Motor control method and device, motor and storage medium

Abstract

Embodiments of the present application relate to a motor control method and device, a motor and a storage medium. The method comprises: obtaining a current power of a motor, determining a current frequency corresponding to the current power, wherein the current frequency comprises a frequency of a rotor in the motor; in a case where the current frequency is located in a preset modal point frequency interval, determining a target frequency of the rotor according to the current power; and controlling the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval. Thus, in a case where the current frequency corresponding to the current power of the motor is located in the preset modal point frequency interval, the target frequency can be determined, and the frequency of the rotor can be controlled according to the target frequency. Since the target frequency is not located in the preset modal point frequency interval, the problem of poor suspension precision or even instability caused by severe vibration of the rotor is solved, and power consumption is reduced.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent control, and in particular to a motor control method and device, a motor, and a storage medium. BACKGROUND

[0002] Magnetic suspension has the advantages of small mechanical wear, low energy consumption, low noise, long service life, no need for lubrication, and no oil pollution. At present, magnetic suspension bearings and magnetic suspension trains are mostly researched, and the most widely used is the magnetic suspension bearing. The magnetic suspension bearing suspends the rotor in the air by using magnetic force, so that there is no mechanical contact between the rotor and the stator.

[0003] In the process of rotation of the rotor in the motor applying the magnetic suspension bearing, there is a rigid modal point due to the nature of the rotor. When the frequency of the rotor is close to the frequency corresponding to the modal point, the rotor will vibrate violently, resulting in poor suspension accuracy or even instability, and the power consumption is very large at this time. SUMMARY

[0004] In view of this, in order to solve the above technical problem that in the process of rotation of the rotor in the motor applying the magnetic suspension bearing, there is a rigid modal point due to the nature of the rotor. When the frequency of the rotor is close to the frequency corresponding to the modal point, the rotor will vibrate violently, resulting in poor suspension accuracy or even instability, and the power consumption is very large at this time, embodiments of the present application provide a motor control method and device, a motor, and a storage medium.

[0005] In a first aspect, the embodiments of the present application provide a motor control method, which comprises:

[0006] obtaining a current power of a motor, and determining a current frequency corresponding to the current power, wherein the current frequency comprises a frequency of a rotor in the motor;

[0007] in a case where the current frequency is located in a preset modal point frequency interval, determining a target frequency of the rotor according to the current power;

[0008] controlling the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0009] In an optional implementation, the target frequency comprises at least one first frequency and at least one second frequency, the first frequency is greater than the current frequency, and the second frequency is less than the current frequency.

[0010] In an optional implementation, the controlling the frequency of the rotor according to the target frequency comprises:

[0011] determining a preset motor control time length;

[0012] determining a first power of the motor corresponding to the first frequency, and a first time proportion of the preset motor control time length corresponding to the first frequency;

[0013] determining a second power of the motor corresponding to the second frequency, and a second time proportion of the preset motor control time length corresponding to the second frequency;

[0014] wherein a weighted sum of the first power, the first time proportion, the second power and the second time proportion is the same as the current power;

[0015] controlling a frequency of the rotor according to the first frequency, the first time proportion, the second frequency and the second time proportion every interval of the preset motor control time length.

[0016] In an optional embodiment, the controlling of the frequency of the rotor according to the first frequency, the first time proportion, the second frequency and the second time proportion every interval of the preset motor control time length comprises:

[0017] adjusting the frequency of the rotor to make the rotor run at the first frequency for a first time length, the first time length comprising a product of the preset motor control time length and the first time proportion, and adjusting the frequency of the rotor to make the rotor run at the second frequency for a second time length, the second time length comprising a product of the preset motor control time length and the second time proportion.

[0018] In an optional embodiment, the adjusting of the frequency of the rotor to make the rotor run at the first frequency for a first time length comprises:

[0019] adjusting a bearing control parameter of the motor;

[0020] after the adjusting of the bearing control parameter of the motor, adjusting the frequency of the rotor to make the rotor run at the first frequency for a first time length;

[0021] after the adjusting of the frequency of the rotor to make the rotor run at the first frequency for a first time length, restoring the bearing control parameter of the motor;

[0022] the adjusting of the frequency of the rotor to make the rotor run at the second frequency for a second time length comprises:

[0023] adjusting a bearing control parameter of the motor;

[0024] after the adjusting of the bearing control parameter of the motor, adjusting the frequency of the rotor to make the rotor run at the second frequency for a second time length;

[0025] after adjusting the frequency of the rotor to make the rotor run at the second frequency for a second time length, restoring the bearing control parameter of the motor.

[0026] In an optional embodiment, before the step of obtaining the current power of the motor, the method further comprises:

[0027] determining whether to save a preset modal point frequency range of a rotor of the motor;

[0028] if the preset modal point frequency range of the rotor of the motor is not saved, running the motor in a no-load state;

[0029] obtaining a frequency range of the rotor of the motor when bearing accuracy is greater than a preset accuracy threshold during running of the motor in the no-load state;

[0030] determining the frequency range as the preset modal point frequency range of the rotor of the motor, and saving the preset modal point frequency range.

[0031] In an optional embodiment, the step of running the motor in the no-load state comprises:

[0032] determining a maximum frequency of the rotor of the motor;

[0033] increasing the frequency of the rotor of the motor to the maximum frequency in the no-load state;

[0034] the step of obtaining the frequency range of the rotor of the motor when bearing accuracy is greater than a preset accuracy threshold during running of the motor in the no-load state comprises:

[0035] obtaining the frequency range of the rotor of the motor when bearing accuracy is greater than a preset accuracy threshold during the process of increasing the frequency of the rotor of the motor to the maximum frequency in the no-load state.

[0036] In an optional embodiment, the method further comprises:

[0037] during the process of controlling the frequency of the rotor according to the target frequency, determining whether the current power changes;

[0038] if the current power changes, performing the step of determining the current frequency corresponding to the current power.

[0039] In a second aspect, an embodiment of the present application provides a motor control device, the device comprising:

[0040] a processor configured to perform the steps of the method.A current frequency determination module is configured to acquire a current power of the motor and determine a current frequency corresponding to the current power, wherein the current frequency includes a frequency of a rotor in the motor.

[0041] A target frequency determination module is configured to determine a target frequency of the rotor according to the current power when the current frequency is located in a preset modal point frequency interval.

[0042] A frequency control module is configured to control the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0043] In a third aspect, an embodiment of the present application provides a motor, comprising a processor and a memory, wherein the processor is configured to execute a motor control program stored in the memory to implement the motor control method in any of the first aspect.

[0044] In a fourth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the motor control method in any of the first aspect.

[0045] The technical solution provided by the embodiment of the present application acquires a current power of the motor and determines a current frequency corresponding to the current power, wherein the current frequency includes a frequency of a rotor in the motor; when the current frequency is located in a preset modal point frequency interval, a target frequency of the rotor is determined according to the current power; and the frequency of the rotor is controlled according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval. Therefore, the target frequency can be determined when the current frequency corresponding to the current power of the motor is located in the preset modal point frequency interval, and the frequency of the rotor is controlled according to the target frequency. Since the target frequency is not located in the preset modal point frequency interval, the problem that the suspension precision is deteriorated or even unstable due to the violent vibration of the rotor is solved, and the power consumption is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 An implementation flowchart of a motor control method provided by an embodiment of the present application is shown in the figure;

[0047] Figure 2 An implementation flowchart of another motor control method provided by an embodiment of the present application is shown in the figure;

[0048] Figure 3 An implementation flowchart of another motor control method provided by an embodiment of the present application is shown in the figure;

[0049] Figure 4 An implementation flowchart of a frequency adjustment method provided by an embodiment of the present application is shown in the figure;

[0050] Figure 5 An implementation flowchart of another frequency adjustment method provided by the embodiment of the present application is shown in the figure.

[0051] Figure 6 An implementation flowchart of a preset modal point frequency interval determination method provided by the embodiment of the present application is shown in the figure.

[0052] Figure 7 An implementation flowchart of another preset modal point frequency interval determination method provided by the embodiment of the present application is shown in the figure.

[0053] Figure 8 An implementation flowchart of still another motor control method provided by the embodiment of the present application is shown in the figure.

[0054] Figure 9 An implementation flowchart of yet another motor control method provided by the embodiment of the present application is shown in the figure.

[0055] Figure 10 An implementation flowchart of still another preset modal point frequency interval determination method provided by the embodiment of the present application is shown in the figure.

[0056] Figure 11 An implementation flowchart of still another motor control method provided by the embodiment of the present application is shown in the figure.

[0057] Figure 12 A structure diagram of a motor control device provided by the embodiment of the present application is shown in the figure.

[0058] Figure 13 A structure diagram of a motor provided by the embodiment of the present application is shown in the figure.

[0059] In the figure: 1300, motor; 1301, processor; 1302, memory; 1303, user interface; 1304, network interface; 1305, bus system; 13021, operating system; 13022, application program. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0061] Figure 1An implementation flowchart of a motor control method provided in an embodiment of the present application is applied to a motor, and the method can include the following steps.

[0062] In S101, a current power of the motor is acquired, and a current frequency corresponding to the current power is determined, wherein the current frequency includes a frequency of a rotor in the motor.

[0063] In the embodiment of the present application, the motor is a motor using a magnetic bearing, and the current power of the motor is a power currently required by the motor to run. For example, when the motor is a magnetic levitation compressor, the current power of the motor is a current refrigerating capacity of the magnetic levitation compressor. After the system for controlling the motor is powered on, the current power of the motor is acquired, and the current frequency corresponding to the current power is determined according to the current power of the motor. The current frequency is a frequency currently required by the rotor in the motor to run.

[0064] In S102, the target frequency of the rotor is determined according to the current power when the current frequency is located in a preset modal point frequency interval.

[0065] In the embodiment of the present application, the preset modal point frequency interval is a frequency interval when the rotor of the motor is at a modal point. When the current frequency is located in the preset modal point frequency interval, the target frequency of the rotor is determined according to the current power. The target frequency is a frequency corresponding to a target power determined according to the current power, which is not described in detail herein.

[0066] In S103, the frequency of the rotor is controlled according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0067] In the embodiment of the present application, the frequency of the rotor is adjusted to the target frequency, and the motor is run.

[0068] Through the above description of the technical solutions provided in the embodiments of the present application, in the present application, whether the current frequency corresponding to the acquired current power is located in the preset modal point frequency interval of the rotor of the motor is judged. If yes, the target frequency not located in the preset modal point frequency interval is determined according to the current power, and the frequency of the rotor is controlled according to the target frequency, so as to avoid the case that the frequency of the rotor is located in the preset modal point frequency interval. The problem that the suspension precision is deteriorated or even unstable due to the violent vibration generated when the frequency of the rotor is located in the preset modal point frequency interval is solved, and the power consumption is reduced.

[0069] Figure 2 An implementation flowchart of another motor control method provided in an embodiment of the present application is shown in the figure, and the method can include the following steps.

[0070] In S201, a current power of the motor is acquired, and a current frequency corresponding to the current power is determined, wherein the current frequency includes a frequency of a rotor in the motor.

[0071] S202: in a case where the current frequency is located in the preset modal point frequency interval, determining a target frequency of the rotor according to the current power, the target frequency comprising at least one first frequency and at least one second frequency, the first frequency being greater than the current frequency, and the second frequency being less than the current frequency.

[0072] In the embodiments of the present application, the target frequency comprises at least one first frequency and at least one second frequency, the first frequency being greater than the current frequency, and the second frequency being less than the current frequency. For example, the target frequency comprises one first frequency and one second frequency.

[0073] In the embodiments of the present application, S201 and S202 have been described in detail in S101 and S102, which will not be repeated here.

[0074] S203: determining a preset motor control duration.

[0075] In the embodiments of the present application, the preset motor control duration is one control period, and the target frequency of the rotor is determined according to the current power within the preset motor control duration. For example, the preset motor control duration is 10 seconds, 3 minutes, etc., which is not limited in the present application.

[0076] S204: determining a first power of the motor corresponding to the first frequency, and a first time proportion of the preset motor control duration corresponding to the first frequency.

[0077] S205: determining a second power of the motor corresponding to the second frequency, and a second time proportion of the preset motor control duration corresponding to the second frequency.

[0078] S206: wherein the weighted sum of the first power, the first time proportion, the second power and the second time proportion is the same as the current power.

[0079] The following uniformly describes S204 to S206:

[0080] In the embodiments of the present application, for example, when the motor is a magnetic suspension compressor, the corresponding current power is the current refrigerating capacity, the first power corresponding to the first frequency is determined, that is, the first refrigerating capacity corresponding to the first frequency is determined, the first time proportion of the preset motor control duration corresponding to the first frequency is the first time proportion corresponding to the first refrigerating capacity, the second power corresponding to the second frequency is determined, that is, the second refrigerating capacity corresponding to the second frequency is determined, the second time proportion of the preset motor control duration corresponding to the second frequency is the second time proportion corresponding to the second refrigerating capacity, and the current power is the current refrigerating capacity. Since the first frequency is greater than the current frequency, and the second frequency is less than the current frequency, the first refrigerating capacity is greater than the current refrigerating capacity, and the second refrigerating capacity is less than the current refrigerating capacity.

[0081] In the embodiments of the present application, the current power is P, the first power is H, the second power is L, the first power corresponds to the first time ratio X, and the second power corresponds to the second time ratio (1-X). The weighted sum of the first power, the first time ratio, the second power, and the second time ratio is determined, wherein the weighted sum is the same as the current power, that is, it can be represented by the following formula (I):

[0082] P = H * X + L * (1-X) Formula (I).

[0083] For example, P = 72%, the first power is set to 70%, the second power is 80%, and the preset motor control time is 5 minutes. According to the formula (I), the first time ratio should be 80%, and the second time ratio should be 20%, that is, the time corresponding to the first power is 4 minutes, and the time corresponding to the second power is 1 minute.

[0084] S207: Every interval of the preset motor control time, the frequency of the rotor is controlled according to the first frequency, the first time ratio, the second frequency, and the second time ratio.

[0085] In the embodiments of the present application, every interval of the preset motor control time, the frequency of the rotor is controlled according to the first frequency, the first time ratio, the second frequency, and the second time ratio.

[0086] Through the above description of the technical solutions provided by the embodiments of the present application, the preset motor control time is determined in the present application. Within the preset motor control time, the work done by the rotor running at the current frequency corresponding to the current power is equal to the sum of the work done by the rotor running at the first frequency and the work done by the rotor running at the second frequency. That is, by using the first frequency, the first time ratio, the second frequency, and the second time ratio, the average power within the preset motor control time in the actual running process is equal to the current power, so that the overall running of the rotor of the motor is not affected while the rotor avoids the modal point.

[0087] Figure 3 An implementation flowchart of another motor control method provided by the embodiments of the present application is provided. The method can include the following steps:

[0088] S301: Obtain the current power of the motor, and determine the current frequency corresponding to the current power, wherein the current frequency includes the frequency of the rotor in the motor.

[0089] S302: In the case that the current frequency is located in the preset modal point frequency interval, determine the target frequency of the rotor according to the current power, wherein the target frequency includes at least one first frequency and at least one second frequency, the first frequency is greater than the current frequency, and the second frequency is less than the current frequency.

[0090] S303: Determine the preset motor control time.

[0091] S304: determine a first power of the motor corresponding to the first frequency, and a first time proportion of the preset motor control duration corresponding to the first frequency.

[0092] S305: determine a second power of the motor corresponding to the second frequency, and a second time proportion of the preset motor control duration corresponding to the second frequency.

[0093] S306: wherein the weighted sum of the first power, the first time proportion, the second power and the second time proportion is the same as the current power.

[0094] In the embodiments of the present application, S301 to S306 have been described in detail in S201 to S206, which will not be repeated here.

[0095] S307: adjust the frequency of the rotor every preset motor control duration, so that the rotor operates at the first frequency for a first duration, and the first duration includes the product of the preset motor control duration and the first time proportion, and adjust the frequency of the rotor so that the rotor operates at the second frequency for a second duration, and the second duration includes the product of the preset motor control duration and the second time proportion.

[0096] In the embodiments of the present application, the frequency of the rotor of the motor is adjusted within a preset motor control duration, for example, the frequency of the rotor is first adjusted to the first frequency, so that the rotor operates at the first frequency for a first duration, and then the frequency of the rotor is adjusted to the second frequency, so that the rotor operates at the second frequency for a second duration. It should be noted that the order of operation of the first frequency and the second frequency within the preset motor duration is not limited by the present application.

[0097] According to the adjustment of the frequency of the rotor in S307 to make the rotor operate at the first frequency for a first duration, the method can be adjusted according to the method shown in Figure 4 Figure 4 An implementation flow diagram of a frequency adjustment method provided by an embodiment of the present application, which can include the following steps:

[0098] S401: adjust the bearing control parameter of the motor.

[0099] In the embodiments of the present application, as long as the current frequency is located in the preset modal point frequency interval, i.e. the rotor needs to operate alternately at the first frequency and the second frequency, the bearing control parameter of the motor is adjusted before the frequency of the rotor is adjusted to the first frequency. The bearing control parameter includes stiffness, damping and other parameters that can change the preset modal point frequency interval of the rotor, which is not limited by the present application.

[0100] It should be noted that the preset modal point frequency interval of the rotor after adjusting the bearing control parameter does not include the first frequency, the second frequency, and the frequency between the first frequency and the second frequency.​

[0101] S402: After adjusting the bearing control parameter of the motor, adjust the frequency of the rotor to make the rotor run at the first frequency for a first duration.

[0102] In the embodiment of the present application, after adjusting the bearing parameter of the motor, the frequency of the rotor is adjusted to the first frequency to make the rotor run at the first frequency for a first duration.

[0103] S403: After adjusting the frequency of the rotor to make the rotor run at the first frequency for a first duration, restore the bearing control parameter of the motor.

[0104] In the embodiment of the present application, after adjusting the frequency of the rotor to make the rotor run at the first frequency for a first duration, the bearing control parameter of the motor is restored to the parameter before S401.

[0105] It should be noted that the bearing parameter of the motor is restored immediately after the frequency of the rotor is adjusted to the first frequency.

[0106] According to the adjustment of the frequency of the rotor to make the rotor run at the second frequency for a second duration in S307, the adjustment can be performed according to the method shown in Figure 5 , and Figure 5 The implementation flowchart of another frequency adjustment method provided in the embodiment of the present application can include the following steps:

[0107] S501: Adjust the bearing control parameter of the motor.

[0108] In the embodiment of the present application, as long as the current frequency is located in the preset modal point frequency interval, that is, the rotor needs to run alternately at the first frequency and the second frequency, the bearing control parameter of the motor is adjusted before the frequency of the rotor is adjusted to the first frequency. The bearing control parameter includes parameters such as damping that can change the preset modal point frequency interval of the rotor, which is not limited in the present application.

[0109] It should be noted that the preset modal point frequency interval of the rotor after adjusting the bearing control parameter does not include the first frequency, the second frequency, and the frequency between the first frequency and the second frequency.

[0110] S502: After adjusting the bearing control parameter of the motor, adjust the frequency of the rotor to make the rotor run at the second frequency for a second duration.

[0111] In the embodiment of the present application, after adjusting the bearing parameter of the motor, the frequency of the rotor is adjusted to the second frequency to make the rotor run at the second frequency for a second duration.

[0112] S503: After adjusting the frequency of the rotor to make the rotor run at the second frequency for a second duration, restore the bearing control parameter of the motor.

[0113] In the embodiment of the present application, the bearing control parameter of the motor is restored to the parameter before S501 after the frequency of the rotor is adjusted to the second frequency for the second time length.

[0114] It should be noted that the bearing parameter of the motor is restored immediately after the frequency of the rotor is adjusted to the second frequency.

[0115] Through the above Figures 3 to 5 Through the description of the technical scheme provided by the embodiment of the present application, when the rotor is controlled to run at the first frequency and the second frequency, and the frequency of the rotor is adjusted, the bearing control parameter of the motor is first adjusted to change the preset modal point frequency interval of the rotor, so that the frequency in the process of adjusting the frequency of the rotor from the first frequency to the second frequency or from the second frequency to the first frequency is not located in the preset modal point frequency interval, thereby avoiding the rotor from vibrating violently, and the bearing control parameter is restored immediately after the frequency of the rotor is adjusted, thereby avoiding other problems caused by the difference between the bearing control parameters.

[0116] Figure 6 An implementation flowchart of a preset modal point frequency interval determination method provided by the embodiment of the present application, which can include the following steps:

[0117] S601: Determine whether the preset modal point frequency interval of the rotor of the motor is saved.

[0118] In the embodiment of the present application, the rotor of the motor will vibrate violently in the preset modal point frequency interval, which can include a continuous frequency interval or multiple discontinuous frequency points, which is not limited in the present application. The rotor of the motor using a magnetic bearing corresponds to a preset modal point frequency interval. For example, when the motor is a magnetic suspension compressor, the rotor of the magnetic suspension compressor also corresponds to a preset modal point frequency interval.

[0119] In the embodiment of the present application, after the system is powered on, it is first determined whether the preset modal point frequency interval of the rotor of the motor is saved in the memory of the system.

[0120] S602: If the preset modal point frequency interval of the rotor of the motor is not saved, run the motor in a no-load state.

[0121] In the embodiment of the present application, if the preset modal point frequency interval of the rotor of the motor is not saved in the memory, the preset modal point frequency interval of the rotor of the motor needs to be determined and saved in the memory. Specifically, the motor is run in a no-load state, i.e., the motor is controlled to idle. For example, when the motor is a magnetic suspension compressor, the magnetic suspension compressor is controlled to idle in a no-refrigerant state.

[0122] S603: Obtain the frequency range of the rotor of the motor when the bearing accuracy is greater than the preset accuracy threshold in the process of running of the motor in the no-load state.

[0123] In the embodiment of the present application, the motor using the magnetic bearing includes a bearing and a rotor, the diameter of the bearing is greater than the diameter of the rotor, the geometric center of the bearing is set as a reference point, the geometric center of the rotor is taken as an actual position, and the distance between the geometric center of the rotor and the geometric center of the bearing is recorded as bearing accuracy.

[0124] In the embodiment of the present application, the distance between the geometric center of the bearing and the geometric center of the rotor is obtained in the process of running of the motor in the no-load state, and the frequency range of the rotor of the motor when the distance is greater than the preset accuracy threshold is obtained.

[0125] S604: Determine the preset modal point frequency range of the rotor of the motor, and save the preset modal point frequency range.

[0126] In the embodiment of the present application, the distance between the geometric center of the rotor and the geometric center of the bearing in the above frequency range is greater than the preset accuracy threshold, the above frequency range is determined as the preset modal point frequency range of the rotor of the motor, and the preset modal point frequency range is saved. The preset modal point frequency range corresponding to the rotor of one motor only needs to be measured once when the motor is used for the first time, and is saved to a permanent memory.

[0127] Figure 7 An implementation flowchart of another preset modal point frequency range determination method provided in the embodiment of the present application, which can include the following steps:

[0128] S701: Determine whether the preset modal point frequency range of the rotor of the motor is saved.

[0129] In the embodiment of the present application, S701 has been described in detail in S601, and will not be described here.

[0130] S702: If the preset modal point frequency range of the rotor of the motor is not saved, determine the maximum frequency of the rotor of the motor.

[0131] In the embodiment of the present application, if the preset modal point frequency range of the rotor of the motor is not saved, the maximum frequency of the rotor of the motor is first determined. The maximum frequency is related to the power frequency, the number of magnetic poles, etc., which are not limited in the present application.

[0132] S703: Increase the frequency of the rotor of the motor to the maximum frequency in the no-load state.

[0133] In the embodiment of the present application, in the no-load state, the motor is started, and the frequency is increased from 0 to the above determined maximum frequency.

[0134] S704: In the process of increasing the frequency of the rotor of the motor in the no-load state to the maximum frequency, a frequency range of the rotor of the motor is obtained when the bearing accuracy is greater than the preset accuracy threshold.

[0135] In the embodiments of the present application, in the process of increasing the frequency of the rotor of the motor in the no-load state, when the rotor reaches the modal point of the rotor, the rotor will produce violent vibration, thereby causing the bearing accuracy to be greater than the preset accuracy threshold, and the frequency range of the bearing accuracy greater than the preset accuracy threshold is obtained.

[0136] S705: The frequency range is determined as the preset modal point frequency range of the rotor of the motor, and the preset modal point frequency range is saved.

[0137] In the embodiments of the present application, S705 has been described in detail in S604, and will not be described here.

[0138] Through the above Figure 6 and Figure 7 The description of the technical solutions provided by the embodiments of the present application, before the motor is running, first determine whether the preset modal point frequency range is saved in the storage, if not saved, first run the motor in the no-load state, increase the frequency of the rotor of the motor to the maximum frequency, and record the frequency range of the bearing accuracy greater than the preset accuracy threshold in the process of increasing the frequency as the preset modal point frequency range, and save the preset modal point frequency range, to realize the determination and saving of the preset modal point frequency range.

[0139] Figure 8 An implementation flowchart of a motor control method provided by the embodiments of the present application, the method can include the following steps:

[0140] S801: In the process of controlling the frequency of the rotor according to the target frequency, it is determined whether the current power changes.

[0141] In the embodiments of the present application, in the process of controlling the frequency of the rotor according to the target frequency, the current frequency of the motor is obtained in real time, that is, the power required by the motor at present is obtained in real time. When the power required by the motor at present changes, the following steps are re-executed.

[0142] In the embodiments of the present application, when the current power changes, that is, the following steps are re-executed, the above-mentioned preset motor control time is not considered.

[0143] S802: If the current power changes, the current frequency corresponding to the current power is determined.

[0144] S803: In the case that the current frequency is located in the preset modal point frequency range, the target frequency of the rotor is determined according to the current power.

[0145] S804: controlling the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0146] In the embodiments of the present application, S802 to S804 have been described in detail in S101 to S103, and will not be described here.

[0147] Through the above description of the technical solutions provided by the embodiments of the present application, the current power of the motor is acquired in real time, and it is determined whether the current power changes. When the current power changes, the target frequency needs to be determined again, and the frequency of the rotor is controlled according to the re-determined target frequency. Real-time monitoring of the current power of the motor is realized, and the target frequency is adjusted in time to prevent the frequency of the rotor of the motor from being located in the preset modal point frequency interval, thereby preventing violent vibration.

[0148] Figure 9 An implementation flowchart of another motor control method provided by the embodiments of the present application is provided, which can include the following steps:

[0149] After the system is powered on, it is checked whether the modal point calibration is completed, that is, it is determined whether the preset modal point frequency interval is stored. If the modal point calibration is not performed, the modal point calibration is performed. If the modal point calibration is performed, the motor is started, and it is determined whether the current frequency is at the modal point. If yes, the target power is used to avoid the modal point. If no, the current power is directly used.

[0150] In the embodiments of the present application, the modal point calibration is performed on the basis of Figure 9 In the embodiments of the present application, the target power is used to avoid the modal point on the basis of Figure 10 An implementation flowchart of another preset modal point frequency interval determination method provided by the embodiments of the present application is provided, which can include the following steps:

[0151] The motor is run empty, the rotor of the motor is raised in frequency, and it is determined whether the bearing precision of a certain frequency interval significantly deteriorates in the raising process. If yes, the frequency interval is stored in a storage, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage can also be another storage, which is not limited in the present application. It is determined whether the frequency is the maximum frequency of the rotor in the raising process. If yes, the determination of the preset modal point frequency interval is ended. If no, it is continuously determined whether the bearing precision of a certain frequency interval significantly deteriorates.

[0152] In the embodiments of the present application, the target power is used to avoid the modal point on the basis of Figure 9 In the embodiments of the present application, the target power is used to avoid the modal point on the basis of Figure 11 An implementation flowchart of another motor control method provided by the embodiments of the present application is provided, which can include the following steps:

[0153] When the current frequency is at the modal point, two high and low working frequencies near the current frequency are determined, the time of running at each working frequency in a time period is calculated, the bearing parameter is adjusted, the frequency is increased to the high working frequency, the bearing parameter is restored, and the response time is run, the bearing parameter is adjusted, the frequency is decreased to the low working frequency, the bearing parameter is restored, and the response time is run, whether the current frequency is changed is judged, if the current frequency is changed, the process is ended, if the current frequency is not changed, the process of "adjusting the bearing parameter, increasing the frequency to the high working frequency, restoring the bearing parameter, and running the response time, adjusting the bearing parameter, decreasing the frequency to the low working frequency, restoring the bearing parameter, and running the response time" is repeated.

[0154] It should be noted that, Figure 11 For example, the number of target frequencies in actual application is not limited, and the running order of the high working frequency and the low working frequency is not limited. Figure 11 For example, the number of target frequencies in actual application is not limited, and the running order of the high working frequency and the low working frequency is not limited.

[0155] Figure 12 A structural schematic diagram of a motor control device provided by an embodiment of the application is shown, and the device comprises a current frequency determination module 1201, a target frequency determination module 1202, and a frequency control module 1203.

[0156] The current frequency determination module 1201 is configured to acquire the current power of the motor, and determine the current frequency corresponding to the current power, wherein the current frequency comprises the frequency of a rotor in the motor.

[0157] The target frequency determination module 1202 is configured to, when the current frequency is located in a preset modal point frequency interval, determine the target frequency of the rotor according to the current power.

[0158] The frequency control module 1203 is configured to control the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0159] Figure 13 A structural schematic diagram of a motor provided by an embodiment of the application is shown, Figure 13 The motor 1300 shown comprises at least one processor 1301, a memory 1302, at least one network interface 1304, and a user interface 1303. The various components in the motor 1300 are coupled together through a bus system 1305. It can be understood that the bus system 1305 is used to realize the connection and communication between the components. The bus system 1305 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity of description, all the buses are marked as the bus system 1305 in Figure 13 The various buses are marked as the bus system 1305.

[0160] The user interface 1303 can include a display, a keyboard or a pointing device (e.g., a mouse, a trackball), a touchpad or a touchscreen, etc.

[0161] It can be understood that the memory 1302 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 1302 described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0162] In some embodiments, the memory 1302 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: an operating system 13021 and application programs 13022.

[0163] The operating system 13021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application programs 13022 include various application programs, such as a media player, a browser, etc., for implementing various application services. The programs implementing the methods of the embodiments of the present application can be included in the application programs 13022.

[0164] In the embodiments of the present application, the processor 1301 is configured to execute the method steps provided by the embodiments of the method by invoking the programs or instructions stored in the memory 1302, specifically, the programs or instructions stored in the application program 13022. For example, the processor 1301 is configured to execute the method steps provided by the embodiments of the method, including:

[0165] obtaining a current power of the motor, and determining a current frequency corresponding to the current power, wherein the current frequency includes a frequency of a rotor in the motor;

[0166] in a case where the current frequency is located in a preset modal point frequency interval, determining a target frequency of the rotor according to the current power;

[0167] controlling the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0168] The method disclosed in the embodiments of the present application can be applied to the processor 1301 or implemented by the processor 1301. The processor 1301 can be an integrated circuit chip having a signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit or an instruction in the form of software in the processor 1301. The processor 1301 described above can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logic block diagram disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software units in the code processor for execution. The software unit can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory, an electrically erasable programmable memory, a register or other mature storage media in the art. The storage medium is located in the memory 1302, and the processor 1301 reads the information in the memory 1302 and combines the hardware to complete the steps of the above method.

[0169] It can be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSP Devices), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0170] For software implementation, the techniques described herein can be implemented with a processing unit that executes program code that includes functions described herein. The program code can be stored in a memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

[0171] The motor provided by the embodiments can be a motor as shown in Figure 13 may perform all steps of the motor control method as shown in Figures 1 to 11 may achieve the technical effects of the motor control method as shown in Figures 1 to 11 , and specific details are described in Figures 1 to 11 , which will not be repeated here for brevity.

[0172] The embodiments of the present application also provide a storage medium (computer readable storage medium). The storage medium stores one or more programs. The storage medium can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk, or a solid state disk. The storage medium can also include a combination of the above types of memories.

[0173] When the one or more programs stored in the storage medium are executed by one or more processors, the motor control method described above executed on the motor side can be implemented.

[0174] The processor is configured to execute the motor control program stored in the memory to implement the steps of the motor control method executed on the motor side as follows:

[0175] obtaining a current power of the motor, determining a current frequency corresponding to the current power, wherein the current frequency includes a frequency of a rotor in the motor;

[0176] In a case that the current frequency is located in a preset modal point frequency interval, determining a target frequency of the rotor according to the current power;

[0177] controlling the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency interval.

[0178] Those skilled in the art should further appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general terms above as being generally associated with the functionality of the example. The particular implementation of the hardware and software will depend on the particular application and design constraints imposed on the overall system. Skilled persons can use various methods to implement the described functions for each particular application, but such implementation should not be considered beyond the scope of the present application.

[0179] The steps of the methods or algorithms described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can be located in random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0180] The above detailed description has further explained the purpose, technical solutions, and beneficial effects of the present application. It should be understood that the above detailed description is only a specific implementation of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A motor control method, characterized in that, The method includes: Obtain the current power of the motor and determine the current frequency corresponding to the current power, wherein the current frequency includes the frequency of the rotor in the motor; If the current frequency is within a preset modal point frequency range, the target frequency of the rotor is determined based on the current power. The frequency of the rotor is controlled according to the target frequency, wherein the target frequency is not located in the preset modal point frequency range; The target frequency includes at least one first frequency and at least one second frequency; controlling the rotor frequency according to the target frequency includes: determining a preset motor control duration; determining a first power of the motor corresponding to the first frequency and a first time percentage of the preset motor control duration corresponding to the first frequency; determining a second power of the motor corresponding to the second frequency and a second time percentage of the preset motor control duration corresponding to the second frequency; wherein the weighted sum of the first power, the first time percentage, the second power, and the second time percentage is the same as the current power; controlling the rotor frequency according to the first frequency, the first time percentage, the second frequency, and the second time percentage at intervals of the preset motor control duration.

2. The method according to claim 1, characterized in that, The first frequency is greater than the current frequency, and the second frequency is less than the current frequency.

3. The method according to claim 1, characterized in that, The step of controlling the rotor frequency according to the first frequency, the first time percentage, the second frequency, and the second time percentage at each preset motor control interval includes: At each interval of the preset motor control duration, the frequency of the rotor is adjusted so that the rotor operates at the first frequency for a first duration, the first duration including the product of the preset motor control duration and the first time percentage; and the frequency of the rotor is adjusted so that the rotor operates at the second frequency for a second duration, the second duration including the product of the preset motor control duration and the second time percentage.

4. The method according to claim 3, characterized in that, Adjusting the frequency of the rotor to make the rotor operate at the first frequency for a first duration includes: Adjust the bearing control parameters of the motor; After adjusting the bearing control parameters of the motor, the frequency of the rotor is adjusted so that the rotor runs at the first frequency for a first duration; After adjusting the frequency of the rotor to make the rotor run at the first frequency for a first duration, the bearing control parameters of the motor are restored. Adjusting the frequency of the rotor to make the rotor operate at the second frequency for a second duration includes: Adjust the bearing control parameters of the motor; After adjusting the bearing control parameters of the motor, the frequency of the rotor is adjusted so that the rotor runs at the second frequency for a second duration. After adjusting the frequency of the rotor to make the rotor run at the second frequency for a second duration, the bearing control parameters of the motor are restored.

5. The method according to claim 1, characterized in that, Before performing the step of obtaining the current power of the motor, the method further includes: Determine whether to save the preset modal frequency range of the motor rotor; If the preset modal frequency range of the motor rotor is not saved, the motor will run under no-load conditions. Obtain the frequency range of the motor rotor when the bearing accuracy is greater than a preset accuracy threshold during the operation of the motor under no-load conditions; The frequency range is determined to be a preset modal point frequency range of the rotor of the motor, and the preset modal point frequency range is saved.

6. The method according to claim 5, characterized in that, The operation of the motor under no-load conditions includes: Determine the maximum frequency of the motor's rotor; Under no-load conditions, the frequency of the motor rotor is increased to the maximum frequency; The step of obtaining the frequency range of the motor rotor when the bearing accuracy is greater than a preset accuracy threshold during motor operation under no-load conditions includes: During the process of the motor rotor frequency increasing to the maximum frequency under no-load conditions, the frequency range of the motor rotor when the bearing accuracy is greater than a preset accuracy threshold is obtained.

7. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the rotor frequency according to the target frequency, it is determined whether the current power has changed; If the current power changes, then the step of determining the current frequency corresponding to the current power is performed.

8. A motor control device, characterized in that, The device includes: The current frequency determination module is used to obtain the current power of the motor and determine the current frequency corresponding to the current power, wherein the current frequency includes the frequency of the rotor in the motor; The target frequency determination module is used to determine the target frequency of the rotor based on the current power when the current frequency is within a preset modal point frequency range. A frequency control module is used to control the frequency of the rotor according to the target frequency, wherein the target frequency is not located in the preset modal point frequency range; The target frequency includes at least one first frequency and at least one second frequency; controlling the rotor frequency according to the target frequency includes: determining a preset motor control duration; determining a first power of the motor corresponding to the first frequency and a first time percentage of the preset motor control duration corresponding to the first frequency; determining a second power of the motor corresponding to the second frequency and a second time percentage of the preset motor control duration corresponding to the second frequency; wherein the weighted sum of the first power, the first time percentage, the second power, and the second time percentage is the same as the current power; controlling the rotor frequency according to the first frequency, the first time percentage, the second frequency, and the second time percentage at intervals of the preset motor control duration.

9. An electric motor, characterized in that, include: A processor and a memory, the processor being configured to execute a motor control program stored in the memory to implement the motor control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the motor control method according to any one of claims 1 to 7.

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