Stall control method, control system and garbage disposer

Abstract

The application relates to a stall control method, a control system and a garbage disposer, and the stall control method comprises the following steps: S1, starting the garbage disposer to enter a garbage crushing running state; S2, normally running the garbage disposer, and a controller of the garbage disposer judging whether to enter a stall state; if yes, entering step S3; if not, continuing step S2; the judgment standard is that the controller of the garbage disposer detects current parameters and speed parameters, if the detected current is overrated current and the speed is lower than the rated speed by more than 10% for more than a set threshold value, the stall state is determined; S3, the controller controls the motor to shake at a set angle and a set frequency, and after shaking for a preset number of times, entering step S2; the application can solve the problem that the cutter head of the garbage disposer encounters hard objects and garbage accumulation during running to cause stall, and when the motor stalls, a sawtooth wave position angle control method is adopted to make the motor produce a certain angle and frequency of shaking to remove the stall.

Description

Technical Field

[0001] This invention relates to the field of household appliance control technology, specifically to a stall control method, a control system, and a garbage disposal unit. Background Technology

[0002] A kitchen waste disposer is a modern, environmentally friendly household appliance installed under the kitchen sink and connected to the drain pipe. It's a cleaning device that uses a high-speed motor to drive grinding components to crush and pulverize food scraps into powder or small particles, which are then naturally flushed down the drain. It effectively grinds various food waste items in the kitchen, such as small bones, eggshells, fruit peels and cores, leftover food, and scraps, into a paste-like liquid that is naturally discharged through the pipes with water. This achieves the effects of cleaning the environment, eliminating odors, reducing kitchen odors, minimizing pest infestations, and promoting family health.

[0003] The key components of a kitchen waste disposer are the high-speed motor, blade, chamber, and pneumatic switch (or remote control). During operation, if the blade encounters a hard object that exceeds the motor's maximum output torque, it will get stuck. Over time, this can easily burn out the motor, requiring manual unblocking after the machine is stopped. This is inconvenient to use and reduces the product's lifespan.

[0004] Existing technology CN109861604A discloses a high-overload brushless DC motor drive system for kitchen waste disposers. This patent uses an energy storage module of an electronic flywheel to increase the output torque of the brushless motor. This solution complicates the structure of the device and increases its cost.

[0005] The prior art CN110918243A discloses a garbage disposer sensing system with anti-jamming effect. When the system detects a stall, the control board controls the motor rotation device to reverse the motor. After the stall is released, the motor rotates forward. The system uses a dual-input forward and reverse motor. Generally, the motor is a DC brushed motor or an induction motor. The disadvantages of this type of motor are low efficiency and high noise, and it is not suitable for DC brushless motors.

[0006] The existing technology CN106253794B provides a motor control circuit and operation control method for garbage disposers. This method collects real-time current to determine whether the motor is stalled, and uses a relay to control the forward and reverse rotation of the motor to clear the stall. It is suitable for DC brushed or induction motors, but not for DC brushless motors. Summary of the Invention

[0007] The purpose of this invention is to address the above-mentioned shortcomings by providing a stall control method, control system, and waste processor, which solves the problem of stalling caused by the blade disc encountering hard objects or waste accumulation during the operation of the waste processor. It is applicable to DC brushless motors. When the motor stalls, a sawtooth wave position angle control method is used to make the motor vibrate at a certain angle and frequency to clear the stall.

[0008] To address the aforementioned technical problems, the first aspect of this invention provides a stall control method, comprising the following steps: S1: Start the garbage disposal unit and enter the garbage shredding operation state; S2: The garbage disposal unit is operating normally. The garbage disposal unit's controller determines whether it has entered a stall state. If so, proceed to step S3; If not, proceed to step S2; The criteria for judging the stalled state are: the controller of the garbage disposal unit detects the current parameters and speed parameters. If the detected current exceeds the rated current and the speed is lower than the rated speed for more than 10% of the time, it is determined that the unit has entered the stalled state. S3: The controller controls the motor to vibrate at a set angle and a set frequency. After vibrating a preset number of times, proceed to step S2.

[0009] Furthermore, the waste disposer uses a DC brushless motor, which is controlled by the FOC control system during normal operation.

[0010] Furthermore, it also includes a sawtooth wave generation module.

[0011] Furthermore, in step S3, when it is determined that the stall state has been entered, the FOC control system obtains the stall angle θ, the input current adopts the maximum given current, and the control angle adopts the sawtooth wave angle. The sawtooth wave generation module provides the control angle θ to the FOC control system, and controls the stator to generate a magnetic field that changes back and forth at a certain frequency in the interval before and after the angle θ, thereby causing the motor output shaft to vibrate.

[0012] Furthermore, the formula for calculating the position angle of the sawtooth wave is as follows: ; Where θ is the angle of the stall position, cnt is the value decremented by 1 during the control cycle, f1 is the set jitter frequency, and f is the control frequency. The angle of the shaking.

[0013] Furthermore, the specific method for controlling the angle is as follows: S31: When it is determined that the engine has entered a stall state, obtain the angle θ of the stall position; S32: Given the maximum control current, control the motor to rotate in the opposite direction by an angle θ1 to reach the predetermined position one; The positive directional position angle θ2 relative to the stall position is quickly given, and the motor drives the blade to rotate rapidly to the predetermined positive position 2; S33: The stall position is between predetermined position one and predetermined position two. The blade rotates in the positive direction and will knock on the stall position when it passes through it. S34: Control the motor to rotate in the opposite direction at a predetermined speed, returning to the predetermined position one; S35: Repeat steps S32 to S34 a preset number of times; S36: Return to step S2.

[0014] Furthermore, the jitter angle .

[0015] To address the aforementioned technical issues, a second aspect of the present invention provides a stall control system, comprising a sawtooth wave generation module, a first PI regulator, a second PI regulator, a Parker inverse converter module, an SVPWM module, a three-phase half-bridge inverter circuit, an ADC sampling module, a Clarke converter module, a Parker converter module, and a motor. The Parker inverse converter module, SVPWM module, three-phase half-bridge inverter circuit, ADC sampling module, Clarke converter module, and Parker converter module are connected in sequence. The output terminal of the three-phase half-bridge inverter circuit is connected to the motor. The ADC sampling module is connected to the Clarke converter module to provide the motor three-phase current to the Clarke converter module; The Clark transformation module is connected to the Park transformation module to provide the motor α-axis voltage and motor β-axis voltage to the Park transformation module; The Parker converter module is connected to the first PI regulator to provide the first PI regulator with the motor q-axis feedback current; The Parker converter module is connected to the second PI regulator to provide the second PI regulator with motor d-axis feedback current; Both the first PI regulator and the second PI regulator are connected to the Parker inverse converter module, providing the motor d-axis voltage and the motor q-axis voltage to the Parker inverse converter module, respectively. The output of the Parker inverse converter module is connected to the SVPWM module to provide the motor shaft voltage command to the SVPWM module; The sawtooth wave generation module is connected to the Parker transform module and the Parker inverse transform module respectively, so as to provide control angle θ to the Parker transform module and the Parker inverse transform module.

[0016] Furthermore, the motor is a DC brushless motor.

[0017] To address the aforementioned technical issues, a third aspect of the present invention provides a waste disposal unit, comprising a computer-readable storage medium storing a computer program and a processor, wherein the computer program is read and executed by the processor to implement the aforementioned stall control method.

[0018] Compared with the prior art, the present invention has the following advantages: it solves the problem of the blade disc getting stuck when it encounters hard objects or garbage accumulation during the operation of the garbage disposer; it adopts a DC brushless motor, which has high system efficiency and product life; when the motor gets stuck, a sawtooth wave position angle control method is used to make the motor vibrate at a certain angle and frequency to clear the blockage. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a diagram illustrating the shaking range of a garbage disposal unit.

[0021] Figure 2 This is a block diagram of the FOC control system.

[0022] Figure 3 This is a block diagram of a stall control system.

[0023] Figure 4 This is a sawtooth wave angle diagram. Detailed Implementation

[0024] Preferred embodiments of the invention are described in more detail below; however, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the invention more thorough and complete, and to fully convey the scope of the invention to those skilled in the art. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the invention.

[0025] Example 1: The key components of a kitchen waste disposer are the high-speed motor, blade, chamber, and pneumatic switch (or remote control). During operation, if the blade encounters a hard object that exceeds the motor's maximum output torque, it will get stuck. Over time, this can easily burn out the motor, requiring manual unblocking after the machine is stopped. This is inconvenient to use and reduces the product's lifespan.

[0026] like Figure 1 , Figure 4 As shown, in order to solve the above problems, Embodiment 1 provides a stall control method to solve the problem of stalling caused by the blade encountering hard objects and garbage accumulation during the operation of the garbage disposer. It is applicable to DC brushless motors. When the DC brushless motor stalls, a sawtooth wave position angle control method is used to make the motor vibrate at a certain angle and frequency to clear the stall.

[0027] The stall control method includes the following steps: S1: Start the garbage disposal unit and enter the garbage shredding operation state; S2: The garbage disposal unit is operating normally. The garbage disposal unit's controller determines whether it has entered a stall state. If so, proceed to step S3; If not, proceed to step S2; The criteria for judging the stalled state are: the controller of the garbage disposal unit detects the current parameters and speed parameters. If the detected current exceeds the rated current and the speed is lower than the rated speed for more than 10% of the time, it is determined that the unit has entered the stalled state. S3: The controller controls the motor to vibrate at a set angle and a set frequency. After vibrating a preset number of times, proceed to step S2.

[0028] In this embodiment, the garbage disposer uses a DC brushless motor, which is controlled by the FOC control system under normal operating conditions.

[0029] In this embodiment, a sawtooth wave generation module is also included.

[0030] In this embodiment, in step S3, when it is determined that the stall state has been entered, the speed loop and position estimation loop in the FOC control system are removed, and the stall angle θ is obtained by the FOC control system. The current loop of the FOC control system is retained, the input current of the current loop adopts the maximum given current, and the control angle adopts the sawtooth wave angle. The sawtooth wave generation module provides the control angle θ to the FOC control system, and controls the stator to generate a magnetic field that changes back and forth at a certain frequency in the interval before and after the angle θ, thereby causing the motor output shaft to vibrate.

[0031] In this embodiment, the formula for calculating the position angle of the sawtooth wave is as follows: ; Where θ is the angle of the stall position, cnt is the value decremented by 1 during the control cycle, f1 is the set jitter frequency, and f is the control frequency. The angle of the shaking.

[0032] Furthermore, the specific method for controlling the angle is as follows: S31: When it is determined that the engine has entered a stall state, obtain the angle θ of the stall position; S32: Given the maximum control current, control the motor to rotate in the opposite direction by an angle θ1 to reach the predetermined position one; The positive directional position angle θ2 relative to the stall position is quickly given, and the motor drives the blade to rotate rapidly to the predetermined positive position 2; S33: The stall position is between predetermined position one and predetermined position two. The blade rotates in the positive direction and will knock on the stall position when it passes through it. S34: Control the motor to rotate in the opposite direction at a predetermined speed, returning to the predetermined position one; S35: Repeat steps S32 to S34 a preset number of times; S36: Return to step S2.

[0033] In this embodiment, the jitter angle .

[0034] The shaking process is as follows Figure 1 As shown: In the diagram, position a is where the cutter head gets stuck when it encounters a hard object; position b is the first predetermined position; position c is the second predetermined position; the angle between b and c is the control motor vibration angle Δθ; the number of times the cutter head moves from b to c and back to b per unit time is the vibration frequency; the top view angle of the garbage disposal unit is specified, with counterclockwise rotation of the cutter head being the positive direction and clockwise rotation being the negative direction, and the positive direction being the normal crushing operation state.

[0035] Specific work process: When the cutter head encounters hard objects and debris, that is... Figure 1 At position a, assuming it is at angle θ on the coordinate axis, the controller determines that the motor is in a stall state because the resistance exceeds the maximum output torque of the motor, based on the detection of current and current running speed. Given a maximum control current, the motor is controlled to rotate in the opposite direction by a certain angle until it reaches a predetermined position. This position is θ1 angle opposite to the stall position, i.e. Figure 1 Position b in the middle; Then quickly give the positive directional position θ2 relative to the stall position, i.e. Figure 1 At position c, the motor drives the blade to rotate rapidly in the positive direction. When it passes position a, it taps the blocked position. At this time, there are two situations: it can pass through and it cannot pass through position a (it is not necessary to judge whether the blade passes through point a. After controlling the blade to tap a certain threshold number of times between B and C, it enters the normal start mode. If it is judged to be blocked, it enters the blocked mode). The control angle returns from position c to position b at a set speed. This process constitutes one round of shaking. Through a certain period of back-and-forth shaking and tapping, not only is the accumulated garbage "loosened," thus reducing load resistance, but it also has a certain crushing effect, ultimately achieving the deblocking effect and entering the normal crushing operation state.

[0036] The specific adjustment process for the sawtooth wave angle is as follows: The control angle represents the d-axis direction of the stator's composite magnetic field. The motor rotor will move following the stator's composite magnetic field. The sawtooth wave control angle keeps the d-axis direction of the stator's composite magnetic field within the d-axis direction. Figure 1 As shown in the diagram, bcb changes back and forth, and the rotor also rotates following the stator magnetic field, ultimately achieving the purpose of repeatedly striking the stalled position. The angle of bc is abrupt, used to increase the striking force; The stator is controlled to generate a magnetic field that changes back and forth at a certain frequency in the interval before and after the θ angle (i.e., the jitter interval), thereby causing the motor output shaft to jitter.

[0037] This method can solve the problem of the blade disc getting stuck when it encounters hard objects or garbage accumulation during the operation of the garbage disposer; it adopts a DC brushless motor, which has high system efficiency and product life; when the DC brushless motor gets stuck, a sawtooth wave position angle control method is used to make the motor vibrate at a certain angle and frequency to clear the blockage.

[0038] Example 2: Example 2 provides an FOC control system applicable to Example 1.

[0039] As shown in Figure 2: ωref is the given operating angular velocity; ω is the calculated angular speed of the motor; Iqref is the given current of the motor's q-axis; Idref is the given current of the motor's d-axis; Iq is the feedback current of the motor's q-axis; Id is the feedback current of the motor's d-axis; Iα is the feedback current of the motor's α-axis; Iβ is the feedback current of the motor's β-axis; Ia is the feedback current of the motor's a-phase; Ib is the feedback current of the motor's b-phase; Ic is the feedback current of the motor's c-phase; Vq is the voltage of the motor's q-axis; Vd is the voltage of the motor's d-axis; Vα is the voltage of the motor's α-axis; Vβ is the voltage of the motor's β-axis; θ is located in the d-axis direction of the stator's composite magnetic field; Park (Parker Transform Module) is used to convert the static... The system converts the α, β coordinate system to a rotating d, q-axis coordinate system; the Clarke transformation module converts the three-phase a, b, c coordinate system to a two-phase α, β coordinate system; the In-Park inverse transformation module converts the rotating d, q-axis coordinate system to a stationary α, β coordinate system; the position calculation module estimates the angular velocity ω and angle θ using a sensorless position algorithm; the ADC sampling calculation module samples the a, b, c phase currents of the motor; the SVPWM module is used for space vector pulse width modulation; the PI controller is used for proportional-integral control; M represents the motor.

[0040] In this embodiment, the FOC control system includes a first PI regulator, a second PI regulator, an angular velocity PI regulator, a Parker inverse converter module, an SVPWM module, a three-phase half-bridge inverter circuit, an ADC sampling module, a Clarke converter module, a Parker converter module, a position calculation module, and a motor. The first PI regulator is connected to the Parker inverse transform module; The angular velocity PI regulator, the second PI regulator, and the Parker inverse transformation module are connected in sequence. The Parker inverse converter module, SVPWM module, three-phase half-bridge inverter circuit, ADC sampling module, Clarke converter module, and Parker converter module are connected in sequence. The output terminal of the three-phase half-bridge inverter circuit is connected to the motor. The output of the Parker inverse transformation module is connected to the position calculation module to provide the motor shaft voltage to the calculation module; The output of the Parker converter module is connected to the position calculation module to provide the motor shaft current to the calculation module; The output of the calculation module is connected to the Parker inverse transform module and the Parker inverse transform module respectively to provide the control angle signal θ; The output of the calculation module is connected to an angular velocity PI regulator to provide a control angular velocity signal ω; The Parker converter module is connected to the first PI regulator to provide the first PI regulator with the motor q-axis feedback current; The Parker converter module is connected to the second PI regulator to provide the motor d-axis feedback current to the first PI regulator; The sawtooth wave generation module is connected to the Parker transform module and the inverse Parker transform module, respectively.

[0041] When the garbage disposal is running normally: First, the speed loop of the FOC control system takes the given running speed ωref and then subtracts it from the motor feedback angular velocity ω calculated by the position estimation module. The speed difference is used to obtain the q-axis current command through the angular velocity PI regulator. At this time, the d-axis current is 0 (maximum efficiency). Next, the three-phase currents Ia, Ib, and Ic of the motor are obtained through the ADC sampling module, and after Clarke transformation, Iα and Iβ are obtained. The θ estimated by the position estimation module is added as the input of the Parker transformation module to obtain Id and Iq. Subsequently, the difference between the given currents Iqref and Idref and the feedback currents Iq and Id is passed through the first and second PI regulators to obtain the motor voltages Vq and Vd, respectively. The angle signal θ (position estimation) is added and input to the Parker inverse transformation module to obtain the voltages Vα and Vβ. Then, the SVPWM module generates a PWM signal to control the three-phase half-bridge inverter circuit, which is finally applied to the motor.

[0042] Example 3: Example 3 presents a stall control system based on Example 1.

[0043] like Figure 3As shown in the figure, Iqref is the given current of the motor's q-axis; Idref is the given current of the motor's d-axis; Iq is the feedback current of the motor's q-axis; Id is the feedback current of the motor's d-axis; Iα is the feedback current of the motor's α-axis; Iβ is the feedback current of the motor's β-axis; Ia is the feedback current of the motor's a-phase; Ib is the feedback current of the motor's b-phase; Ic is the feedback current of the motor's c-phase; Vq is the voltage of the motor's q-axis; Vd is the voltage of the motor's d-axis; Vα is the voltage of the motor's α-axis; Vβ is the voltage of the motor's β-axis; θ is located in the d-axis direction of the stator's composite magnetic field; Park (Parker Transform Module) is used to convert the stationary α, β coordinate system into a rotating d, q-axis coordinate system; Clarke (Clark Transform Module) is used to convert the three-phase a, b, c coordinate system into a two-phase α, β coordinate system; I The n-Park (Park inverse transform module) is used to convert the rotating d- and q-axis coordinate system into a stationary α- and β-axis coordinate system; the ADC sampling and calculation module is used to sample the three-phase currents a, b, and c of the motor; the SVPWM (SVPWM module) is used for space vector pulse width modulation; the PI (PI regulator) is used for proportional-integral controller; the sawtooth wave (sawtooth wave generation module) is used to provide the control angle θ to the Park transform module and the Park inverse transform module; M is the motor.

[0044] This stall control system includes a sawtooth wave generation module, a first PI regulator, a second PI regulator, a Parker inverse converter module, an SVPWM module, a three-phase half-bridge inverter circuit, an ADC sampling module, a Clarke converter module, a Parker converter module, and a motor. The Parker inverse converter module, SVPWM module, three-phase half-bridge inverter circuit, ADC sampling module, Clarke converter module, and Parker converter module are connected in sequence. The output terminal of the three-phase half-bridge inverter circuit is connected to the motor. The ADC sampling module is connected to the Clarke converter module to provide the motor three-phase current to the Clarke converter module; The Clark transformation module is connected to the Park transformation module to provide the motor α-axis voltage and motor β-axis voltage to the Park transformation module; The Parker converter module is connected to the first PI regulator to provide the first PI regulator with the motor q-axis feedback current; The Parker converter module is connected to the second PI regulator to provide the second PI regulator with motor d-axis feedback current; Both the first PI regulator and the second PI regulator are connected to the Parker inverse converter module, providing the motor d-axis voltage and the motor q-axis voltage to the Parker inverse converter module, respectively. The output of the Parker inverse converter module is connected to the SVPWM module to provide the motor shaft voltage command to the SVPWM module; The sawtooth wave generation module is connected to the Parker transform module and the Parker inverse transform module respectively, so as to provide control angle θ to the Parker transform module and the Parker inverse transform module.

[0045] In this embodiment, the motor is a brushless DC motor.

[0046] In stall mode: First, the three-phase currents Ia, Ib, and Ic of the motor are obtained through the ADC sampling module. After Clark transformation, Iα and Iβ are obtained. The control angle signal θ (sawtooth wave) is added as the input to the Park transformation module to obtain Id and Iq. Subsequently, Iqref is given the maximum current Imax, and Idref is set to 0. The difference between the given currents Iqref and Idref and the feedback currents Iq and Id is passed through the first and second PI regulators respectively to obtain the motor voltages Vq and Vd. The control angle signal θ (sawtooth wave) is added and input to the Parker inverse converter module to obtain the voltages Vα and Vβ. Then, the SVPWM module generates a PWM signal to control the three-phase half-bridge inverter circuit, which is finally applied to the motor.

[0047] Example 4: Example 4 is based on Example 1, which discloses a garbage disposer using a DC brushless motor.

[0048] The waste disposal unit includes a computer-readable storage medium storing a computer program and a processor, the computer program being read and executed by the processor to implement the aforementioned stall control method.

[0049] In this embodiment, a computer-readable storage medium may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and so on. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters denote similar items; therefore, once an item is defined, it need not be discussed further thereafter.

[0051] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0052] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," and "above" may be used here to describe the spatial positional relationship of the features. It should be understood that spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described.

[0053] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0054] If this application discloses or relates to components or structural parts that are fixedly connected to each other, then, unless otherwise stated, a fixed connection can be understood as: a fixed connection that can be disassembled (e.g., a connection using bolts or screws), or a fixed connection that cannot be disassembled (e.g., riveting, welding). Of course, a fixed connection can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0055] The above-described preferred embodiments further illustrate the purpose, technical solutions, and advantages of the present invention. It should be understood that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A stall control method, characterized in that, Includes the following steps: S1: Start the garbage disposal unit and enter the garbage shredding operation state; S2: The garbage disposal unit is operating normally. The garbage disposal unit's controller determines whether it has entered a stall state. If so, proceed to step S3; If not, proceed to step S2; The criteria for judging the stalled state are: the controller of the garbage disposal unit detects the current parameters and speed parameters. If the detected current exceeds the rated current and the speed is lower than the rated speed for more than 10% of the time, it is determined that the unit has entered the stalled state. S3: The controller controls the motor to vibrate at a set angle and a set frequency. After vibrating a preset number of times, proceed to step S2. The garbage disposer uses a DC brushless motor, which is controlled by the FOC control system under normal operating conditions. The waste disposer also includes a sawtooth wave generation module; In step S3, when it is determined that the stall state has been entered, the FOC control system obtains the stall angle θ, the input current adopts the maximum given current, and the control angle adopts the sawtooth wave angle. The sawtooth wave generation module provides the control angle θ to the FOC control system, and controls the stator to generate a magnetic field with a certain frequency changing back and forth in the interval before and after the angle θ, thereby causing the motor output shaft to vibrate. The formula for calculating the position angle of the sawtooth wave is as follows: ； Where θ is the angle of the stall position, cnt is the value decremented by 1 during the control cycle, f1 is the set jitter frequency, and f is the control frequency. The angle of the shaking.

2. The stall control method according to claim 1, characterized in that, The specific method for controlling the angle is as follows: S31: When it is determined that the engine has entered a stall state, obtain the angle θ of the stall position; S32: Given the maximum control current, control the motor to rotate in the opposite direction by an angle θ1 to reach the predetermined position one; The positive directional position angle θ2 relative to the stall position is quickly given, and the motor drives the blade to rotate rapidly to the predetermined positive position 2; S33: The stall position is between predetermined position one and predetermined position two. The blade rotates in the positive direction and will knock on the stall position when it passes through it. S34: Control the motor to rotate in the opposite direction at a predetermined speed, returning to the predetermined position one; S35: Repeat steps S32 to S34 a preset number of times; S36: Return to step S2.

3. The stall control method according to claim 2, characterized in that, The jitter angle .

4. A stall control system, characterized in that, The stall control method for implementing any one of claims 1-3 includes a sawtooth wave generation module, a first PI regulator, a second PI regulator, a Parker inverse converter module, an SVPWM module, a three-phase half-bridge inverter circuit, an ADC sampling module, a Clarke converter module, a Parker converter module, and a motor. The Parker inverse converter module, SVPWM module, three-phase half-bridge inverter circuit, ADC sampling module, Clarke converter module, and Parker converter module are connected in sequence. The output terminal of the three-phase half-bridge inverter circuit is connected to the motor. The ADC sampling module is connected to the Clarke converter module to provide the motor three-phase current to the Clarke converter module; The Clark transformation module is connected to the Park transformation module to provide the motor α-axis voltage and motor β-axis voltage to the Park transformation module; The Parker converter module is connected to the first PI regulator to provide the first PI regulator with the motor q-axis feedback current; The Parker converter module is connected to the second PI regulator to provide the second PI regulator with motor d-axis feedback current; Both the first PI regulator and the second PI regulator are connected to the Parker inverse converter module, providing the motor d-axis voltage and the motor q-axis voltage to the Parker inverse converter module, respectively. The output of the Parker inverse converter module is connected to the SVPWM module to provide the motor shaft voltage command to the SVPWM module; The sawtooth wave generation module is connected to the Parker transform module and the Parker inverse transform module respectively, so as to provide control angle θ to the Parker transform module and the Parker inverse transform module.

5. The stall control system according to claim 4, characterized in that, The motor is a DC brushless motor.

6. A garbage disposal unit, characterized in that, The method includes a computer-readable storage medium storing a computer program and a processor, wherein the computer program is read and executed by the processor to implement the stall control method according to any one of claims 1-3.

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