understandably, during the testing process, optionally, each item can be tested one by one, and after obtaining the corresponding test results, it can be determined whether each test result meets the motor starting conditions, so as to determine whether to start the motor according to the start command. Alternatively, each item can be tested one by one, and after obtaining the test results, it can be immediately determined whether the test results meet the motor starting conditions. If the motor starting conditions are not met, the next item is not tested. For example, the current temperature can be tested first. If the current temperature is within a preset temperature range, the phase-to-phase resistance value or stator inductance value can be tested; if the current temperature is not within the preset temperature range, the phase-to-phase resistance value or stator inductance value can not be tested. This application embodiment does not restrict the testing order of each item.

[0069] In some embodiments, detecting the performance parameters of the motor further includes: obtaining the phase-to-phase resistance value of the stator winding of the motor; and determining the current temperature of the stator winding based on the phase-to-phase resistance value and the mapping relationship between the phase-to-phase resistance value and temperature.

[0070] For example, if the detailed resistance value of the stator winding of the motor is detected before the current temperature of the stator winding is detected, the current temperature of the stator winding can be determined based on the phase-to-phase resistance value and the mapping relationship between the phase-to-phase resistance value and temperature, thus eliminating the need to add additional sensors or temperature detection circuits to detect the current temperature.

[0071] In some embodiments, detecting the performance parameters of the motor further includes detecting the current temperature of the stator winding via a temperature sensing device.

[0072] Optionally, a temperature sensor can be installed to detect the current temperature of the stator winding.

[0073] By setting up temperature sensing devices or determining the current temperature of the stator windings based on the mapping relationship between phase-to-phase resistance and temperature, and by determining whether the current temperature of the stator windings meets the motor starting conditions, it is possible to prevent the motor from starting under abnormal overheating conditions, thereby protecting the motor.

[0074] The motor control method provided in the above embodiments detects the performance parameters of the motor, including the stator inductance value, when a motor start command is received; obtains preset motor start conditions, including that the stator inductance value is within a reference inductance threshold range; and starts the motor according to the start command when the performance parameters meet the motor start conditions. By allowing the motor to start only when the performance parameters meet the motor start conditions, the method can prevent the motor from starting under abnormal conditions, thereby achieving the purpose of protecting the motor.

[0075] Please see Figure 4 , Figure 4This is a schematic block diagram illustrating the structure of an electronic device provided in an embodiment of this application. The electronic device may be, for example, an automotive motor, a lawnmower motor, a machine tool with a walking structure, or a device with a rotating structure.

[0076] Please see Figure 4 , Figure 4 This is a schematic block diagram illustrating the structure of an electronic device provided in an embodiment of this application. This electronic device can be installed in vehicles, lawnmowers, etc., to implement the aforementioned motor control method.

[0077] like Figure 4 As shown, the control device includes a processor and a memory connected via a system bus.

[0078] The memory is used to store computer programs. These computer programs include program instructions, which, when executed, cause the processor to perform any motor control processing method.

[0079] The processor provides computing and control capabilities to support the operation of the entire control device.

[0080] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the control device applied thereto. The specific control device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0081] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0082] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0083] When a motor start command is received, the performance parameters of the motor are detected, including the stator inductance value of the motor.

[0084] Obtain preset motor starting conditions, wherein the motor starting conditions include: the stator inductance value is within the reference inductance threshold range;

[0085] When the performance parameters meet the motor starting conditions, the motor is started according to the starting command.

[0086] In one embodiment, when the processor detects the performance parameters of the motor, it is configured to:

[0087] An AC voltage is applied to the stator of the motor;

[0088] Detect the alternating current flowing through the stator;

[0089] The stator inductance value of the motor is determined based on the AC voltage and the AC current.

[0090] In one embodiment, when the processor acquires the preset motor starting conditions, it is configured to:

[0091] The motor starting condition is to obtain a condition in which the inductance values ​​of each winding are within the range of the reference inductance threshold, and the deviation between any two winding inductance values ​​is less than or equal to the inductance deviation threshold.

[0092] In one embodiment, when detecting the performance parameters of the motor, the processor is used to detect the phase-to-phase resistance value of the stator winding; when acquiring preset motor starting conditions, it is also used to:

[0093] Obtain motor starting conditions where all phase-to-phase resistance values ​​are non-zero and the deviation between any two phase-to-phase resistance values ​​is less than or equal to a resistance deviation threshold.

[0094] In one embodiment, the processor, when detecting the phase-to-phase resistance value of the stator winding, is configured to:

[0095] A DC voltage is applied between each phase node of the stator winding of the motor;

[0096] Detect the DC current between each of the phase nodes;

[0097] The phase-to-phase resistance value between each of the phase nodes is determined based on the DC voltage and the DC current.

[0098] In one embodiment, the processor, when applying a DC voltage between the respective phase nodes of the stator winding of the motor, is configured to:

[0099] Determine the direct axis direction of the motor's rotor;

[0100] A corresponding DC voltage is input between each phase node of the stator winding of the motor, wherein the direction of the vector sum of the input DC voltages is in the same direction as the direct axis of the rotor.

[0101] In one embodiment, when the processor detects the performance parameters of the motor, it is also used to detect the current temperature of the stator winding of the motor; when acquiring preset motor starting conditions, it is also used to:

[0102] Obtain motor starting conditions when the current temperature is within the preset temperature range.

[0103] In one embodiment, the processor, while detecting the current temperature of the stator windings of the motor, is further configured to:

[0104] Obtain the phase-to-phase resistance value of the stator winding of the motor;

[0105] The current temperature of the stator winding is determined based on the interphase resistance value and the mapping relationship between the interphase resistance value and temperature.

[0106] In one embodiment, the processor, while detecting the current temperature of the stator windings of the motor, is further configured to:

[0107] The current temperature of the stator winding is detected by a temperature sensing device.

[0108] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of motor detection described above can be referred to the corresponding process in the aforementioned motor control method embodiments, and will not be repeated here.

[0109] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0110] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0111] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor control method, characterized in that, include: When a motor start command is received, the performance parameters of the motor are detected, including the stator inductance value of the motor. The stator of the motor includes multiple windings, and the stator inductance value includes the winding inductance value corresponding to each winding. Obtain preset motor starting conditions, the motor starting conditions include: the inductance values ​​of each winding are all within the reference inductance threshold range, and the deviation value of any two winding inductance values ​​is less than or equal to the inductance deviation threshold. When the performance parameters meet the motor starting conditions, the motor is started according to the starting command; The detection of the motor's performance parameters includes: applying an AC voltage to the motor's stator; detecting the AC current flowing through the stator; and determining the stator inductance value of the motor based on the AC voltage and the AC current, wherein the injected AC voltage is equal in magnitude in a first direction and a second direction, and the first direction is opposite to the second direction.

2. The motor control method as described in claim 1, characterized in that, The performance parameters also include the phase-to-phase resistance of the stator windings; The motor starting conditions also include: each of the phase-to-phase resistance values ​​is not 0, and the deviation between any two phase-to-phase resistance values ​​is less than or equal to the resistance deviation threshold.

3. The motor control method as described in claim 2, characterized in that, The detection of the motor's performance parameters includes: A DC voltage is applied between each phase node of the stator winding of the motor; Detect the DC current between each of the phase nodes; The phase-to-phase resistance value between each of the phase nodes is determined based on the DC voltage and the DC current.

4. The motor control method as described in claim 3, characterized in that, Applying a DC voltage between each phase node of the stator winding of the motor includes: Determine the direct axis direction of the motor's rotor; A corresponding DC voltage is input between each phase node of the stator winding of the motor, wherein the direction of the vector sum of the input DC voltages is in the same direction as the direct axis of the rotor.

5. The motor control method as described in claim 1, characterized in that, The performance parameters also include the current temperature of the stator windings; The motor starting conditions also include: the current temperature is within a preset temperature range.

6. The motor control method as described in claim 5, characterized in that, The detection of the motor's performance parameters also includes: Obtain the phase-to-phase resistance value of the stator winding of the motor; The current temperature of the stator winding is determined based on the interphase resistance value and the mapping relationship between the interphase resistance value and temperature.

7. The motor control method as described in claim 5, characterized in that, The detection of the motor's performance parameters also includes: detecting the current temperature of the stator windings using a temperature sensing device.

8. An electronic device, characterized in that, The electronic device includes a motor, a memory, and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the steps of the motor control method as described in any one of claims 1-7.

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