Motor starting control method and device, air conditioning equipment and medium

Abstract

The application discloses a motor starting control method and device, an air conditioning equipment and a medium. The method first controls the motor to run in an open loop according to a preset rotating speed curve when the motor is started under load, so that the rotating speed of the motor is continuously greater than the rated rotating speed of the motor within a certain time, and the rotating speed of the motor is detected to obtain a rotating speed detection value. When it is determined that the continuous rotating speed detection values are close to corresponding target rotating speed values, the rotating speed of the motor is gradually reduced to the rated rotating speed, and the motor is controlled in a closed loop according to the detected motor position. When the motor is started under load, the motor position can be stabilized in the open loop stage, and the motor can smoothly enter the closed loop stage.

Description

Technical Field

[0001] This application relates to the field of electrical control technology, and in particular to motor starting control methods, devices, air conditioning equipment and media. Background Technology

[0002] Electric motors are widely used power devices and are core components in mechanical equipment such as compressors and fans. During the startup process, motors may fail to start due to the state of the mechanical equipment. For example, in reciprocating compressors, if the motor starts frequently, the presence of the load (compressed air) results in a large starting torque and significant torque changes during startup, causing greater vibration. This makes it difficult to obtain an accurate motor position during startup, ultimately leading to motor startup failure.

[0003] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0004] The first objective of this application is to propose a motor starting control method that enables the motor position to stabilize in the open-loop phase during motor starting under load, ensuring that the motor smoothly enters the closed-loop phase.

[0005] The second objective of this application is to provide a computer-readable storage medium.

[0006] The third objective of this application is to provide a motor starting control device.

[0007] The fourth objective of this application is to propose another motor starting control device.

[0008] The fifth objective of this application is to provide an air conditioning device.

[0009] To achieve the above objectives, a first aspect of this application proposes a motor starting control method, comprising: when the motor starts under load, controlling the motor to operate in open loop according to a preset speed curve, so that the speed of the motor is continuously greater than the rated speed of the motor for a certain period of time, wherein the preset speed curve includes multiple target speed values; detecting the speed of the motor to obtain speed detection values; when it is determined that multiple consecutive speed detection values ​​are close to the corresponding target speed values, controlling the speed of the motor to gradually decrease to the rated speed, and performing closed-loop control of the motor according to the detected motor position.

[0010] According to the motor starting control method proposed in the embodiments of this application, when the motor is started under load, it can instruct the motor to run at a speed higher than the rated speed directly in the open-loop stage, so that the motor speed increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the motor during load starting, eliminates the problem of difficulty in accurately obtaining the motor position caused by torque fluctuations and vibrations caused by the load, and enables the motor position to stabilize in the open-loop stage, ensuring that the motor smoothly enters the closed-loop stage, realizing successful starting of the motor when it is frequently started, and improving the reliability of motor starting.

[0011] According to one embodiment of this application, before controlling the open-loop operation of the motor, the method further includes: pre-positioning the motor rotor.

[0012] According to one embodiment of this application, the preset speed curve is characterized as follows: the target speed value gradually increases from zero; or, the target speed value gradually increases from a first speed value less than the rated speed; or, the target speed value gradually decreases from a second speed value greater than the rated speed.

[0013] According to one embodiment of this application, the second speed value is the maximum speed value of the motor.

[0014] According to one embodiment of this application, detecting the rotational speed of the motor to obtain a rotational speed detection value includes: sampling the current information of the motor and calculating the rotational speed detection value of the motor based on the sampling results.

[0015] According to one embodiment of this application, a method for determining that multiple consecutive speed detection values ​​are close to the corresponding target speed value includes: continuously comparing the speed detection value with the target speed value corresponding to the speed detection value; if multiple consecutive comparison results are all characterized as being close in value, then determining that multiple consecutive speed detection values ​​are close to the corresponding target speed value.

[0016] According to one embodiment of this application, comparing the speed detection value and the target speed value corresponding to the speed detection value includes: calculating the difference between the speed detection value and the target speed value corresponding to the speed detection value; if the difference is less than a preset difference threshold, then determining that the speed detection value and the target speed value corresponding to the speed detection value are close in value.

[0017] According to one embodiment of this application, the method further includes: controlling the operating current of the motor according to a preset current curve when the motor is running in open loop, wherein the preset current curve and the preset speed curve have the same trend.

[0018] To achieve the above objectives, a second aspect of this application provides a computer-readable storage medium storing a motor start control program, which, when executed by a processor, implements the motor start control method described in any of the above examples.

[0019] To achieve the above objectives, a third aspect of this application provides a motor starting control device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the motor starting control method described in any of the above embodiments.

[0020] To achieve the above objectives, a fourth aspect of this application provides a motor starting control device, comprising: an open-loop control module, a speed detection module, and a closed-loop control module. The open-loop control module controls the motor to operate in an open-loop manner according to a preset speed curve when the motor starts under load, so that the motor speed remains above the rated speed for a certain period of time. The preset speed curve includes multiple target speed values. The speed detection module detects the motor speed to obtain a speed detection value. The closed-loop control module controls the motor speed to gradually decrease to the rated speed when multiple consecutive speed detection values ​​are close to the corresponding target speed values, and performs closed-loop control on the motor based on the detected motor position.

[0021] To achieve the above objectives, a fifth aspect of this application provides an air conditioning device, the air conditioning device comprising: a motor start control device according to a third aspect embodiment.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] Figure 1 This is a schematic flowchart of a motor starting control method according to an embodiment of this application.

[0024] Figure 2 This is a schematic diagram of a preset rotational speed curve according to one embodiment of this application.

[0025] Figure 3 This is a schematic diagram of a preset rotational speed curve according to another embodiment of this application.

[0026] Figure 4 This is a schematic diagram of a preset rotational speed curve according to another embodiment of this application.

[0027] Figure 5 This is a schematic diagram of a preset speed curve in another embodiment of this application.

[0028] Figure 6 This is a schematic diagram of the circuit topology for sampling the current of a motor in one embodiment of this application.

[0029] Figure 7 This is a structural block diagram of a motor starting control device according to an embodiment of this application.

[0030] Figure 8 This is a structural block diagram of an air conditioning device according to an embodiment of this application.

[0031] Figure 9 This is a schematic diagram of the structure of an oxygen pump according to an embodiment of this application.

[0032] Figure 10 This is a structural block diagram of a motor starting control device according to another embodiment of this application. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of the embodiments described below are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0034] The following description, with reference to the accompanying drawings, describes a motor starting control method, apparatus, air conditioning equipment, and medium according to embodiments of this application.

[0035] Please see Figure 1 The motor start control method in this application embodiment includes the following steps 100 to 300.

[0036] S100 controls the open-loop operation of the motor according to a preset speed curve when the motor starts under load, so that the motor speed is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values.

[0037] There are two scenarios for motor starting: load starting and no-load starting. Taking a compressor as an example, if the compressor is turned on by the user after a period of inactivity, there is no compressed air in the compressor. Therefore, this is a no-load starting. When the compressor starts, which is also when the motor starts, the motor will not be subjected to the high starting torque and high changing torque caused by the change in the volume of compressed air. Therefore, the traditional three-stage starting method can be used, with the voltage and frequency increasing from low to high in the open-loop stage.

[0038] If the compressor is shut down during operation, a certain amount of compressed air will remain inside. If the compressor is restarted within a very short time or immediately, this is considered a load start, meaning the motor rotor experiences resistance from a load during startup. During a load start, this compressed air acts as the load, hindering the motor's startup. Specifically, the load impedes the rotation of the motor rotor, causing torque fluctuations and motor vibration. If a traditional three-stage starting method is used, where the voltage and frequency are increased from low to high during the open-loop phase, the resistance torque is significant compared to the applied torque due to the gradual increase in speed. Therefore, the resistance caused by the load has a substantial impact on the rotor in the initial startup phase, making it difficult to accurately determine the motor's position.

[0039] Therefore, in step 100, the motor is started according to a preset speed curve during the open-loop stage. The preset speed curve is formed by multiple target speed values, which are arranged in a set order. When the motor is started according to the preset speed curve, it is equivalent to converting these target speed values ​​into control commands in a set order, and then controlling the motor to start and run through the control commands.

[0040] The preset speed curve enables the motor to rapidly increase its speed after entering the open-loop phase, and maintains the motor speed above the rated speed for a certain period of time, where the rated speed is an inherent parameter of the motor. This certain period of time primarily refers to the open-loop phase. Although the exact duration of the open-loop phase is unknown, the preset speed curve is designed to maintain a speed above the rated speed from the moment it first exceeds the rated speed until it enters the closed-loop phase.

[0041] Since it is a load start, the resistance generated by the load still exists. However, since the speed is quickly increased from zero to a value higher than the rated speed from the start of the open-loop phase, the resistance torque at this time is smaller than the applied torque. The resistance caused by the load has little effect on the rotor in the early stage of open-loop operation, so it is difficult to hinder the motor from starting.

[0042] It is understandable that the preset speed curve is formed by multiple target speed values, which are arranged in a set order. When the motor is started according to the preset speed curve, it is equivalent to converting these target speed values ​​into control commands in the set order, and then controlling the motor to start and run through the control commands.

[0043] It should be noted that since the load will generate resistance to the motor rotor, it is difficult for the actual rotational speed of the motor to reach the target rotational speed value in the preset rotational speed curve at the initial stage of the open-loop phase. Assuming that the preset rotational speed curve includes n target rotational speed values {g1, g2, ..., gn}, and the first target rotational speed value g1 is 300, when the motor is operated according to the first target rotational speed value, the actual rotational speed value may only be 200; the second target rotational speed value g2 is 600, when the motor is operated according to the second target rotational speed value, the actual rotational speed value may only be 500. However, among the n target rotational speed values, starting from a certain target rotational speed value, this target rotational speed value and the subsequent target rotational speed values are all higher than the rated rotational speed value, so that the actual rotational speed of the motor can be higher than the rated rotational speed.

[0044] S200, detecting the rotational speed of the motor to obtain a detected rotational speed value.

[0045] In the open-loop phase of motor startup, the rotational speed of the motor can be detected in real time to obtain the detected rotational speed value. Each detected rotational speed value corresponds to a target rotational speed value. Assuming that the detection starts when the first target rotational speed value g1 on the preset rotational speed curve is given to the motor, the detected rotational speed value d1 obtained by detection corresponds to the first target rotational speed value g1, and so on for the subsequent ones.

[0046] S300, when it is determined that a plurality of consecutive detected rotational speed values are all close to the corresponding target rotational speed values, controlling the rotational speed of the motor to gradually decrease to the rated rotational speed, and performing closed-loop control on the motor according to the detected motor position.

[0047] The description will continue based on the above assumption. The detection is started from the moment the first target rotational speed value g1 on the preset rotational speed curve is given, and the detected rotational speed value d1 is obtained. Each target rotational speed value corresponds to one detected rotational speed value. Assuming that the m-th detected rotational speed value (1<m<n) is currently obtained, the m-th detected rotational speed value and the w detected rotational speed values before the m-th detected rotational speed value will be compared with the corresponding target rotational speed values respectively. If the values of the w+1 detected rotational speed values are all very close to the values of the corresponding w+1 target rotational speed values, it indicates that the motor position has been stabilized and the rotational speed value has risen to such a level that the influence of load resistance will not be sufficient to cause motor startup failure if the motor enters the closed-loop phase. Therefore, at this time, the control of the motor rotational speed according to the preset rotational speed curve can be stopped, and the motor can be controlled to gradually decrease from the current rotational speed until it drops to the rated rotational speed.

[0048] If there is a detected rotational speed value that is not close to the corresponding target rotational speed value among the values of the w+1 detected rotational speed values, it is necessary to continue to control the motor according to the preset rotational speed curve, and at the same time continue to judge whether the detected values are close to the target values based on the detected rotational speed values, until the latest consecutive multiple detected rotational speed values are all close to the corresponding target rotational speed values.

[0049] Understandably, each speed detection value can also form a detection value curve. The process of determining whether multiple consecutive speed detection values ​​are close to the corresponding target speed value is to see if the latest part of the detection value curve matches the corresponding curve segment of the preset speed curve. If they match, it means that the latest multiple consecutive speed detection values ​​are close to the corresponding target speed value. If they do not match, it means that the latest multiple consecutive speed detection values ​​are not close to the corresponding target speed value.

[0050] In addition, when the motor speed is gradually reduced from the current speed, the system will also control the motor to enter the closed-loop stage based on the detected motor position, and start closed-loop control of the motor. The motor position detection value is used as the actual position for closed-loop control. After that, when the motor speed drops to the rated speed, it indicates that the motor has started successfully.

[0051] After the motor speed drops to the rated speed, since it has already entered the closed-loop control process, it will continue to maintain closed-loop control of the motor and adjust the speed according to the user-selected working mode, operating power, and other indicators to carry out the normal operation after the motor has successfully started. For example, for the compressor of an air conditioning unit, after the user turns on the air conditioning unit, they will set indicators such as temperature, humidity, and oxygen production. The unit uses these parameters to adjust its own operating power, including adjusting the motor power and speed. At this time, the motor speed can be increased or decreased accordingly based on the user's instructions.

[0052] Understandably, the motor position can be calculated using the back electromotive force signal, or it can be detected using methods such as magnetic flux linkage, high-frequency injection, or sliding film.

[0053] According to the motor starting control method proposed in the embodiments of this application, when the motor is started under load, it can instruct the motor to run at a speed higher than the rated speed directly in the open-loop stage, so that the motor speed increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the motor during load starting, eliminates the problem of difficulty in accurately obtaining the motor position caused by torque fluctuations and vibrations caused by the load, and enables the motor position to stabilize in the open-loop stage, ensuring that the motor smoothly enters the closed-loop stage, realizing successful starting of the motor when it is frequently started, and improving the reliability of motor starting.

[0054] In some embodiments, before controlling the open-loop operation of the motor, the motor start-up control method further includes: pre-positioning the motor rotor.

[0055] Pre-positioning the motor rotor is equivalent to pre-determining the rotor's position. Since the motor is stationary before starting, it is impossible to know the rotor's position at the start of the motor. Therefore, the motor rotor can be positioned in a specific direction by energizing the motor, preparing it for subsequent starting.

[0056] In some embodiments, the preset speed curve is characterized by: the target speed value gradually increasing from zero; or, the target speed value gradually increasing from a first speed value less than the rated speed; or, the target speed value gradually decreasing from a second speed value greater than the rated speed. The preset speed curve can adopt any of the above three forms.

[0057] For the first preset speed curve, please refer to Figure 2 t11 is the pre-positioning time of the motor rotor, corresponding to the pre-positioning stage, and t11 can be set to 1 second; t12 is the time for the target speed value to gradually increase from zero, corresponding to the high-speed open-loop stage, and t12 is approximately 2 seconds. Here, rs is the rated speed, and ms is the maximum speed. The solid line within t12 represents the preset speed curve actually used in the high-speed open-loop stage. The target speed value in the preset speed curve rapidly increases from zero and exceeds the rated speed rs, then continues to increase. As the target speed value increases, the speed detection value (… Figure 2 (Not shown in the image) is also rapidly increasing; when multiple consecutive speed detection values ​​are close to the corresponding target speed value, regardless of whether there are any remaining target speed values ​​in the preset speed curve that have not been given to the motor, the motor will be controlled to start slowing down to the rated speed rs. At the same time as the speed reduction begins, the speed reduction closed-loop stage shown in t13 is entered, where t13 is the duration of the speed reduction closed-loop stage.

[0058] Figure 2 The dotted lines represent target speed values ​​not specified to the motor in the preset speed curve. Since the conditions for entering the deceleration closed-loop phase have already been met, there's no need to continue increasing the speed according to the preset speed curve, and the motor can start smoothly. Furthermore, because it's unknown to what extent the motor needs to increase its speed according to the preset speed curve to meet the requirements for entering the deceleration closed-loop phase during actual load starting, the preset speed curve can usually be set to gradually increase from zero to the maximum speed value, such as... Figure 2 As shown, the motor may actually enter the deceleration closed-loop stage before reaching its maximum speed. Therefore, the actual preset speed curve used is usually only a part of the entire preset speed curve (the solid line part in t12), while the remaining unused part is unnecessary (the dotted line part in t12). However, it should be noted that the deceleration closed-loop stage may also begin only when the motor reaches its maximum speed. Figure 2 (Not shown in the image).

[0059] For the second preset speed curve, please refer to Figure 3 t21 is the pre-positioning time of the motor rotor, corresponding to the pre-positioning stage; t22 is the target speed value gradually increasing from a first speed value lower than the rated speed, corresponding to the high-speed open-loop stage. Here, rs is the rated speed, ms is the maximum speed, and ps1 is the first speed value. The solid line within t22 represents the preset speed curve actually used in the high-speed open-loop stage. The target speed value in the preset speed curve rapidly increases from the preset first speed value ps1 and exceeds the rated speed rs, then continues to increase. As the target speed value increases, the speed detection value (…) Figure 3 (Not shown in the image) is also rapidly increasing; when multiple consecutive speed detection values ​​are close to the corresponding target speed value, regardless of whether there are any remaining target speed values ​​in the preset speed curve that have not been given to the motor, the motor will be controlled to start slowing down to the rated speed rs. At the same time as the speed reduction begins, the speed reduction closed-loop stage shown in t23 is entered, where t23 is the duration of the speed reduction closed-loop stage.

[0060] The reason for setting the first target speed value of the preset speed curve as the first speed value ps1 is that, in the initial period of open loop, when the target speed value has not yet exceeded the rated speed, even if the motor speed is detected at this time, the obtained speed detection value will not approach the target speed value due to the resistance of the load. Therefore, it is possible to directly start controlling the motor speed from the first speed value ps1, which can accelerate to a speed higher than the rated speed more quickly, and thus enter the closed loop stage more quickly. Figure 3 The dotted lines in the curve also represent the target speed values ​​that were not given to the motor in the preset speed curve, which will not be elaborated here.

[0061] For the third preset speed curve, please refer to Figure 4 t31 is the pre-positioning time of the motor rotor, corresponding to the pre-positioning stage; t32 is the target speed value gradually decreasing from the second speed value greater than the rated speed, corresponding to the high-speed open-loop stage. Here, rs is the rated speed, ms is the maximum speed, and ps2 is the second speed value, which can be set to 1.1 or 1.2 times the rated speed rs. The solid line within t32 is the preset speed curve for the high-speed open-loop stage. The target speed value in the preset speed curve gradually decreases from the preset second speed value ps2. As the target speed value decreases, the speed detection value (…) Figure 4 (Not shown in the image) It will first increase rapidly, and then decrease with a certain lag after reaching the target speed value; when multiple consecutive speed detection values ​​are close to the corresponding target speed value, the control motor continues to reduce speed until the rated speed rs, and when multiple consecutive speed detection values ​​are close to the corresponding target speed value, it also enters the deceleration closed loop stage shown in t33, where t33 is the duration of the deceleration closed loop stage.

[0062] It can be understood that there may be no target rotational speed value that is not given to the motor in the third preset rotational speed curve, because when the condition for entering the speed reduction closed-loop phase is satisfied, the speed can be continued to be reduced according to the preset rotational speed curve until it drops to the rated rotational speed rs. Therefore, the preset rotational speed curve can gradually decrease from the second rotational speed value ps2 to the rated rotational speed rs. If the speed reduction after entering the speed reduction closed-loop phase is performed at another rate, there will be target rotational speed values that are not given to the motor in the third preset rotational speed curve( Figure 4 not shown in the drawing).

[0063] In some embodiments, the second rotational speed value ps2 is the maximum rotational speed value ms of the motor. Please refer to Figure 5 , where the preset rotational speed curve at this time is characterized as: the target rotational speed value gradually decreases starting from the maximum rotational speed value ms, that is, the fourth preset rotational speed curve.

[0064] For the fourth preset rotational speed curve, please refer to Figure 5 , where t41 is the duration of motor rotor pre-positioning, corresponding to the pre-positioning phase; t42 is the phase in which the target rotational speed value gradually decreases starting from the maximum rotational speed value ms, corresponding to the high-speed open-loop phase, where rs is the rated rotational speed, and the solid line within t42 is the preset rotational speed curve of the high-speed open-loop phase.

[0065] In some embodiments, please refer to Figure 6 , the manner of detecting the rotational speed of the motor to obtain a detected rotational speed value in step 300 may specifically be: sampling the current information of the motor M, and calculating the detected rotational speed value of the motor according to the sampling result. In terms of circuit connection, the motor M is connected to a three-phase full-bridge inverter C1, the inverter C1 is used to control the motor M, the inverter C1 is connected with a current detection circuit C2, the current detection circuit C2 includes three sampling resistors, and a three-resistor sampling method can be used to sample the working current, so as to calculate the detected rotational speed value.

[0066] In some embodiments, the manner of determining that a plurality of consecutive detected rotational speed values are all close to the corresponding target rotational speed values in step 300 may specifically include step 310 and step 320.

[0067] S310: Continuously compare the detected rotational speed value with the target rotational speed value corresponding to the detected rotational speed value.

[0068] The rotational speed of the motor is continuously detected through step 200 to obtain detected rotational speed values. Assuming that the m-th detected rotational speed value (1<m<n) is currently obtained, the m-th detected rotational speed value and some detected rotational speed values before the m-th detected rotational speed value will be respectively compared with the corresponding target rotational speed values.

[0069] S320, if the results of multiple consecutive comparisons are all characterized as being close in value, then it is determined that multiple consecutive speed detection values ​​are close to the corresponding target speed value.

[0070] Assuming that the m-th speed detection value is very close to the m-th target speed value, and the (m-1)-th speed detection value is very close to the (m-1)-th target speed value, and so on, until the (m-5)-th speed detection value is very close to the (m-5)-th target speed value, a total of six sets of comparisons between the detection values ​​and the target values ​​are performed. If the comparison results are all close to the target values, then it can be determined that multiple consecutive speed detection values ​​are close to the corresponding target speed values, and the deceleration closed-loop stage can be entered.

[0071] Suppose that the m-th speed detection value is very close to the m-th target speed value, and the (m-1)-th speed detection value is very close to the (m-1)-th target speed value, but the (m-5)-th speed detection value differs significantly from the (m-5)-th target speed value. In this case, the comparison results do not meet the requirement that the six sets of detection values ​​are close to the target values. After obtaining the next speed detection value, it is necessary to continue to compare the latest multiple sets of detection values ​​with the target values ​​until the latest consecutive multiple speed detection values ​​are close to the corresponding target speed values.

[0072] In some embodiments, the method of comparing the speed detection value and the target speed value corresponding to the speed detection value in step 310 may specifically include steps 311 and 312.

[0073] S311, calculate the difference between the detected speed value and the target speed value corresponding to the detected speed value.

[0074] Each time a speed detection value is obtained through step 200, the difference between that speed detection value and the target speed value measured by instructing the motor to operate can be calculated. For example, when the m-th detection value is obtained, since the m-th detection value is measured after the motor operates according to the m-th target speed value in the preset speed curve, the difference between the m-th detection value and the m-th target speed value is calculated to obtain Dm. It can be understood that D1 to Dm-1 are obtained in the same way before this.

[0075] S312, if the difference is less than the preset difference threshold, then it is determined that the speed detection value and the target speed value corresponding to the speed detection value are close in value.

[0076] The difference threshold is a small value. If the difference is less than the difference threshold, it means that the detected value and the target value are very close. If the latest speed detection value is the 15th detection value, and the specific condition for entering the closed-loop stage is that 5 consecutive detection values ​​are close to the target value, then if D11 to D15 are all less than the difference threshold, it means that the detection value curve fits the target value curve. At this time, the condition for entering the closed-loop stage is met, and the motor can be controlled to slow down to the rated speed and enter the closed-loop stage at the same time.

[0077] In some embodiments, the motor starting control method may further include: controlling the motor's operating current according to a preset current curve when the motor is running in open loop, wherein the preset current curve and the preset speed curve have the same trend.

[0078] Specifically, in the open-loop phase, the target current value can either increase or decrease in tandem with the target speed value, or the maximum current value can be used directly as the target current value to control the motor operation after entering the open-loop phase. Once in the closed-loop phase, the target current value of the motor is adjusted according to demand.

[0079] In addition, embodiments of this application also provide a computer-readable storage medium storing a motor start control program, which, when executed by a processor, implements the motor start control method as described in the above embodiments.

[0080] According to the computer-readable storage medium proposed in the embodiments of this application, when the motor is started under load, it can instruct the motor to run at a speed higher than the rated speed directly in the open-loop stage, so that the motor speed increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the motor during load start-up, eliminates the problem of difficulty in accurately obtaining the motor position caused by torque fluctuations and vibrations caused by the load, and enables the motor position to stabilize in the open-loop stage, ensuring that the motor smoothly enters the closed-loop stage, realizing successful start-up of the motor when it is frequently started, and improving the reliability of motor start-up.

[0081] For example, when the motor start control program is executed by the processor, steps S11, S13, and S15 of the following motor start control method are implemented:

[0082] S11: When the motor starts under load, the motor is controlled to operate in open loop according to the preset speed curve so that the motor speed is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values.

[0083] S13: The speed of the motor is detected to obtain the speed detection value.

[0084] S15: When multiple consecutive speed detection values ​​are close to the corresponding target speed value, the motor speed is gradually reduced to the rated speed, and closed-loop control of the motor is performed based on the detected motor position.

[0085] It should be noted that the above explanation of the embodiments and beneficial effects of the motor starting control method also applies to the computer-readable storage medium of the embodiments of this application. To avoid redundancy, it will not be elaborated in detail here.

[0086] Additionally, please see Figure 7 This application also proposes a motor start control device 10, including a memory 11, a processor 12, and a motor start control program stored in the memory 11 and run on the processor 12. When the processor 12 executes the motor start control program, it implements the motor start control method as described in the above embodiments.

[0087] For example, when the computer program of the motor start control device 10 is executed by the processor 12, the following steps S11, S13, and S15 of the control method of the motor start control device 10 are implemented:

[0088] S11: When the motor starts under load, the motor is controlled to operate in open loop according to the preset speed curve so that the motor speed is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values.

[0089] S13: The speed of the motor is detected to obtain the speed detection value.

[0090] S15: When multiple consecutive speed detection values ​​are close to the corresponding target speed value, the motor speed is gradually reduced to the rated speed, and closed-loop control of the motor is performed based on the detected motor position.

[0091] It should be noted that the above explanation of the embodiments and beneficial effects of the motor starting control method also applies to the motor starting control device 10 of the embodiments of this application. To avoid redundancy, it will not be elaborated in detail here.

[0092] According to the motor starting control device 10 proposed in the embodiments of this application, when the motor is started under load, it can instruct the motor to run directly at a speed value higher than the rated speed in the open-loop stage, so that the motor speed increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the motor during load starting, eliminates the problem of difficulty in accurately obtaining the motor position caused by torque fluctuations and vibrations caused by the load, and enables the motor position to stabilize in the open-loop stage, ensuring that the motor smoothly enters the closed-loop stage, realizing successful starting of the motor when it is frequently started, and improving the reliability of motor starting.

[0093] Additionally, please see Figure 8 This application also proposes an air conditioning device 100, which includes the motor start control device 10 described in the above embodiments.

[0094] Specifically, the air conditioning device 100 can be an air conditioner. With the increasing comfort of air conditioning, more and more air conditioners are incorporating oxygen generation functions. Therefore, the air conditioning device 100 can include an oxygen generator 20, which mainly includes an oxygen pump 21 and an oxygen membrane 22. The oxygen pump 21 is connected to the oxygen membrane 22, compressing the air in the membrane to release oxygen, which is then delivered to the desired location via a connecting pipe. The oxygen pump 21 includes an oxygen generator motor M1. The air conditioning device 100 can also include a three-phase full-bridge inverter. The processor of the air conditioning device 100 sends control signals to the inverter to control the speed of the oxygen generator motor M1.

[0095] Please refer to the structural schematic diagram of oxygen pump 21. Figure 9 The oxygen pump 21 can be a reciprocating air compressor pump with a large starting torque and a large torque change during the compression process (due to the change in gas volume during compression). The oxygen generator motor 22 can be a brushless DC motor, and the oxygen generator motor 22 is controlled by vector control. The position of the oxygen generator motor 22 is obtained by a positionless control algorithm.

[0096] The oxygen pump 21 itself has large torque variations during the starting process, and it is difficult to obtain the position at low speed. This will cause the traditional three-stage starting (positioning, open loop, closed loop) to be inaccurate in the closed loop stage, resulting in starting failure. This problem will occur frequently when starting under load. In other words, when users frequently turn the oxygen generating function on and off, they will encounter the problem that the oxygen pump 21 fails to start and cannot generate oxygen.

[0097] It should be noted that for details not disclosed in the air conditioning device 100 of this embodiment, please refer to the details disclosed in the embodiment of the motor start control device in this application, which will not be repeated here.

[0098] According to the air conditioning device proposed in the embodiments of this application, when the oxygen generator motor is started under load, it can instruct the oxygen generator motor to run directly at a speed higher than the rated speed during the open-loop phase. This allows the speed of the oxygen generator motor to increase rapidly during the open-loop phase, thereby minimizing the negative impact caused by the resistance of the load to the oxygen generator motor during load start-up. It also eliminates the problem of difficulty in accurately obtaining the position of the oxygen generator motor due to torque fluctuations and vibrations caused by the load, allowing the position of the oxygen generator motor to stabilize during the open-loop phase. This ensures that the oxygen generator motor smoothly enters the closed-loop phase, achieving successful start-up of the oxygen generator motor when it is frequently turned on, and improving the reliability of the oxygen generator motor start-up.

[0099] Additionally, please see Figure 10This application also proposes another motor starting control device 30, including an open-loop control module 31, a speed detection module 32, and a closed-loop control module 33.

[0100] The open-loop control module 31 is used to control the motor M to operate in an open loop according to a preset speed curve when the motor starts under load, so that the speed of the motor M is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values.

[0101] The speed detection module 32 is used to detect the speed of motor M and obtain the speed detection value.

[0102] The closed-loop control module 33 is used to control the speed of motor M to gradually decrease to the rated speed when multiple consecutive speed detection values ​​are close to the corresponding target speed values, and to perform closed-loop control of motor M based on the detected motor position.

[0103] According to the motor starting control device 30 proposed in the embodiments of this application, when the oxygen generator motor is started under load, it can instruct the oxygen generator motor to run directly at a speed value higher than the rated speed in the open-loop stage, so that the speed of the oxygen generator motor increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the oxygen generator motor during load starting, eliminates the problem of difficulty in accurately obtaining the position of the oxygen generator motor due to torque fluctuations and vibrations caused by the load, and enables the position of the oxygen generator motor to stabilize in the open-loop stage, ensuring that the oxygen generator motor smoothly enters the closed-loop stage, realizing successful starting of the oxygen generator motor when it is frequently started, and improving the reliability of the oxygen generator motor starting.

[0104] In some embodiments, the motor start control device 30 further includes a pre-positioning module 34 for pre-positioning the motor rotor before controlling the open-loop operation of the motor.

[0105] In some embodiments, the preset speed curve is characterized as follows: the target speed value gradually increases from zero; or, the target speed value gradually increases from a first speed value that is less than the rated speed; or, the target speed value gradually decreases from a second speed value that is greater than the rated speed.

[0106] In some embodiments, the second speed value is the maximum speed value of the motor.

[0107] In some embodiments, the speed detection module 32 detects the motor speed and obtains the speed detection value by sampling the motor current information and calculating the motor speed detection value based on the sampling results.

[0108] In some embodiments, the closed-loop control module 33 determines that multiple consecutive speed detection values ​​are close to the corresponding target speed value by continuously comparing the speed detection value with the target speed value corresponding to the speed detection value; if the comparison results of multiple consecutive times are all characterized as being close in value, then it is determined that multiple consecutive speed detection values ​​are close to the corresponding target speed value.

[0109] In some embodiments, the closed-loop control module 33 compares the speed detection value and the target speed value corresponding to the speed detection value by: calculating the difference between the speed detection value and the target speed value corresponding to the speed detection value; if the difference is less than a preset difference threshold, then determining that the speed detection value and the target speed value corresponding to the speed detection value are close in value.

[0110] In some embodiments, the open-loop control module 31 is further configured to control the operating current of the motor according to a preset current curve when the motor is running in open loop, wherein the changing trend of the preset current curve is synchronized with that of the preset speed curve.

[0111] It should be noted that for details not disclosed in the motor start control device 30 of this embodiment, please refer to the details disclosed in the embodiments of the motor start control method in this application, which will not be repeated here.

[0112] According to the motor starting control device proposed in the embodiments of this application, when the motor is started under load, it can instruct the motor to run at a speed higher than the rated speed directly in the open-loop stage, so that the motor speed increases rapidly in the open-loop stage. This minimizes the negative impact caused by the resistance of the load to the motor during load starting, eliminates the problem of difficulty in accurately obtaining the motor position caused by torque fluctuations and vibrations caused by the load, and enables the motor position to stabilize in the open-loop stage, ensuring that the motor smoothly enters the closed-loop stage, realizing successful starting of the motor when it is frequently started, and improving the reliability of motor starting.

[0113] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0114] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly specified. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0117] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, and computer-readable storage media are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0118] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A motor starting control method, characterized in that, include: When the motor starts under load, the motor is controlled to operate in open loop according to a preset speed curve so that the speed of the motor is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values. The rotational speed of the motor is detected to obtain the rotational speed value; When multiple consecutive speed detection values ​​are found to be close to the corresponding target speed value, the speed of the motor is controlled to gradually decrease to the rated speed, and the motor is controlled in a closed loop based on the detected motor position.

2. The motor starting control method according to claim 1, characterized in that, Before controlling the motor to operate in open loop, the method further includes: Pre-positioning of the motor rotor.

3. The motor starting control method according to claim 1, characterized in that, The preset speed curve is characterized as follows: The target rotational speed value is gradually increased from zero; or... The target speed value is gradually increased starting from a first speed value lower than the rated speed; or... The target speed value gradually decreases starting from a second speed value that is greater than the rated speed.

4. The motor starting control method according to claim 3, characterized in that, The second speed value is the maximum speed value of the motor.

5. The motor starting control method according to claim 1, characterized in that, The speed of the motor is detected to obtain a speed detection value, including: The current information of the motor is sampled, and the speed detection value of the motor is calculated based on the sampling results.

6. The motor starting control method according to claim 1, characterized in that, Methods for determining that multiple consecutive speed detection values ​​are close to the corresponding target speed value include: The speed detection value and the target speed value corresponding to the speed detection value are continuously compared; If multiple consecutive comparisons show that the values ​​are close, then it is determined that multiple consecutive speed detection values ​​are close to the corresponding target speed value.

7. The motor starting control method according to claim 6, characterized in that, The comparison between the detected speed value and the target speed value corresponding to the detected speed value includes: Calculate the difference between the detected rotational speed value and the target rotational speed value corresponding to the detected rotational speed value; If the difference is less than a preset difference threshold, then it is determined that the speed detection value and the target speed value corresponding to the speed detection value are close in value.

8. The motor starting control method according to claim 1, characterized in that, The method further includes: When the motor is running in open loop, the operating current of the motor is controlled according to a preset current curve, wherein the trend of the preset current curve is synchronized with that of the preset speed curve.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a motor start control program, which, when executed by a processor, implements the motor start control method as described in any one of claims 1-8.

10. A motor starting control device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the motor start control method according to any one of claims 1-8.

11. A motor starting control device, characterized in that, include: The system includes an open-loop control module, a speed detection module, and a closed-loop control module. The open-loop control module controls the motor to operate in an open-loop manner according to a preset speed curve when the motor starts under load, so that the motor speed is continuously greater than the rated speed of the motor for a certain period of time. The preset speed curve includes multiple target speed values. The speed detection module detects the speed of the motor to obtain a speed detection value. The closed-loop control module controls the motor speed to gradually decrease to the rated speed when it is determined that multiple consecutive speed detection values ​​are close to the corresponding target speed values, and performs closed-loop control of the motor based on the detected motor position.

12. An air conditioning device, characterized in that, include: The motor starting control device according to claim 10.

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