Smart home appliance and motor control method, system, device and medium thereof

Abstract

The present invention discloses a smart home appliance and its motor control method, system, device, and medium. The motor control method includes: obtaining the actual speed of the motor; calculating the actual speed ratio between the actual speed and the set speed; determining the actual PI adjustment parameter corresponding to the actual speed ratio in the preset PI adjustment algorithm of the motor based on a pre-established preset mapping relationship to update the target PI adjustment algorithm; obtaining the actual current of the current loop in the motor; calculating the actual current difference between the actual current and the set current; obtaining the drive voltage of the motor using the target PI adjustment algorithm based on the actual current difference; and controlling the motor to operate at the drive voltage so that the actual speed reaches the set speed. The present invention dynamically changes the PI adjustment parameter based on the relationship between the actual speed of the motor and the set speed, thereby improving the stability and reliability of the motor control method.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home appliances, and in particular to a smart home appliance and a motor control method, system, device and medium thereof. Background Art

[0002] The PI (Proportional Integral) control method is widely used in motor control. Currently, the PI control parameters in PI control programs are typically fixed; once the motor is specified, the PI control parameters are also determined. However, in actual control, the optimal PI control parameters for low motor speeds often differ from those for high motor speeds. Using the same fixed set of parameters for control can easily lead to overshoot, motor jitter, and other phenomena, resulting in low motor control system stability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defect in the prior art of using fixed PI adjustment parameters to perform PI control on the motor, which leads to insufficient stability of the motor control system, and to provide a smart home appliance and its motor control method, system, device and medium.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present invention provides a motor control method for a smart home appliance, the motor control method comprising:

[0006] Obtaining the actual speed of the motor;

[0007] Calculating an actual speed ratio between the actual speed and the set speed;

[0008] Based on a pre-established preset mapping relationship, determining an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor, so as to update and obtain a target PI adjustment algorithm;

[0009] Obtaining the actual current of the current loop in the motor;

[0010] Calculating an actual current difference between the actual current and the set current;

[0011] Based on the actual current difference, adopting the target PI adjustment algorithm to obtain the driving voltage of the motor;

[0012] The motor is controlled to operate at the driving voltage so that the actual rotation speed reaches the set rotation speed.

[0013] The motor control method for smart home appliances provided in this solution dynamically changes the PI adjustment parameters in the PI adjustment algorithm according to the ratio between the actual speed of the motor and the set speed, so that the actual PI adjustment parameters can adapt to the needs of different actual speeds, thereby improving the flexibility and rationality of the PI adjustment algorithm, and thus improving the stability and reliability of the motor control method.

[0014] Preferably, when the motor enters open-loop control, the step of determining, based on a pre-established preset mapping relationship, an actual PI adjustment parameter corresponding to the actual speed ratio in the preset PI adjustment algorithm of the motor to update and obtain a target PI adjustment algorithm includes:

[0015] According to the ratio range of the actual speed ratio, determining the corresponding cutoff frequency in the target PI adjustment algorithm based on the preset mapping relationship;

[0016] Wherein, different ratio ranges correspond to different cutoff frequencies, and the cutoff frequency is positively correlated with the ratio in the ratio range;

[0017] Based on the cutoff frequency, the corresponding actual PI adjustment parameter in the target PI adjustment algorithm is determined.

[0018] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0019] Preferably, the step of determining the actual PI adjustment parameter corresponding to the target PI adjustment algorithm based on the cutoff frequency includes:

[0020]

[0021]

[0022] Among them, K p is the proportional term parameter in the target PI adjustment algorithm, K i is the integral parameter in the target PI adjustment algorithm, L is the phase inductance of the motor, R is the phase resistance of the motor, A is the per-unit value, ω c is the cut-off frequency.

[0023] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters when the PI is a parallel structure, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0024] Preferably, when the motor enters closed-loop control, the motor control method further includes:

[0025] Acquire an adjusted speed of the motor, where the adjusted speed is used to represent a difference between a first speed of the motor after adjustment and the set speed;

[0026] The step of determining the actual PI adjustment parameter corresponding to the actual speed ratio in the preset PI adjustment algorithm of the motor based on the pre-established preset mapping relationship to update and obtain the target PI adjustment algorithm further includes:

[0027] Determining the corresponding cutoff frequency in the target PI adjustment algorithm according to the speed range in which the adjustment speed is located and the ratio range in which the actual speed ratio is located;

[0028] Different speed ranges and ratio ranges correspond to different cutoff frequencies; and the cutoff frequency is positively correlated with the speed in the speed range and the ratio in the ratio range.

[0029] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio in the closed-loop control process and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0030] Preferably, the control method further includes:

[0031] Obtaining an actual value of an integral term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference;

[0032] Determining whether the actual value of the integral item is greater than an integral item threshold;

[0033] If so, reduce the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold.

[0034] In this solution, the integral term in the PI regulation process is dynamically clamped by setting the integral term threshold, the integral term is quickly reduced, and the overshoot in the PI regulation process is reduced, thereby improving the stability of the motor control method.

[0035] Preferably, the step of reducing the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold comprises:

[0036] Obtaining an actual value of a proportional term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference;

[0037] A first difference between the integral term threshold and the proportional term actual value is calculated, and the first difference is used as a new integral term actual value.

[0038] In this solution, the integral term in the PI regulation process is dynamically clamped by setting the integral term threshold, the integral term is quickly reduced, and the overshoot in the PI regulation process is reduced, thereby improving the stability of the motor control method.

[0039] In this solution, by taking the difference between the integral term threshold and the proportional term actual value as the new integral term actual value, the size of the integral term can be effectively limited, thereby reducing overshoot in the PI adjustment process and improving the stability of the motor control method.

[0040] Preferably, the step of obtaining the actual value of the integral term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference includes:

[0041]

[0042] Among them, I k is the actual value of the integral term, k is the sampling number, K i is the integral term parameter, e j is the actual current difference value of the j-th sampling;

[0043] The step of obtaining the actual value of the proportional term of the PI adjustment algorithm based on the actual PI adjustment parameter and the actual current difference includes:

[0044] K k =K p e k

[0045] Among them, K k is the actual value of the proportional term, k is the sampling number, K p is the proportional term parameter, e k is the actual current difference value sampled at the kth time.

[0046] In this solution, the integral term is dynamically clamped by the proportional term, and the integral term is quickly reduced, which can reduce the overshoot in the PI adjustment process and thus improve the stability of the motor control method.

[0047] The present invention also provides a motor control system for a smart home appliance, the motor control system comprising:

[0048] An actual speed acquisition module, used to acquire the actual speed of the motor;

[0049] A speed ratio calculation module, configured to calculate an actual speed ratio between the actual speed and the set speed;

[0050] an adjustment parameter determination module, configured to determine, based on a pre-established preset mapping relationship, an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor, so as to update and obtain a target PI adjustment algorithm;

[0051] An actual current acquisition module, used to acquire the actual current of the current loop in the motor;

[0052] A current difference calculation module is used to calculate the actual current difference between the actual current and the set current;

[0053] a driving voltage acquisition module, configured to acquire the driving voltage of the motor based on the actual current difference and using the target PI adjustment algorithm;

[0054] The operation control module is used to control the motor to operate at the driving voltage so that the actual speed reaches the set speed.

[0055] The motor control system of the smart home appliance provided by this solution dynamically changes the PI adjustment parameters in the PI adjustment algorithm according to the ratio between the actual speed of the motor and the set speed, so that the actual PI adjustment parameters can adapt to the needs of different actual speeds, thereby improving the flexibility and rationality of the PI adjustment algorithm, and thus improving the stability and reliability of the motor control method.

[0056] Preferably, when the motor enters open-loop control, the adjustment parameter determination module includes:

[0057] a cutoff frequency determining unit, configured to determine a corresponding cutoff frequency in the target PI adjustment algorithm based on the preset mapping relationship according to a ratio range of the actual speed ratio;

[0058] Wherein, different ratio ranges correspond to different cutoff frequencies, and the cutoff frequency is positively correlated with the ratio in the ratio range;

[0059] The adjustment parameter determination unit is used to determine the actual PI adjustment parameter corresponding to the target PI adjustment algorithm based on the cutoff frequency.

[0060] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0061] Preferably, the adjustment parameter determination unit is further configured to determine the actual PI adjustment parameter according to the following formula:

[0062]

[0063]

[0064] Among them, K p is the proportional term parameter in the target PI adjustment algorithm, K i is the integral parameter in the target PI adjustment algorithm, L is the phase inductance of the motor, R is the phase resistance of the motor, A is the per-unit value, ω c is the cut-off frequency.

[0065] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters when the PI is a parallel structure, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0066] Preferably, when the motor enters closed-loop control, the motor control system further comprises:

[0067] an adjusted speed acquisition module, configured to acquire an adjusted speed of the motor, wherein the adjusted speed is used to represent a difference between a first speed of the motor after adjustment and the set speed;

[0068] The adjustment parameter determination module is further used for:

[0069] Determining the corresponding cutoff frequency in the target PI adjustment algorithm according to the speed range in which the adjustment speed is located and the ratio range in which the actual speed ratio is located;

[0070] Different speed ranges and ratio ranges correspond to different cutoff frequencies; and the cutoff frequency is positively correlated with the speed in the speed range and the ratio in the ratio range.

[0071] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio in the closed-loop control process and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0072] Preferably, the control system further comprises an integral term acquisition module, an integral term judgment module and an integral term reduction module;

[0073] The integral term acquisition module is used to obtain the actual value of the integral term of the PI adjustment algorithm based on the actual PI adjustment parameter and the actual current difference;

[0074] The integral item judgment module is used to judge whether the actual value of the integral item is greater than the integral item threshold; if so, calling the integral item reduction module;

[0075] The integral term reducing module is configured to reduce the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold.

[0076] In this solution, the integral term in the PI regulation process is dynamically clamped by setting the integral term threshold, the integral term is quickly reduced, and the overshoot in the PI regulation process is reduced, thereby improving the stability of the motor control method.

[0077] Preferably, the integral term reduction module is further configured to:

[0078] Obtaining an actual value of a proportional term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference;

[0079] A first difference between the integral term threshold and the proportional term actual value is calculated, and the first difference is used as a new integral term actual value.

[0080] In this solution, by taking the difference between the integral term threshold and the proportional term actual value as the new integral term actual value, the size of the integral term can be effectively limited, thereby reducing overshoot in the PI adjustment process and improving the stability of the motor control method.

[0081] Preferably, the integral item acquisition module is further configured to obtain the actual value of the integral item according to the following formula:

[0082]

[0083] Among them, I k is the actual value of the integral term, k is the sampling number, K i is the integral term parameter, e j is the actual current difference value of the j-th sampling;

[0084] The integral term reduction module is further configured to obtain the actual value of the proportional term according to the following formula:

[0085] K k =K p e k

[0086] Among them, K k is the actual value of the proportional term, k is the sampling number, K pis the proportional term parameter, e k is the actual current difference value sampled at the kth time.

[0087] In this solution, the integral term is dynamically clamped by the proportional term, and the integral term is quickly reduced, which can reduce the overshoot in the PI adjustment process and thus improve the stability of the motor control method.

[0088] The present invention also provides a smart home appliance, which includes the motor control system of the smart home appliance.

[0089] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored and running on the memory, wherein the processor implements the above-mentioned motor control method for smart home appliances when executing the computer program.

[0090] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned motor control method for smart home appliances when executed by a processor.

[0091] On the basis of conforming to the common sense in this field, the preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0092] The positive progressive effect of the present invention is that: according to the ratio between the actual speed of the motor and the set speed, the PI adjustment parameters in the PI adjustment algorithm are dynamically changed, so that the actual PI adjustment parameters can adapt to the needs of different actual speeds, thereby improving the flexibility and rationality of the PI adjustment algorithm; in addition, the integral term is dynamically clamped by the proportional term, thereby reducing overshoot in the PI adjustment process, thereby improving the stability and reliability of the motor control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 This is a flow chart of a motor control method for a smart home appliance according to embodiment 1 of the present invention.

[0094] Figure 2 Schematic diagram of automatic control of the current loop in the motor according to embodiment 1 of the present invention.

[0095] Figure 3 This is a flow chart of a motor control method for a smart home appliance according to embodiment 2 of the present invention.

[0096] Figure 4 This is a module diagram of a motor control system for a smart home appliance according to embodiment 3 of the present invention.

[0097] Figure 5 This is a module diagram of a motor control system for a smart home appliance according to embodiment 4 of the present invention.

[0098] Figure 6This is a schematic structural diagram of an electronic device according to embodiment 6 of the present invention. DETAILED DESCRIPTION

[0099] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0100] Example 1

[0101] This embodiment provides a motor control method for a smart home appliance. Figure 1 As shown, the motor control method includes the following steps:

[0102] S1. Get the actual speed of the motor;

[0103] S2. Calculate the actual speed ratio between the actual speed and the set speed;

[0104] S3. Based on a pre-established preset mapping relationship, determining an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor, so as to update and obtain a target PI adjustment algorithm;

[0105] S4. Obtain the actual current of the current loop in the motor;

[0106] S5. Calculate the actual current difference between the actual current and the set current;

[0107] S6. Based on the actual current difference, a target PI adjustment algorithm is used to obtain the driving voltage of the motor;

[0108] S7. Control the motor to operate at the driving voltage so that the actual speed reaches the set speed.

[0109] The motor control method for smart home appliances provided in this solution is primarily applied to positionless permanent magnet synchronous motors, and this solution is primarily targeted at motors without Hall sensors. Of course, it can also be applied to other types of motors as needed.

[0110] Specifically, Figure 2 This diagram shows the automatic control of the motor's current loop. The input is a set current (Iset in the figure), which is compared with the actual current (Imeasured in the figure). The difference between the two currents is fed into the PI controller, which then adjusts the output drive voltage (Vout in the figure). This drive voltage is converted into a six-channel SVPWM (space vector pulse width modulation) to drive the motor, ensuring that the actual motor speed reaches the set speed.

[0111] Figure 2The per-unit processing in the program is mainly to establish the connection between the microcontroller and the actual motor control system. Per-unit value = actual value / reference value. The actual value of the motor parameter is normalized, which weakens the difference in the motor variable value and enhances the universality of the program.

[0112] The switching link is mainly a delay link. When the microcontroller reads the current value, it passes through the PI regulator to obtain the output drive voltage (triangle wave comparison value). However, this triangle wave comparison value does not take effect immediately, but is usually delayed by one PWM (pulse width modulation) cycle. Even if the triangle wave comparison value is updated, it is not immediately applied to the load, but there is a delay time. Therefore, the overall expression of this link is:

[0113]

[0114] Where n is the number of delayed cycles and T is the PWM period.

[0115] Since in the actual control process, the optimal PI adjustment parameters corresponding to the low speed of the motor and the optimal PI adjustment parameters corresponding to the high speed of the motor are often different, this embodiment adopts a dynamic adjustment method to adjust the actual PI adjustment parameters.

[0116] Step S1 obtains the current actual motor speed based on a certain sampling interval. Step S2 calculates the actual speed ratio between the actual speed and the set speed, which is used as a standard for dynamic adjustment. Step S3 determines the actual PI adjustment parameter corresponding to the actual speed ratio in the motor's preset PI adjustment algorithm based on a pre-established preset mapping relationship, thereby updating the target PI adjustment algorithm. Step S6 uses the target PI adjustment algorithm to obtain the motor drive voltage based on the actual current difference, so as to drive the motor's actual speed to the preset speed.

[0117] The motor control method for smart home appliances provided in this embodiment dynamically changes the PI adjustment parameters in the PI adjustment algorithm according to the ratio between the actual speed of the motor and the set speed, so that the actual PI adjustment parameters can adapt to the needs of different actual speeds, thereby improving the flexibility and rationality of the PI adjustment algorithm, and further improving the stability and reliability of the motor control method.

[0118] Example 2

[0119] Based on Example 1, this embodiment provides a motor control method for a smart home appliance.

[0120] In one feasible solution, when the motor enters open loop control, Figure 3 As shown, step S3 includes:

[0121] S301: Determine a corresponding cutoff frequency in a target PI adjustment algorithm based on a preset mapping relationship according to a ratio range of an actual speed ratio;

[0122] Among them, different ratio ranges correspond to different cutoff frequencies, and the cutoff frequency is positively correlated with the size of the ratio in the ratio range;

[0123] S302 : Based on the cutoff frequency, determine the corresponding actual PI adjustment parameters in the target PI adjustment algorithm.

[0124] Specifically, the actual speed ratio range can be divided into three intervals: less than 1 / 5, 1 / 5 to 3 / 5, and greater than 3 / 5. Other divisions can also be made according to actual needs. Different ratio ranges correspond to different cutoff frequencies, and the larger the actual speed ratio in the ratio range, the corresponding cutoff frequency is also correspondingly larger.

[0125] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0126] In one feasible solution, the formula corresponding to step S302 is as follows:

[0127]

[0128]

[0129] Among them, K p is the proportional term parameter in the target PI adjustment algorithm, K i is the integral parameter in the target PI adjustment algorithm, L is the phase inductance of the motor, R is the phase resistance of the motor, A is the per-unit value, ω c is the cutoff frequency.

[0130] Specifically, when the motor is not started, the initial parameter K of the preset PI adjustment algorithm in the PI controller is obtained according to the resistance R and inductance L of the motor. p and K i When the PI is a parallel structure, the corresponding formula is as above. By determining the cutoff frequency, the proportional term parameters and integral term parameters in the PI adjustment algorithm can be determined.

[0131] It should be noted that when the actual speed of the motor is the maximum, the cutoff frequency must satisfy:

[0132] ω c >2πpM / 60

[0133] Where p is the number of motor pairs of the motor, and M is the maximum speed (unit: rpm / min).

[0134] The open-loop transfer function of the PI controller is:

[0135]

[0136] According to the engineering setting method, the damping ratio ζ is set to 0.707, that is,

[0137]

[0138] So ω c ≤0.5 / nT.

[0139] During the motor startup process, when the set speed is R (rpm / min), the angular velocity is ω=2πpR / 60, and the motor enters the open-loop forced drag stage. The observed angular velocity ω of the motor can be obtained through the observer. e (actual speed).

[0140] (1) When When the cutoff frequency ω c =B1×2πpR / 60

[0141] (2) When When the cutoff frequency ω c =B2×2πpR / 60

[0142] (3) When When the cutoff frequency ω c =B3×2πpR / 60

[0143] Among them, B1 <B2<B3。ω e While meeting the above conditions, ω c ≤0.5 / nT.

[0144] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio and determining the corresponding actual PI adjustment parameters when the PI is a parallel structure, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0145] In one feasible solution, when the motor enters closed-loop control, the motor control method further includes:

[0146] Obtaining an adjusted speed of the motor, where the adjusted speed is used to represent a difference between a first speed of the motor after adjustment and a set speed;

[0147] Step S3 further includes:

[0148] Determine the cutoff frequency in the corresponding target PI adjustment algorithm based on the speed range of the adjustment speed and the ratio range of the actual speed ratio;

[0149] Different speed ranges and ratio ranges correspond to different cutoff frequencies; and the cutoff frequency is positively correlated with the speed in the speed range and the ratio in the ratio range.

[0150] Specifically, when the angular velocity ω is observed e When the value is greater than the threshold C and the observed angular velocity is reliable (i.e. the variance of the observed angular velocity is within a certain range and lasts for a certain period of time), the motor switches from open loop to closed loop. c =B3×2πpR / 60(where B1 <B2<B3)。

[0151] It should be noted that during the observation process, the motor observes the angular velocity ω e Perform filtering and collect m data, the average value is:

[0152] ω ave =(ω e1 +ω e2 +…+ω em ) / m

[0153] The variance is:

[0154]

[0155] like If the duration of satisfying this condition is greater than E, the observed angular velocity is considered reliable; otherwise, the velocity fluctuation is considered too large and the observed angular velocity is unreliable.

[0156] During the startup process switching, the reliability judgment of the observed angular velocity is increased to ensure that the state switching can proceed smoothly.

[0157] After the motor enters closed-loop control, if the set speed does not change, the cutoff frequency ω c constant.

[0158] After the motor enters closed-loop control, if the speed regulation process is started, the corresponding K p and K i Adjustments need to be made. Take increasing the speed as an example:

[0159] (1) If the adjustment speed R1>20R:

[0160] If the observed angular velocity ω e When <2πpR / 60×5, the cutoff frequency ω c =F1×2πpR / 60×5;

[0161] If the observed angular velocity 2πpR / 60×5≤ω e When <2πpR / 60×20, the cutoff frequency ω c ω c =F2×2πpR / 60×20;

[0162] If the observed angular velocity ω e When ≥2πpR / 60×20, the cutoff frequency ω c ω c =F3×2πpR1 / 60.

[0163] (2) If the adjustment speed is 20R≥R1≥5R:

[0164] If the observed angular velocity ω e When <2πpR / 60×5, the cutoff frequency ω c ω c =F4×2πpR / 60×5;

[0165] If the observed angular velocity ω e When ≥2πpR / 60×5, the cutoff frequency ω c ω c =F5×2πpR1 / 60.

[0166] (3) If the adjustment speed R1<5R, the cutoff frequency ω c ω c =F6×2πpR1 / 60.

[0167] Among them, F1 <F2<F3,F4<F5,F1> F4>F6.

[0168] The control method for reducing the speed is similar to that for increasing the speed, so it will not be described here.

[0169] The above involves observing the angular velocity ω e , the estimated back electromotive force is obtained through the Lumberg observer, and the observed angular velocity ω is obtained through the PLL (phase-locked loop) e .

[0170] In this scheme, by setting different cutoff frequencies for different ratio ranges of the actual speed ratio in the closed-loop control process and determining the corresponding actual PI adjustment parameters, the adaptability of the actual PI adjustment parameters to the actual speed of the motor can be improved, thereby improving the accuracy and stability of the motor control method.

[0171] In one feasible solution, the control method further includes:

[0172] Based on the actual PI adjustment parameter and the actual current difference, the actual value of the integral term of the PI adjustment algorithm is obtained;

[0173] Determine whether the actual value of the integral item is greater than the integral item threshold;

[0174] If so, reduce the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold.

[0175] In this solution, the integral term in the PI regulation process is dynamically clamped by setting the integral term threshold, the integral term is quickly reduced, and the overshoot in the PI regulation process is reduced, thereby improving the stability of the motor control method.

[0176] In one feasible solution, the step of reducing the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold value includes:

[0177] Based on the actual PI adjustment parameter and the actual current difference, the actual value of the proportional term of the PI adjustment algorithm is obtained;

[0178] A first difference between the integral term threshold and the proportional term actual value is calculated and used as a new integral term actual value.

[0179] In this solution, by taking the difference between the integral term threshold and the proportional term actual value as the new integral term actual value, the size of the integral term can be effectively limited, thereby reducing overshoot in the PI adjustment process and improving the stability of the motor control method.

[0180] In one feasible solution, the step of obtaining the actual value of the integral term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference includes:

[0181]

[0182] Among them, I k is the actual value of the integral term, k is the sampling number, K i is the integral term parameter, e j is the actual current difference of the jth sampling;

[0183] The steps of obtaining the actual value of the proportional term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference include:

[0184] K k =K p e k

[0185] Among them, K k is the actual value of the proportional term, k is the sampling number, K p is the proportional term parameter, e k is the actual current difference sampled at the kth time.

[0186] Specifically, the cutoff frequency ω c After confirmation, K pand K i It is also determined, and the PI controller begins the adjustment process. PI adopts position adjustment, and the formula is as follows:

[0187]

[0188] k——sampling number, k=0,1,2…;

[0189] u k ——Computer output value at the kth sampling moment;

[0190] e k ——The deviation value input at the kth sampling moment;

[0191] K p ——proportional coefficient;

[0192] K i ——Integral coefficient.

[0193] During the PI adjustment process, the integral term is dynamically clamped, and the maximum limit of the integral term is I_Limit.

[0194] In addition to limiting the integral term, the maximum output also needs to be limited. The maximum limit of the output term is Out_Max. If u k >Out_Max, then the output item is adjusted to u k =Out_Max; if u k <-Out_Max, then the output item is adjusted to u k =-Out_Max.

[0195] In this solution, the integral term is dynamically clamped by the proportional term, and the integral term is quickly reduced, which can reduce the overshoot in the PI adjustment process and thus improve the stability of the motor control method.

[0196] The motor control method for smart home appliances provided in this embodiment compares the actual speed of the motor with the set speed and dynamically adjusts the actual PI adjustment parameters according to the actual speed ratio, thereby meeting the demand for fast response and appropriately reducing the oscillation during the adjustment process. In addition, the position-type PI controller is improved by dynamically clamping the integral term through the proportional term to reduce overshoot during the PI adjustment process, thereby improving the stability of the motor control method.

[0197] Example 3

[0198] This embodiment provides a motor control system for a smart home appliance, such as Figure 4 As shown, the motor control system includes:

[0199] Actual speed acquisition module 1, used to obtain the actual speed of the motor;

[0200] The speed ratio calculation module 2 is used to calculate the actual speed ratio between the actual speed and the set speed;

[0201] The adjustment parameter determination module 3 is used to determine the actual PI adjustment parameter corresponding to the actual speed ratio in the preset PI adjustment algorithm of the motor based on the pre-established preset mapping relationship, so as to update the target PI adjustment algorithm;

[0202] The actual current acquisition module 4 is used to obtain the actual current of the current loop in the motor;

[0203] The current difference calculation module 5 is used to calculate the actual current difference between the actual current and the set current;

[0204] A driving voltage acquisition module 6 is configured to acquire the driving voltage of the motor based on the actual current difference using a target PI adjustment algorithm;

[0205] The working control module 7 is used to control the motor to operate at a driving voltage so that the actual speed reaches the set speed.

[0206] Since the motor control system of the smart home appliance provided in this embodiment has the same principle as the motor control method of the smart home appliance provided in Example 1, they will not be described in detail here.

[0207] The motor control system of the smart home appliance provided in this embodiment dynamically changes the PI adjustment parameters in the PI adjustment algorithm according to the ratio between the actual speed of the motor and the set speed, so that the actual PI adjustment parameters can adapt to the needs of different actual speeds, thereby improving the flexibility and rationality of the PI adjustment algorithm, and further improving the stability and reliability of the motor control method.

[0208] Example 4

[0209] On the basis of Example 3, Figure 5 As shown, this embodiment provides a motor control system for a smart home appliance.

[0210] In one feasible solution, when the motor enters open-loop control, the adjustment parameter determination module 3 includes:

[0211] A cutoff frequency determining unit 31 is configured to determine a cutoff frequency in a corresponding target PI adjustment algorithm based on a preset mapping relationship according to a ratio range of the actual speed ratio;

[0212] Among them, different ratio ranges correspond to different cutoff frequencies, and the cutoff frequency is positively correlated with the size of the ratio in the ratio range;

[0213] The adjustment parameter determination unit 32 is configured to determine the corresponding actual PI adjustment parameter in the target PI adjustment algorithm based on the cutoff frequency.

[0214] In one feasible solution, the adjustment parameter determination unit 32 is further configured to determine the actual PI adjustment parameter according to the following formula:

[0215]

[0216]

[0217] Among them, K p is the proportional term parameter in the target PI adjustment algorithm, K i is the integral parameter in the target PI adjustment algorithm, L is the phase inductance of the motor, R is the phase resistance of the motor, A is the per-unit value, ω c is the cutoff frequency.

[0218] In one feasible solution, when the motor enters closed-loop control, the motor control system further includes:

[0219] An adjustment speed acquisition module 8 is used to acquire an adjustment speed of the motor, where the adjustment speed is used to represent the difference between the first speed of the motor after adjustment and the set speed;

[0220] The adjustment parameter determination module 3 is further used for:

[0221] Determine the cutoff frequency in the corresponding target PI adjustment algorithm based on the speed range of the adjustment speed and the ratio range of the actual speed ratio;

[0222] Different speed ranges and ratio ranges correspond to different cutoff frequencies; and the cutoff frequency is positively correlated with the speed in the speed range and the ratio in the ratio range.

[0223] In an implementable solution, the control system further includes an integral term acquisition module 9, an integral term determination module 10, and an integral term reduction module 11;

[0224] The integral term acquisition module 9 is used to obtain the actual value of the integral term of the PI adjustment algorithm based on the actual PI adjustment parameter and the actual current difference;

[0225] The integral item determination module 10 is used to determine whether the actual value of the integral item is greater than the integral item threshold; if so, the integral item reduction module 11 is called;

[0226] The integral term reducing module 11 is configured to reduce the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold.

[0227] In one feasible solution, the integral term reduction module 11 is further configured to:

[0228] Based on the actual PI adjustment parameter and the actual current difference, the actual value of the proportional term of the PI adjustment algorithm is obtained;

[0229] A first difference between the integral term threshold and the proportional term actual value is calculated and used as a new integral term actual value.

[0230] In one feasible solution, the integral item acquisition module 9 is further configured to obtain the actual value of the integral item according to the following formula:

[0231]

[0232] Among them, I k is the actual value of the integral term, k is the sampling number, K i is the integral term parameter, e j is the actual current difference of the jth sampling;

[0233] The integral term reduction module 11 is further configured to obtain the actual value of the proportional term according to the following formula:

[0234] K k =K p e k

[0235] Among them, K k is the actual value of the proportional term, k is the sampling number, K p is the proportional term parameter, e k is the actual current difference sampled at the kth time.

[0236] Since the motor control system of the smart home appliance provided in this embodiment has the same principle as the motor control method of the smart home appliance provided in Example 2, they will not be described in detail here.

[0237] The motor control system for smart home appliances provided in this embodiment compares the actual speed of the motor with the set speed and dynamically adjusts the actual PI adjustment parameters according to the actual speed ratio, thereby meeting the demand for fast response and appropriately reducing oscillations during the adjustment process. In addition, the position-type PI controller is improved by dynamically clamping the integral term through the proportional term to reduce overshoot during the PI adjustment process, thereby improving the stability of the motor control method.

[0238] Example 5

[0239] This embodiment provides a smart home appliance, which includes the motor control system of the smart home appliance provided in embodiment 3 or 4. The smart home appliance includes but is not limited to a water heater.

[0240] The smart home appliance provided in this embodiment integrates the above-mentioned motor control system of the smart home appliance, thereby improving the working stability and enhancing the overall performance of the product.

[0241] Example 6

[0242] This embodiment provides an electronic device, Figure 6 The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the motor control method for the smart home appliance of embodiment 1 or 2 is implemented. Figure 6 The electronic device 30 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0243] like Figure 6 As shown, the electronic device 30 may be a general-purpose computing device, such as a server device. Components of the electronic device 30 may include, but are not limited to, the at least one processor 31, the at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0244] The bus 33 includes a data bus, an address bus, and a control bus.

[0245] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0246] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0247] The processor 31 executes various functional applications and data processing by running computer programs stored in the memory 32, such as the motor control method of the smart home appliance in embodiment 1 or 2 of the present disclosure.

[0248] The electronic device 30 may also communicate with one or more external devices 34 (e.g., a keyboard, a pointing device, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model generating device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. Figure 6As shown, the network adapter 36 communicates with the other modules of the model-generated device 30 via the bus 33. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the model-generated device 30, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0249] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more units / modules described above may be embodied in a single unit / module. Conversely, the features and functions of a single unit / module described above may be further divided and embodied by multiple units / modules.

[0250] Example 7

[0251] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the motor control method of the smart home appliance of embodiment 1 or 2 is implemented.

[0252] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0253] In a possible implementation, the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to enable the terminal device to execute the motor control method for smart home appliances implementing Example 1 or 2.

[0254] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0255] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A motor control method for a smart home appliance, characterized in that: The motor control method comprises: Obtaining the actual speed of the motor; Calculating an actual speed ratio between the actual speed and the set speed; Based on a pre-established preset mapping relationship, determining an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor, so as to update and obtain a target PI adjustment algorithm; Obtaining the actual current of the current loop in the motor; Calculating an actual current difference between the actual current and the set current; Based on the actual current difference, adopting the target PI adjustment algorithm to obtain the driving voltage of the motor; The motor is controlled to operate at the driving voltage so that the actual rotation speed reaches the set rotation speed.

2. The motor control method of a smart home appliance according to claim 1, wherein: When the motor enters open-loop control, the step of determining, based on a pre-established preset mapping relationship, an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor to update and obtain a target PI adjustment algorithm includes: According to the ratio range of the actual speed ratio, determining the corresponding cutoff frequency in the target PI adjustment algorithm based on the preset mapping relationship; Wherein, different ratio ranges correspond to different cutoff frequencies, and the cutoff frequency is positively correlated with the ratio in the ratio range; Based on the cutoff frequency, the corresponding actual PI adjustment parameter in the target PI adjustment algorithm is determined.

3. The motor control method of a smart home appliance according to claim 2, wherein: The step of determining the actual PI adjustment parameter corresponding to the target PI adjustment algorithm based on the cutoff frequency includes: in, is the proportional term parameter in the target PI adjustment algorithm, is the integral parameter in the target PI adjustment algorithm, L is the phase inductance of the motor, R is the phase resistance of the motor, A is the per-unit value, is the cut-off frequency.

4. The motor control method of a smart home appliance according to claim 3, wherein: When the motor enters closed-loop control, the motor control method further includes: Acquire an adjusted speed of the motor, where the adjusted speed is used to represent a difference between a first speed of the motor after adjustment and the set speed; The step of determining the actual PI adjustment parameter corresponding to the actual speed ratio in the preset PI adjustment algorithm of the motor based on the pre-established preset mapping relationship to update and obtain the target PI adjustment algorithm further includes: Determining the corresponding cutoff frequency in the target PI adjustment algorithm according to the speed range in which the adjustment speed is located and the ratio range in which the actual speed ratio is located; Different speed ranges and ratio ranges correspond to different cutoff frequencies; and the cutoff frequency is positively correlated with the speed in the speed range and the ratio in the ratio range.

5. The motor control method of a smart home appliance according to claim 4, wherein: The control method further includes: Obtaining an actual value of an integral term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference; Determining whether the actual value of the integral item is greater than an integral item threshold; If so, reduce the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold.

6. The motor control method of a smart home appliance according to claim 5, wherein: The step of reducing the actual value of the integral term so that the actual value of the integral term is less than or equal to the integral term threshold comprises: Obtaining an actual value of a proportional term of the PI regulation algorithm based on the actual PI regulation parameter and the actual current difference; A first difference between the integral term threshold and the proportional term actual value is calculated, and the first difference is used as a new integral term actual value.

7. The motor control method of a smart home appliance according to claim 6, wherein: The step of obtaining the actual value of the integral term of the PI adjustment algorithm based on the actual PI adjustment parameter and the actual current difference includes: in, is the actual value of the integral term, k is the sampling number, is the integral term parameter, is the actual current difference value of the j-th sampling; The step of obtaining the actual value of the proportional term of the PI adjustment algorithm based on the actual PI adjustment parameter and the actual current difference includes: in, is the actual value of the proportional term, k is the sampling number, is the proportional term parameter, is the actual current difference value sampled at the kth time.

8. A motor control system for a smart home appliance, characterized in that: The motor control system includes: An actual speed acquisition module, used to acquire the actual speed of the motor; A speed ratio calculation module, configured to calculate an actual speed ratio between the actual speed and the set speed; an adjustment parameter determination module, configured to determine, based on a pre-established preset mapping relationship, an actual PI adjustment parameter corresponding to the actual speed ratio in a preset PI adjustment algorithm of the motor, so as to update and obtain a target PI adjustment algorithm; An actual current acquisition module, used to acquire the actual current of the current loop in the motor; A current difference calculation module is used to calculate the actual current difference between the actual current and the set current; a driving voltage acquisition module, configured to acquire the driving voltage of the motor based on the actual current difference and using the target PI adjustment algorithm; The operation control module is used to control the motor to operate at the driving voltage so that the actual speed reaches the set speed.

9. A smart home appliance, characterized in that: The smart home appliance includes the motor control system of the smart home appliance according to claim 8.

10. An electronic device comprising a memory, a processor, and a computer program stored and running on the memory, characterized in that: When the processor executes the computer program, the motor control method of the smart home appliance according to any one of claims 1 to 7 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the motor control method of the smart home appliance according to any one of claims 1 to 7 is implemented.

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