A motor control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application relate to a motor control method and device, electronic equipment and storage medium. The motor control method comprises: in the motor starting process, determining the voltage value of the motor in the preset coordinate system at the current time, the preset coordinate system being determined by the preset position corresponding to the rotor in the motor; determining the first torque angle of the motor according to the voltage value, the first torque angle being used to represent the torque angle of the motor at the current time; determining the first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent the given angular velocity of the corrected rotor at the current time; and controlling the motor by using the first given angular velocity. Thus, in the motor starting process, the given angular velocity of the rotor in the motor is controlled to reduce the oscillation of the starting speed of the motor, and the starting success rate of the motor is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of electric machines, and particularly relate to an electric machine control method and device, electronic equipment and storage medium. BACKGROUND

[0002] In the control process of a permanent magnet synchronous motor, the start control of the motor occupies a crucial position. The control of the motor usually adopts a three-stage control process, which is an open-loop start process, an open-loop to closed-loop switching process and a closed-loop control process. If the start speed of the motor oscillates greatly during the open-loop start process of the motor, not only will the start of the motor fail, but also the switching process from open-loop to closed-loop of the motor will be affected. Therefore, it is necessary to control the start speed of the motor to suppress the oscillation of the start speed of the motor. SUMMARY

[0003] In view of this, in order to solve the technical problem of large oscillation of the start speed of the motor in the start process of the motor in the prior art, embodiments of the present application provide an electric machine control method, device, electronic equipment and storage medium.

[0004] In a first aspect, embodiments of the present application provide an electric machine control method, comprising:

[0005] In the start process of the motor, a voltage value of the motor at a current time in a preset coordinate system is determined, and the preset coordinate system is determined by a preset position corresponding to a rotor in the motor;

[0006] According to the voltage value, a first torque angle of the motor is determined, and the first torque angle is used to represent the torque angle of the motor at the current time;

[0007] According to the first torque angle, a first given angular velocity of the rotor is determined, and the first given angular velocity is used to represent the given angular velocity of the corrected rotor at the current time;

[0008] The first given angular velocity is used to control the motor.

[0009] In an optional embodiment, the determination of the first given angular velocity of the rotor according to the first torque angle comprises:

[0010] A second given angular velocity of the rotor is determined, and the second given angular velocity is used to represent the given angular velocity of the preset rotor at the current time;

[0011] According to the first torque angle, a correction value of the second given angular velocity is determined;

[0012] The correction value and the second given angular velocity are summed to obtain a first sum value;

[0013] determining a first given angular velocity of the rotor according to the first voltage value.

[0014] In an optional implementation, the determining the corrected value of the second given angular velocity according to the first torque angle comprises:

[0015] determining a second torque angle of the motor, the second torque angle being used to represent a torque angle of the motor at a previous time point;

[0016] determining a first difference value between the first torque angle and the second torque angle;

[0017] determining a second difference value between the current time point and the previous time point;

[0018] determining the corrected value of the second given angular velocity according to the first difference value and the second difference value.

[0019] In an optional implementation, the determining the corrected value of the second given angular velocity according to the first difference value and the second difference value comprises:

[0020] determining a correction coefficient of the second given angular velocity;

[0021] determining a torque angle change rate of the rotor according to the first difference value and the second difference value;

[0022] determining a first product value between the correction coefficient and the torque angle change rate;

[0023] determining the first product value as the corrected value of the second given angular velocity.

[0024] In an optional implementation, the preset coordinate system comprises a first preset coordinate axis and a second preset coordinate axis, and the voltage value comprises a first voltage value corresponding to the first preset coordinate axis and a second voltage value corresponding to the second preset coordinate axis.

[0025] The determining the first torque angle of the motor according to the voltage value comprises:

[0026] determining an inductance value of the motor, a resistance value of a stator winding of the motor and a first given current value corresponding to the second preset coordinate axis at the current time point;

[0027] determining a second product value between the second given angular velocity, the inductance value and the first given current value;

[0028] determining a third product value between the resistance value and the first given current value;

[0029] determine a first torque angle of the motor according to the first voltage value, the second voltage value, the second product value and the third product value.

[0030] In an optional implementation, the determining the first torque angle of the motor according to the first voltage value, the second voltage value, the second product value and the third product value comprises:

[0031] determining a third voltage value corresponding to the first voltage value, the third voltage value being used to represent an opposite number of the first voltage value;

[0032] determining a third difference value between the third voltage value and the second product value, and determining a fourth difference value between the second voltage value and the third product value;

[0033] determining a first ratio value between the third difference value and the fourth difference value;

[0034] performing an arc tangent transformation on the first ratio value to obtain an arc tangent value corresponding to the first ratio value;

[0035] determining the arc tangent value as the first torque angle of the motor.

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

[0037] when it is determined that the motor needs to be started, controlling the motor to start by using a preset starting control strategy, the preset starting control strategy being a flow-frequency ratio starting control strategy.

[0038] In a second aspect, an embodiment of the present application provides a motor control device, comprising:

[0039] a determining module, configured to determine a voltage value of a motor in a preset coordinate system at a current time during a starting process of the motor, the preset coordinate system being determined by a preset position of a rotor in the motor;

[0040] the determining module is further configured to determine a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time;

[0041] the determining module is further configured to determine a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a corrected given angular velocity of the rotor at the current time;

[0042] a control module, configured to control the motor by using the first given angular velocity.

[0043] In a third aspect, an electronic device is provided, and the electronic device includes a processor and a memory. The processor is configured to execute a motor control program stored in the memory, so as to implement the motor control method described above.

[0044] In a fourth aspect, a storage medium is provided, and the storage medium stores one or more programs. The one or more programs are executable by one or more processors, so as to implement the motor control method described above.

[0045] The motor control method provided by the embodiments of the present application includes: determining a voltage value of a motor in a preset coordinate system at a current time during a starting process of the motor, the preset coordinate system being determined by a preset position corresponding to a rotor in the motor; determining a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a given angular velocity of the corrected rotor at the current time; and controlling the motor by using the first given angular velocity. In this way, the embodiments of the present application control the given angular velocity of the rotor in the motor during the starting process of the motor, so as to reduce the oscillation of the starting rotating speed of the motor, and improve the starting success rate of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A flowchart of a motor control method provided by the embodiments of the present application is shown in the figure;

[0047] Figure 2 A structural diagram of a motor control device provided by the embodiments of the present application is shown in the figure;

[0048] Figure 3 A structural diagram of an electronic device provided by the embodiments of the present application is shown in the figure;

[0049] Figure 4 A control block diagram of a traditional IF starting control strategy provided by the embodiments of the present application is shown in the figure;

[0050] Figure 5 A coordinate diagram of a traditional IF starting control strategy provided by the embodiments of the present application is shown in the figure;

[0051] Figure 6 An oscillation waveform diagram of a transient operation of a rotor angular velocity ω r when the open-loop starting is performed by using the traditional IF starting control strategy provided by the embodiments of the present application is shown in the figure;

[0052] Figure 7 A control block diagram of a motor control by using the first given angular velocity provided by the embodiments of the present application is shown in the figure;

[0053] In the above figures:

[0054] 10, determining module; 20, control module;

[0055] 400, electronic device; 401, processor; 402, memory; 4021, operating system; 4022, application program; 403, user interface; 404, network interface; 405, bus system. DETAILED DESCRIPTION

[0056] In order to make the objects, 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 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 a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0057] In order to make the objects, 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 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 a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0058] In the embodiment, the given angular velocity is controlled to realize the reduction of the oscillation of the starting speed. In order to further understand the relationship between the given angular velocity and the starting speed, the relationship between the given angular velocity and the starting speed is described before the embodiment is described, and the embodiment is as follows.

[0059] The mathematical model of the motor in the synchronous rotating coordinate system dq is as follows:

[0060]

[0061] Wherein: u d , u q are voltage components of the permanent magnet synchronous motor in the synchronous rotating coordinate system dq; i d , i q are current components of the permanent magnet synchronous motor in the synchronous rotating coordinate system dq. R is the resistance of the stator winding of the motor; L is the inductance; ω r is the rotor angular velocity (starting speed); ω r is the rotor flux linkage.

[0062] The electromagnetic torque equation is: T e = 1.5·p n ψ f ·i q (2)

[0063] Wherein, T e is the electromagnetic torque, and p n is the number of pole pairs.

[0064] Mechanical motion equation:

[0065] where θ is the rotor position angle, J is the moment of inertia, B is the viscous friction coefficient, and T is the load torque. r L

[0066] The mathematical model of the motor in the γδ preset coordinate system is as follows:

[0067]

[0068] Electromagnetic torque equation:

[0069] where ω is the given angular velocity, ω is the rotor angular velocity, i r is the torque angle (also the angle difference between the γδ preset coordinate system and the dq coordinate system), i is the γ-axis current component, i is the δ-axis current component, U is the γ-axis voltage component, U is the δ-axis voltage component, ψ is the rotor flux, and T is the electromagnetic torque. γ δ γ δ f e

[0070] Mechanical motion equation:

[0071] where θ is the rotor position angle, J is the moment of inertia, B is the viscous friction coefficient, and T is the load torque. r L

[0072] The motor adopts the traditional IF starting control strategy during the starting process, and the structure block diagram of the IF starting control strategy is shown in Figure 4 At the time of motor starting, since the actual position of the rotor in the motor is not known, the γ-axis of the preset coordinate system is first fixed to be aligned with the α-axis of the stationary coordinate system (θ i γ δ δ * The actual rotor shaft of the motor is aligned with the δ-axis under the action of the stator magnetic field (at this time θ r * i * r The actual rotor d-axis of the motor will rotate with the current vector I after the control current vector I is considered to rotate counterclockwise at the given angular velocity ω​​​​​​​​​​​​​​​​​​​i Equal, and keep running that is ω i = ω r . IF start control strategy of the coordinate diagram as shown in Figure 5

[0073] Traditional IF start control strategy control block diagram description:

[0074] Given the γδ axis current, I γ = 0, I δ = I δ * Difference with the feedback I γ , I δ current, the difference through the PI regulator output γδ axis voltage U γ , U δ , voltage U γ , U δ γδ / αβ coordinate transformation to get the αβ axis voltage U α , U β , αβ axis voltage U α , U β SVPWM vector pulse modulation module, output PWM wave control inverter switch, control motor running. Sampling motor current i a , i b , through the abc / γδ coordinate transformation to get the γδ axis I γ , I δ current. Given the angular velocity ω i * a gradual acceleration, ω i * = a·t, given the angular velocity ω i * Through integration to assume the given coordinate system γ axis of the angle θ i .

[0075] Rotor angular velocity ω r oscillation process analysis under the IF start control strategy:

[0076] According to the refrigerator compressor class of small load characteristics at the start of the open-loop motor start instant, the compressor load TL = 0, torque angle θ ir = (θ i - θ r ) is very small, so it can be approximated to sin(θ i - θ r ) = θ i - θ r . Therefore, combined with formula (2), (3) can be obtained

[0077] ​

[0078] where J is the moment of inertia; B is the viscous friction coefficient; i q is the q-axis current; θ i is the current vector angle; θ r is the rotor position angle, K t = 1.5 · p n · ψ f .

[0079] The open-loop starting phase of the motor is usually a ramp-type speed command:

[0080]

[0081] where a is the specified acceleration.

[0082] Substituting equation (8) into equation (7) gives θ r . Figure 5 The transient operation oscillation waveform of the rotor angular velocity ω r is shown in FIG. 2 when the open-loop starting is performed using the conventional IF starting control strategy.

[0083] In the application scenario where the SPMSM is the control target, the i γ * = 0 control mode is adopted. It is considered that under the control of the parameter-optimized current PI regulator, the motor current satisfies i γ = i γ * = 0, i δ = i δ * Therefore, the current change rate term

[0084] The voltage equation (4) can be simplified as:

[0085]

[0086] Further, the torque angle γ is obtained by the following calculation: δ

[0087]

[0088] Since ω i * (given angular velocity) is artificially set, the derivative of the torque angle can reflect the condition of the rotor angular velocity ω r .

[0089] ​

[0090] From equation (11) above, we can see that ω r The growth rate is greater than the given angle Su ω i * hour, Greater than 0, torque angle Increase; ω r Decelerate to less than the given angular velocity ω i * hour, Less than 0, torque angle Decrease.

[0091] Relationship between torque and torque angle:

[0092]

[0093] From equation (12) above, it can be seen that the electromagnetic torque T e With torque angle The change direction is opposite, torque angle Increase, resulting in torque T e Decrease; Torque angle The decrease leads to a reduction in torque T e It increases. And the torque T e With rotor angular speed ω r It is inversely proportional, so by using a given angular velocity ω i * The control can directly control the rotor angular velocity ω of the motor. r This suppresses the rotor angular velocity ω of the motor. r Oscillations during startup.

[0094] refer to Figure 1 , Figure 1 This is a flowchart illustrating a motor control method provided in an embodiment of the present invention. The motor control method provided in this embodiment includes:

[0095] S101: During motor startup, determine the current voltage value of the motor in a preset coordinate system. The preset coordinate system is determined by the preset position of the rotor in the motor.

[0096] In this embodiment, when it is determined that the motor needs to be started, a preset start-up control strategy is used to control the motor to start. The preset start-up control strategy is a frequency ratio start-up control strategy (IF start-up control strategy). Specifically, the preset coordinate system can be the assumed coordinate system γδ mentioned above, and the motor can be a permanent magnet synchronous motor. The predetermined position is that the γ axis of the assumed coordinate system is aligned with the α axis of the stationary coordinate system (θ). i =0), I γ =0, I δ =I δ *, the shaft of the actual rotor of the motor is aligned with the δ-axis under the action of the stator magnetic field (at this time θ r = π / 2).

[0097] S102: Determine the first torque angle of the motor according to the voltage value, the first torque angle being used to represent the torque angle of the motor at the current time.

[0098] In this embodiment, since the change of the torque angle can reflect the case of the rotor angular velocity ω r , the given angular velocity is controlled according to the case of the rotor angular velocity ω r , so that the control of the rotor angular velocity ω r can be realized.

[0099] In this embodiment, the preset coordinate system includes a first preset coordinate axis and a second preset coordinate axis, and the voltage value includes a first voltage value corresponding to the first preset coordinate axis and a second voltage value corresponding to the second preset coordinate axis. The first preset coordinate axis is the γ-axis mentioned above, and the second preset coordinate axis is the δ-axis mentioned above. The first voltage value corresponding to the first preset coordinate axis is U γ , and the second voltage value corresponding to the second preset coordinate axis is U δ . In this embodiment, the first torque angle can be determined in the following manner.

[0100] Determine the second given angular velocity of the rotor, the second given angular velocity being used to represent the given angular velocity of the preset rotor at the current time;

[0101] Determine the inductance value of the motor, the resistance value of the stator winding of the motor, and the first given current value corresponding to the second preset coordinate axis at the current time;

[0102] Determine the second product value between the second given angular velocity, the inductance value, and the first given current value;

[0103] Determine the third product value between the resistance value and the first given current value;

[0104] Determine the first torque angle of the motor according to the first voltage value, the second voltage value, the second product value, and the third product value.

[0105] In this embodiment, the second given angular velocity (i.e., ω i * ) is determined by a·t, and the first given current value corresponding to the second preset coordinate axis is i δ * . Specifically, the determination of the first torque angle of the motor according to the first voltage value, the second voltage value, the second product value, and the second product value can be realized in the following manner:

[0106] Determine the third voltage value corresponding to the first voltage value, the third voltage value being used to represent the opposite number of the first voltage value;

[0107] determining a third difference value between the third voltage value and the second product value, and a fourth difference value between the second voltage value and the third product value;

[0108] determining a first ratio value between the third difference value and the fourth difference value;

[0109] performing an inverse tangent transformation on the first ratio value to obtain an inverse tangent value corresponding to the first ratio value;

[0110] determining the inverse tangent value as the first torque angle of the motor.

[0111] It should be noted that the implementation process of the first torque angle can refer to formula (10). According to formula (10), the tangent value of the first torque angle (i.e. ) can be obtained. The inverse tangent value obtained by performing an inverse tangent transformation on formula (10) is the first torque angle. The first voltage value U γ corresponding to the first preset coordinate axis and the second voltage value U δ corresponding to the second preset coordinate axis can be obtained by collecting through a corresponding voltage collection sensor.

[0112] S103: determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent the given angular velocity of the rotor after correction at the current moment.

[0113] In this embodiment, when the first torque angle is determined, the current second given angular velocity is corrected according to the first torque angle, and the first given angular velocity can be obtained. Specifically, the determination of the first given angular velocity of the rotor can be realized in the following manner:

[0114] determining a second given angular velocity of the rotor, the second given angular velocity being used to represent the given angular velocity of the rotor at the current moment;

[0115] determining a correction value of the second given angular velocity according to the first torque angle;

[0116] summing the correction value and the second given angular velocity to obtain a first sum value;

[0117] determining the first sum value as the first given angular velocity of the rotor.

[0118] In this embodiment, the second given angular velocity can be determined according to the above description, and this embodiment will not be described in detail. Specifically, the determination of the first given angular velocity is shown in formula (13).

[0119] ω i = ω i * + Δω (13)

[0120] wherein, ωi ω is a first given angular velocity i * Δω is a correction value. ω is a second given angular velocity i * The second given angular velocity ω can be calculated by the above formula.

[0121] In the embodiment, the correction value of the second given angular velocity according to the first torque angle can be realized by the following way:

[0122] The second torque angle of the motor is determined, and the second torque angle is used to represent the torque angle of the motor at the last time;

[0123] The first difference value between the first torque angle and the second torque angle is determined;

[0124] The second difference value between the current time and the last time is determined;

[0125] The correction value of the second given angular velocity is determined according to the first difference value and the second difference value.

[0126] Specifically, the first difference value is the absolute value of the difference between the first torque angle and the second torque angle. The correction value of the second given angular velocity is determined according to the first difference value and the second difference value by the following way:

[0127] The correction coefficient of the second given angular velocity is determined;

[0128] The torque angle change rate of the rotor is determined according to the first difference value and the second difference value;

[0129] The first product value between the correction coefficient and the torque angle change rate is determined;

[0130] The first product value is determined as the correction value of the second given angular velocity.

[0131] In the embodiment, the torque angle change rate is the ratio between the first difference value and the second difference value. Specifically, the correction value of the second given angular velocity can be determined by the following formula (14):

[0132]

[0133] wherein -k is the correction coefficient, is the torque angle change rate.

[0134] Specifically, the correction coefficient can be set according to actual needs, and the specific value of the correction coefficient is not limited in the embodiment. More specifically, the second given angular velocity ω i * is corrected, and when the acceleration of the rotor angular speed is greater than the second given angular velocity, the second given angular velocity ω i *, to obtain the first given angular velocity ω i , so that the torque angle is increased, and finally the electromagnetic torque T e is reduced, and the rotor angular speed ω r is accelerated slowly. When the rotor angular speed ω r is reduced to less than the second given angular velocity ω i * , the second given angular velocity ω i * is corrected according to the above formula, to obtain the first given angular velocity ω i , so that the torque angle is reduced, and finally the electromagnetic torque T e is increased, and the rotor angular speed ω r is accelerated slowly.

[0135] S104: control the motor by using the first given angular velocity.

[0136] In the embodiment, the conventional IF starting control strategy is used to integrate the second given angular velocity ω i * to obtain the angle θ i , and the motor is controlled according to the angle θ i , and the motor is controlled according to the second given angular velocity ω i * , which may cause the rotor angular speed of the motor to oscillate. The second given angular velocity ω i * is corrected to reduce the oscillation of the rotor angular speed of the motor. The control block diagram of the motor control by correcting the second given angular velocity ω i * is shown in FIG. 8. Figure 7

[0137] The motor control method provided by the embodiment includes: determining a voltage value of a motor in a preset coordinate system at a current time during a starting process of the motor, the preset coordinate system being determined by a preset position corresponding to a rotor in the motor; determining a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a corrected given angular velocity of the rotor at the current time; and controlling the motor by using the first given angular velocity. In this way, the embodiment reduces the oscillation of the starting speed of the motor by controlling the given angular velocity of the rotor in the motor during the starting process of the motor, and improves the starting success rate of the motor.

[0138] Reference Figure 2 , Figure 2 ​A structural schematic diagram of a motor control device provided by an embodiment of the present application. The motor control device provided by the embodiment of the present application comprises a determination module 10 and a control module 20, wherein the determination module 10 is configured to determine a voltage value of a motor in a preset coordinate system at a current time during a starting process of the motor, the preset coordinate system being determined by a preset position corresponding to a rotor in the motor; the determination module 10 is further configured to determine a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; and the determination module 10 is further configured to determine a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a given angular velocity of the rotor after correction at the current time; and the control module 20 is configured to control the motor by using the first given angular velocity.

[0139] In the embodiment, the determination module 10 is further configured to:

[0140] determine a second given angular velocity of the rotor, the second given angular velocity being used to represent a preset given angular velocity of the rotor at the current time;

[0141] determine a correction value of the second given angular velocity according to the first torque angle;

[0142] sum the correction value and the second given angular velocity to obtain a first sum value;

[0143] determine the first sum value as the first given angular velocity of the rotor.

[0144] In the embodiment, the determination module 10 is further configured to:

[0145] determine a second torque angle of the motor, the second torque angle being used to represent a torque angle of the motor at a previous time;

[0146] determine a first difference value between the first torque angle and the second torque angle;

[0147] determine a second difference value between the current time and the previous time;

[0148] determine a correction value of the second given angular velocity according to the first difference value and the second difference value.

[0149] In the embodiment, the determination module 10 is further configured to:

[0150] determine a correction coefficient of the second given angular velocity;

[0151] determine a torque angle change rate of the rotor according to the first difference value and the second difference value;

[0152] Determine the first product value between the correction coefficient and the torque angle change rate;

[0153] The first product value is determined as the correction value for the second given angular velocity.

[0154] In this embodiment, the preset coordinate system includes a first preset coordinate axis and a second preset coordinate axis, and the voltage value includes a first voltage value corresponding to the first preset coordinate axis and a second voltage value corresponding to the second preset coordinate axis.

[0155] In this embodiment, the determining module 10 is further configured to:

[0156] Determine the current inductance value of the motor, the resistance value of the stator winding in the motor, and the first given current value corresponding to the second preset coordinate axis;

[0157] Determine the second product value between the second given angular velocity, the inductance value, and the first given current value;

[0158] Determine the third product value between the resistance value and the first given current value;

[0159] The first torque angle of the motor is determined based on the first voltage value, the second voltage value, the second product value, and the third product value.

[0160] In this embodiment, determining the first torque angle of the motor based on the first voltage value, the second voltage value, the second product value, and the third product value includes:

[0161] Determine a third voltage value corresponding to the first voltage value, wherein the third voltage value is used to represent the opposite of the first voltage value;

[0162] Determine a third difference between the third voltage value and the second product value, and determine a fourth difference between the second voltage value and the third product value;

[0163] Determine a first ratio between the third difference and the fourth difference;

[0164] Perform an arctangent transformation on the first ratio to obtain the arctangent value corresponding to the first ratio;

[0165] The arctangent value is determined as the first torque angle of the motor.

[0166] In this embodiment, when it is determined that the motor needs to be started, a preset start control strategy is used to control the motor to start. The preset start control strategy is a current-frequency ratio start control strategy.

[0167] The motor control device provided by the embodiment can reduce the oscillation of the starting rotating speed of the motor and improve the starting success rate of the motor by controlling the given angular velocity of the rotor in the motor during the starting process of the motor.

[0168] Figure 3 A structural schematic diagram of an electronic device is provided for the embodiment of the present application, Figure 3 The electronic device 400 shown can be a refrigerator, and the electronic device 400 includes at least one processor 401, a memory 402, at least one network interface 404 and other user interfaces 403. The various components in the electronic device 400 are coupled together through a bus system 405. It can be understood that the bus system 405 is used to realize the connection communication between the components. In addition to including a data bus, the bus system 405 also includes a power supply bus, a control bus and a status signal bus. However, in order to clearly illustrate, all kinds of buses are marked as the bus system 405 in the Figure 3

[0169] The user interface 403 can include a display, a keyboard or a clicking device (for example, a mouse, a trackball, a touchpad or a touch screen, etc.).

[0170] ​It is to be understood that the memory 402 in embodiments of the present application can be volatile or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory, among others. The volatile memory can be random access memory (RAM), used as external cache. By way of example, and not limitation, many forms of RAM are available, for example, static RAM (SRAM), dynamic RAM (DRAM), synchronous dynamic RAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). Memory 402 described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0171] In some embodiments, the memory 402 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: an operating system 4021 and application programs 4022.

[0172] The operating system 4021 contains 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 4022 contain various application programs, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. The programs implementing the methods of embodiments of the present application can be included in the application programs 4022.

[0173] In the embodiments of the present application, the processor 401 is configured to execute the method steps provided by the embodiments of the method by invoking the programs or instructions stored in the memory 402, specifically, the programs or instructions stored in the application programs 4022. For example, the method steps include: determining a voltage value of the motor in a preset coordinate system at a current time during a motor starting process, the preset coordinate system being determined by a preset position corresponding to a rotor of the motor; determining a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a given angular velocity of the corrected rotor at the current time; and controlling the motor by using the first given angular velocity.

[0174] The method disclosed in the embodiments of the present application can be applied to the processor 401 or implemented by the processor 401. The processor 401 can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the above method can be completed by hardware integrated logic circuits or software form instructions in the processor 401. The processor 401 can be a general 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. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can be any conventional processor. The steps of the method disclosed in combination 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 402, and the processor 401 reads the information in the memory 402 and combines the hardware to complete the steps of the above method.

[0175] 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, DSPDs), 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.

[0176] 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 storage medium and executed by the processing unit. The storage medium can be implemented within the processing unit or external to the processing unit.

[0177] The electronic device provided by the embodiments can be an electronic device as shown in Figure 3 , can perform all steps of the motor control method as shown in Figure 1 , and thus achieve the technical effects of the motor control method as shown in Figure 1 . For details, refer to the relevant description in Figure 1 . For brevity, the description is not repeated here.

[0178] 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 / or can include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive, or a solid-state drive. The storage medium can also include a combination of the above-mentioned types of memories.

[0179] 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 control device side can be implemented.

[0180] The processor is configured to execute a motor control program stored in the memory to implement the following steps of a motor control method performed on the motor control device side: during a motor starting process, determining a voltage value of the motor in a preset coordinate system at a current time, the preset coordinate system being determined by a preset position corresponding to a rotor in the motor; determining a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a given angular velocity of the rotor at the current time; and controlling the motor by using the first given angular velocity.

[0181] 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, various components and steps have been described above generally in terms of their functionality, without limitation. The particular implementation of a component or step depends on the particular application and design constraints imposed on the overall system. Skilled persons can implement the described functionality in varying ways for each particular application, but such implementation should not be construed to limit the scope of the application.

[0182] The steps of a method or algorithm 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 reside in random access memory (RAM), memory, flash memory, read-only memory (ROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0183] The above detailed description has further explained the purpose, technical solutions and advantages of the present application. It should be understood that the above 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 shall be included in the protection scope of the present application.

Claims

1. A method of controlling an electric machine, characterized by, The method comprises: during the starting process of the motor, determining a voltage value of the motor at a preset coordinate system at a current time, the preset coordinate system being determined by a preset position corresponding to a rotor in the motor; determining a first torque angle of the motor according to the voltage value, the first torque angle being used to represent a torque angle of the motor at the current time; determining a first given angular velocity of the rotor according to the first torque angle, the first given angular velocity being used to represent a corrected given angular velocity of the rotor at the current time; controlling the motor by using the first given angular velocity; wherein the determining the first given angular velocity of the rotor according to the first torque angle comprises: determining a second given angular velocity of the rotor, the second given angular velocity being used to represent a preset given angular velocity of the rotor at the current time; determining a second torque angle of the motor, the second torque angle being used to represent a torque angle of the motor at a previous time; determining a first difference value between the first torque angle and the second torque angle; determining a second difference value between the current time and the previous time; determining a correction value of the second given angular velocity according to the first difference value and the second difference value; summing the correction value and the second given angular velocity to obtain a first sum value; determining the first sum value as the first given angular velocity of the rotor.

2. The method of claim 1, wherein, The determining the correction value of the second given angular velocity according to the first difference value and the second difference value comprises: determining a correction coefficient of the second given angular velocity; determining a torque angle change rate of the rotor according to the first difference value and the second difference value; determining a first product value between the correction coefficient and the torque angle change rate; determining the first product value as the correction value of the second given angular velocity.

3. The method of claim 1, wherein, The preset coordinate system comprises a first preset coordinate axis and a second preset coordinate axis, and the voltage value comprises a first voltage value corresponding to the first preset coordinate axis and a second voltage value corresponding to the second preset coordinate axis; The determining the first torque angle of the motor according to the voltage value comprises: determining an inductance value of the motor, a resistance value of a stator winding in the motor, and a first given current value corresponding to the second preset coordinate axis at the current time; determining a second product value between the second given angular velocity, the inductance value, and the first given current value; determining a third product value between the resistance value and the first given current value; determining the first torque angle of the motor according to the first voltage value, the second voltage value, the second product value, and the third product value.

4. The method of claim 3, wherein, The determining the first torque angle of the motor according to the first voltage value, the second voltage value, the second product value, and the third product value comprises: determining a third voltage value corresponding to the first voltage value, the third voltage value being used to represent an opposite number of the first voltage value; determining a third difference value between the third voltage value and the second product value, and determining a fourth difference value between the second voltage value and the third product value; determining a first ratio between the third difference value and the fourth difference value; performing an inverse tangent transformation on the first ratio to obtain an inverse tangent value corresponding to the first ratio; determining the inverse tangent value as a first torque angle of the motor.

5. The method of claim 1, wherein, The method further includes: when it is determined that the motor needs to be started, adopting a preset starting control strategy to control starting of the motor, the preset starting control strategy being a current-frequency ratio starting control strategy.

6. An electric motor control device characterized by comprising: The method includes: a determination module configured to determine, during starting of the motor, a voltage value of the motor at a preset time in a preset coordinate system, the preset coordinate system being determined by a preset position of a rotor in the motor; the determination module is further configured to determine, according to the voltage value, a first torque angle of the motor, the first torque angle being used to represent a torque angle of the motor at the preset time; the determination module is further configured to determine, according to the first torque angle, a first given angular velocity of the rotor, the first given angular velocity being used to represent a corrected given angular velocity of the rotor at the preset time; a control module configured to control the motor by using the first given angular velocity; the determination module is further configured to determine a second given angular velocity of the rotor, the second given angular velocity being used to represent a preset given angular velocity of the rotor at the preset time; determine a second torque angle of the motor, the second torque angle being used to represent a torque angle of the motor at a previous time; determine a first difference value between the first torque angle and the second torque angle; determine a second difference value between the preset time and the previous time; determine a correction value of the second given angular velocity according to the first difference value and the second difference value; perform summation on the correction value and the second given angular velocity to obtain a first sum value; determine the first sum value as the first given angular velocity of the rotor.

7. An electronic device, comprising: The method includes: 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 1-5.

8. A storage medium, characterized by 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 according to any one of claims 1-5.

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