Motor control method, device, air conditioner and computer readable medium

Abstract

The present application relates to a motor control method, device, air conditioner and computer-readable medium. The method includes: monitoring the running state of the motor, obtaining the actual speed of the motor in the current monitoring period; judging whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; if there is an abnormal external power supply condition, the bus voltage of the motor is boosted and controlled; the running state of the motor is controlled according to the actual speed of the motor after boosting and the bus boost data. The present application can perform boosting and current limiting value adjustment processing when the actual speed does not reach the target speed due to external factors, which is more conducive to ensuring that the actual speed reaches the target speed, and solves the technical problem that the motor speed cannot meet the limit heat exchange capacity, resulting in poor reliability and low working efficiency of the air conditioner motor.

Description

Technical Field

[0001] The present application relates to the technical field of air conditioning control, and in particular to a motor control method, device, air conditioner and computer-readable medium. Background Art

[0002] As people's living standards continue to improve, electronic devices have become an indispensable part of life, especially various air conditioners have brought great convenience to people's lives and work. However, while enjoying the convenience brought by air conditioners, we are also facing some problems that cannot be ignored, one of which is the stability and reliability of the air conditioner motor speed.

[0003] For users, the most important thing is the heat exchange capacity of the air conditioner. The heat exchange capacity of the air conditioner is directly related to its cooling / heating efficiency, and the actual speed of the motor is the key factor in determining this capacity. Under ideal conditions, the maximum speed of the motor will be set according to the design standards before the air conditioner leaves the factory to ensure that the air conditioner can achieve the best ultimate heat exchange capacity and meet the diverse needs of users. However, the actual situation is often complex and changeable. Due to differences in power supply conditions or environmental factors in different regions, including low external voltage of the motor, dirty and blocked air outlets, damaged fan blades, etc., the motor voltage may be too low or the current may be too high, and the speed required by the user cannot be reached, let alone the preset maximum speed. This decrease in speed not only weakens the ultimate heat exchange capacity of the air conditioner, but may also trigger a series of chain reactions, such as low cooling / heating efficiency, increased energy consumption, increased noise, etc., resulting in reduced reliability and work efficiency of the motor. Summary of the invention

[0004] The present application provides a motor control method, device, air conditioner and computer-readable medium to solve the technical problem that the motor speed cannot meet the ultimate heat exchange capacity due to external factors such as differences in power supply conditions, resulting in poor reliability and low working efficiency of the air conditioner motor.

[0005] According to the first aspect of the embodiments of the present application, the present application provides a motor control method, which includes the steps of: monitoring the operating state of the motor to obtain the actual speed of the motor in the current monitoring period; judging whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; if there is an abnormal external power supply condition, boosting the bus voltage of the motor; and controlling the operating state of the motor according to the actual speed of the motor after boosting and the bus boost data.

[0006] Optionally, the monitoring of the running status of the motor and obtaining the actual speed of the motor in the current monitoring period include: monitoring whether an air-conditioning speed regulation request is received in the current monitoring period; if the air-conditioning speed regulation request is received, adjusting the motor speed based on the air-conditioning speed regulation request to determine the target speed; if the speed regulation duration meets a preset first time condition, obtaining a feedback signal of the motor in the current monitoring period, the feedback signal including a position feedback signal and / or a winding frequency signal; performing signal processing on the position feedback signal and / or the winding frequency signal to obtain speed estimation data, and calculating the speed estimation data based on a preset speed prediction algorithm to obtain the actual speed of the motor in the current monitoring period.

[0007] Optionally, the determination of whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring cycle and the set target speed includes: calculating a first speed difference between the actual speed of the motor in the current monitoring cycle and the target speed, and determining whether the first speed difference is less than or equal to a minimum speed fluctuation threshold; if the first speed difference is greater than the minimum speed fluctuation threshold, determining that the motor has an abnormal external power supply condition; if the first speed difference is less than or equal to the minimum speed fluctuation threshold, determining that the motor does not have an abnormal external power supply condition, and entering the next monitoring cycle to monitor the operating status of the motor.

[0008] Optionally, the boost control of the bus voltage of the motor includes: obtaining the bus voltage of the motor in the current monitoring cycle; judging whether the bus voltage of the motor in the current monitoring cycle reaches a bus voltage threshold; if the bus voltage of the motor in the current monitoring cycle does not reach the bus voltage threshold, generating a boost instruction, and controlling the bus voltage increase amplitude of the motor based on the boost instruction, wherein the bus voltage threshold is the maximum value of the bus voltage.

[0009] Optionally, the control of the running state of the motor according to the actual speed of the motor after boosting and the bus boosting data includes: obtaining the actual speed of the motor after boosting in the current monitoring period, and calculating the second speed difference based on the actual speed of the motor before and after boosting; judging whether the corresponding second speed difference after boosting reaches the minimum speed increase threshold; if the second speed difference reaches the minimum speed increase threshold, calculating whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold; if the first speed difference between the actual speed of the motor after boosting and the target speed is greater than the minimum speed fluctuation threshold, and the bus voltage has not yet reached the bus voltage threshold, then repeatedly entering the boosting cycle at least once, calculating the first speed difference corresponding to each boost, until the first speed difference is less than or equal to the minimum speed fluctuation threshold, and then ending the boosting cycle; if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage has not yet reached the bus voltage threshold, then adjusting the current bus voltage and current limiting value of the motor and continuing to enter the motor speed monitoring.

[0010] Optionally, after the step of repeatedly entering the boost cycle at least once and calculating the first speed difference corresponding to each boost, the method also includes: during each boost cycle, if the first speed difference of the motor is greater than the minimum speed fluctuation threshold, and it is monitored that the bus voltage of the motor in the current boost cycle reaches the bus voltage threshold, then calculating the third speed difference based on the target speed and the actual speed corresponding to the current boost cycle, and judging whether the third speed difference is greater than or equal to the maximum speed fluctuation threshold; if the third speed difference is greater than or equal to the maximum speed fluctuation threshold, controlling the motor to stop working or output fault data; if the third speed difference is less than the maximum speed fluctuation threshold, controlling the motor to run, and entering the next monitoring cycle to monitor the actual speed of the motor.

[0011] Optionally, if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, the current bus voltage and current limiting value of the motor are adjusted and the motor speed monitoring is continued, including: if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, the bus voltage of the motor is adjusted to the voltage value corresponding to the most recent boost cycle, and the current limiting value of the motor is increased, wherein the current limiting value of the motor is calculated based on a preset drive current limiting value and a motor overload coefficient; after the bus voltage and the current limiting value are adjusted, it is determined whether the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold; if the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold, it is determined whether the actual speed corresponding to the motor after the bus voltage and the current limiting value are adjusted is equal to the target speed. Whether the first speed difference is less than or equal to the minimum speed fluctuation threshold; if the first speed difference of the motor before and after the boost is less than or equal to the minimum speed fluctuation threshold after the bus voltage and the current limiting value of the motor are adjusted, then enter the next monitoring cycle for speed monitoring; if the first speed difference of the motor is greater than the minimum speed fluctuation threshold, or the second speed difference is less than the minimum speed boost threshold after the bus voltage and the current limiting value of the motor are adjusted, then determine whether the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold; if the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold, then control the motor to stop working or output fault data; if the third speed difference between the actual speed of the motor and the target speed is less than the maximum speed fluctuation threshold, then control the motor to run, and enter the next monitoring cycle for actual speed monitoring.

[0012] According to the second aspect of the embodiment of the present application, the present application provides a motor control device, which includes: a monitoring module, used to monitor the operating state of the motor and obtain the actual speed of the motor in the current monitoring period; a comparison module, used to determine whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; a boost module, used to boost the bus voltage of the motor if the external power supply condition is abnormal; and an adjustment module, used to control the operating state of the motor according to the actual speed of the motor after boosting and the bus boost data.

[0013] According to a third aspect of an embodiment of the present application, the present application provides an air conditioner, comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be run on the processor, the memory and the processor communicate through the communication bus and the communication interface, and when the processor executes the computer program, the steps of a motor control method described in the first aspect are implemented.

[0014] According to a fourth aspect of the embodiments of the present application, the present application provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the steps of a motor control method described in the first aspect.

[0015] The above technical solution provided by the embodiment of the present application has the following advantages compared with the related art:

[0016] The present application monitors the running status of the motor in real time, makes judgments based on the actual speed of the motor in the current monitoring cycle and the set target speed, and can promptly perform voltage boost control on the bus voltage in response to abnormal external power supply conditions of the motor, thereby reducing the possibility that the speed is limited by the motor back electromotive force due to abnormally low external power supply conditions, resulting in the air conditioner's ultimate heat exchange capacity not being utilized and low working efficiency; at the same time, after the voltage boost processing, the application continues to make judgments based on the actual speed of the motor in the current monitoring cycle after the voltage boost, and adjusts the running status of the motor in combination with the bus voltage boost data, so that adjustments can be made for abnormal conditions other than abnormal external power supply conditions that cause the motor to fail to reach the target speed, thereby controlling the motor to exert its ultimate heat exchange capacity and improving the reliability of the motor's efficient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A schematic diagram of a flow chart of a motor control method provided according to an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a hardware environment of a motor control method provided according to an embodiment of the present application;

[0021] Figure 3It is a schematic diagram of the overall process of another motor control method provided according to an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the process of step S14 provided according to an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the process of step S16 provided according to an embodiment of the present application;

[0024] Figure 6 A schematic diagram of the process of step S18 provided according to an embodiment of the present application;

[0025] Figure 7 Another flowchart of step S18 provided according to an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the structure of a motor control device provided according to an embodiment of the present application;

[0027] Fig. 9 A schematic diagram of an optional air conditioner structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0030] In order to solve the above problems, in this embodiment, a motor control method is provided, which can be applied to a hardware environment composed of a terminal and a server. The server is connected to the terminal through a network, and can be used to provide services for the terminal or a client installed on the terminal. A database can be set on the server or independently of the server to provide data storage services for the server.

[0031] It should be noted that the above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network. The above-mentioned wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but is not limited to at least one of the following: the above-mentioned wireless connection method may include but is not limited to 4G / 5G connection, WiFi (Wireless-Fidelity) connection, Bluetooth connection, WiMAX (Worldwide Interoperability for Microwave Access) connection, Zigbee (low-power LAN protocol, also known as Zifeng protocol) connection, UWB (ultrawideband) connection and other wireless connection methods currently known or to be developed in the future. The above-mentioned terminals may include but are not limited to PCs, mobile phones, tablet computers, desktop computers, etc.

[0032] The motor control method of the embodiment of the present application can be executed by a server, a terminal, or a server and a terminal together. The motor control method of the embodiment of the present application can be executed by a terminal or a client installed thereon.

[0033] Taking the motor control method in this embodiment executed by the server as an example, Figure 1 A flow chart of a motor control method provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0034] Step S12, monitoring the running state of the motor and obtaining the actual rotation speed of the motor in the current monitoring period.

[0035] Combination Figure 2 As shown, Figure 2 A hardware circuit framework diagram of a motor control method provided in an embodiment of the present invention. The hardware circuit includes a main control speed monitoring circuit, a protection circuit, a boost circuit and a motor. Among them, the main control speed monitoring circuit can be used to monitor, adjust and manage the speed of the motor; the protection circuit can be used to adjust the current limit value of the motor to ensure the normal operation of the motor; the boost circuit can be used to drive the bus voltage of the motor to boost; the motor can control the heat exchange efficiency according to the driving condition of the main control speed monitoring circuit, and can feedback the working data of the motor to the main control speed monitoring circuit in real time or regularly, including speed, and can also include power, torque, insulation level, temperature data, etc.

[0036] Furthermore, after power-on, the main control speed monitoring circuit monitors the operating status of the motor in real time, obtains the current actual speed of the motor, controls the protection circuit and the boost circuit according to the current actual speed, and determines the problems that the motor may encounter, and further boosts the bus voltage of the motor or adjusts the current limit value of the motor while performing boost regulation, and then adjusts the speed of the motor to ensure that the speed of the motor can meet the set maximum speed gear, ensure the ultimate capacity of the air conditioner, and ensure the reliability of the motor speed operation.

[0037] More specifically, the motor provided in this embodiment can be used in devices such as air conditioners, electronic equipment, and industrial equipment. This embodiment is explained by using the application in air conditioners as an example. The above-mentioned complete process from monitoring by the main control speed monitoring circuit to the motor feeding back data to the main control speed monitoring circuit is regarded as a monitoring cycle. Therefore, the data fed back by the motor to the main control speed monitoring circuit each time is regarded as the data of the above-mentioned current monitoring cycle, and the data includes the actual speed of the motor in the current monitoring cycle. For air conditioners, the speed of the motor is generally between 700 and 1200 rpm, and the speed of the compressor may be between 750 and 1500 rpm. For the actual speed of the motor, a speed sensor can be used for non-contact collection, which can reflect the rotation speed of the motor in real time and accurately. The speed sensor includes but is not limited to a photoelectric sensor, a Hall effect sensor, etc.

[0038] Step S14, judging whether there is an abnormal external power supply condition based on the actual speed of the motor and the set target speed in the current monitoring period.

[0039] In this embodiment, the use scenarios of the air conditioner may include home, office, commercial, industrial, etc. Different places have different requirements for the use of air conditioners. Correspondingly, a motor control method provided in this embodiment may be adapted to the air conditioner motor in different scenarios. Therefore, during the use of the air conditioner, the user can adjust the target speed set above. If the target speed is adjusted, the actual speed within the monitoring period will be compared with the adjusted target speed to accurately determine whether the motor has abnormal external power supply conditions.

[0040] Furthermore, the main control speed monitoring circuit can compare the actual speed of the motor with the target speed, and determine whether there is an abnormal external power supply condition based on the comparison result. The comparison result can be a speed difference. When the speed difference does not meet the set speed condition, it is determined that there is an abnormal external power supply condition. The abnormal external power supply condition can include too low external voltage, dirty and blocked air outlet, damaged fan blades, etc. The impact of the abnormal external power supply condition on the motor is reflected in the motor voltage being too low or the current being too high, so that the speed is limited by the motor back electromotive force. In this regard, the motor can be controlled to boost the voltage.

[0041] Step S16: If the external power supply condition is abnormal, the bus voltage of the motor is boosted and controlled.

[0042] In this embodiment, if the above-mentioned abnormal external power supply conditions exist, it will be reflected as the motor voltage is low. In order to ensure the highest efficiency of the motor, the main control speed monitoring circuit can send a boost command to the boost circuit to control the bus voltage of the motor for boost control. The boost voltage value can be adjusted according to demand, or it can be a preset fixed value, for example: each time the bus voltage of the motor is controlled to be boosted by 10V. The boost command can be a switch signal or a pulse width modulation signal.

[0043] In some examples, when the boost instruction is a pulse width modulation signal, the main control speed monitoring circuit controls the boost circuit to boost the voltage by changing the duty cycle of the pulse within the signal cycle. The specific signal can be used to control the on and off time of the switching element, thereby adjusting the process of inductor energy storage and discharge, and ultimately achieving a voltage increase, wherein the switching element includes a MOSFET or BJT transistor, etc.

[0044] In other examples, when the boost instruction is a switching signal, it is directly connected to the control end of the boost circuit through the GPIO (general input output) pin output of the main control chip in the main control speed monitoring circuit, and a switching signal is sent to the boost circuit to control the start and end of the boost process. The switching signal can be a high / low level signal, for example: sending a high level signal to control the bus voltage to boost, or sending a low level signal to stop boosting.

[0045] Step S18, controlling the running state of the motor according to the actual speed of the motor after the boost and the bus boost data.

[0046] In this embodiment, after the voltage boost processing, the main control speed monitoring circuit continues to judge the actual speed of the motor in the current monitoring cycle. If the actual speed of the motor is improved after the voltage boost, the main control speed monitoring circuit will further determine whether the actual speed at this time meets the conditions based on the target speed. If it does, the loop will be exited; if it still does not meet the conditions, the main control speed monitoring circuit will repeat the voltage boost action on the bus voltage of the motor until the actual speed reaches the target speed.

[0047] Furthermore, in the case that the motor speed has not been increased after the boost and the bus voltage is still within the limited range, the main control speed monitoring circuit will determine that the motor may have other factors that cause abnormal speed, including abnormal air return vents / air outlets of the air conditioner, winding resistance / inductance or size, etc. This abnormality will cause the winding of the motor to be too large, so that the speed cannot be increased normally. In response to this, the main control speed monitoring circuit will control the protection circuit to adjust the current limit value of the motor, and at the same time control the boost circuit to reduce the bus voltage of the motor, and then enter the speed monitoring process again to continue monitoring. Among them, the output result of each current monitoring cycle includes controlling the motor to continue running or controlling the air conditioner to shut down if the requirements are not met, and outputting fault information, which can be an error code. The error code can include information such as fault type, current motor speed, downtime, etc., which can be represented by numbers.

[0048] In an embodiment of the present invention, by real-time monitoring of the running state of the motor and making a judgment based on the actual speed of the motor in the current monitoring cycle and the set target speed, the bus voltage can be boosted in time in response to abnormal external power conditions of the motor, thereby reducing the possibility that the speed is limited by the motor back electromotive force due to abnormally low external power conditions, resulting in the air conditioner's ultimate heat exchange capacity not being brought into play and low working efficiency; at the same time, after the boost processing, the judgment is continued based on the actual speed of the motor in the current monitoring cycle after the boost, and the running state of the motor is adjusted in combination with the bus boost data, so that adjustments can be made for abnormal situations other than abnormal external power conditions that cause the motor to fail to reach the target speed, thereby controlling the motor to exert its ultimate heat exchange capacity and providing the reliability of the motor's efficient operation.

[0049] In an optional embodiment, in combination Figure 3 As shown, step S12: monitoring the running state of the motor to obtain the actual speed of the motor in the current monitoring period specifically includes:

[0050] Step S121, monitoring whether an air conditioning speed adjustment request is received within the current monitoring period;

[0051] Step S122, if the air conditioner speed adjustment request is received, adjusting the motor speed based on the air conditioner speed adjustment request to determine the target speed;

[0052] Step S123, if the speed adjustment time meets the preset first time condition, obtaining the feedback signal of the motor in the current monitoring period, wherein the feedback signal includes a position feedback signal and / or a winding frequency signal;

[0053] Step S124, performing signal processing on the position feedback signal and / or the winding frequency signal to obtain speed estimation data, and calculating the speed estimation data based on a preset speed prediction algorithm to obtain the actual speed of the motor in the current monitoring period.

[0054] In this embodiment, the user can send an air conditioning speed adjustment request to the main control speed monitoring circuit of the air conditioner through air conditioning buttons, voice wake-up, remote control, mobile terminal remote control, etc. The air conditioning speed adjustment request includes increasing the wind speed or reducing the wind speed, wherein the greater the wind speed, the faster the motor speed; the lower the wind speed, the slower the motor speed. After obtaining the speed adjustment request, the main control speed monitoring circuit parses the request to obtain the required speed adjustment, and sets the target speed of the motor to the currently requested speed.

[0055] Furthermore, the signal processing of the position feedback signal (FG signal) and / or the winding frequency signal includes processing and analysis through a built-in data processing module. The processing process includes steps such as signal filtering, noise suppression, and data calibration. Finally, the data fed back by the motor to the main control speed monitoring circuit is obtained based on the data processing to ensure that the received data is both accurate and reliable. Among them, the FG signal indicates that whenever the motor rotates a certain angle or reaches a pulse equivalent, the motor will send a feedback signal for the control system to accurately control the position or speed of the motor. Among them, the winding frequency signal can refer to the electromagnetic wave frequency generated on the current terminal in the winding, also known as the electromagnetic wave frequency of the motor. For AC motors, the electromagnetic wave frequency is usually the same as the voltage frequency of the power supply; for DC motors, the electromagnetic wave frequency is related to the speed of the motor rotor.

[0056] Furthermore, after re-adjusting and determining the target speed of the motor, the main control speed monitoring circuit needs to continue to read the actual speed of the motor after meeting the set first time condition. For example, if the main control speed monitoring circuit adjusts the air speed of the air conditioner during the use of the air conditioner, it is necessary to wait for 20 seconds before entering the speed acquisition and judgment conditions. Among them, the actual speed is obtained according to the feedback signal of the motor, and the feedback signal is also the above-mentioned FG signal and / or winding frequency signal. Of course, if the target speed of the motor is not readjusted, it is not necessary to meet the first time condition and continue monitoring directly.

[0057] In some examples, during the current monitoring cycle, the main control speed monitoring circuit will obtain the actual speed of the motor periodically or in real time according to a preset time interval or trigger condition, and the monitoring cycle can be adjusted according to specific application scenarios and requirements to achieve optimal monitoring effect and efficiency.

[0058] In some examples, after obtaining the FG signal and / or the winding frequency signal, the signal can be processed, including signal filtering, noise suppression, and data calibration, and then the actual speed can be calculated based on the obtained speed estimation data. When it is an FG signal, the above-mentioned preset speed prediction algorithm can be a pulse counting method, which calculates the speed by measuring the number of pulses per unit time. Speed ​​(RPM) = number of pulses / (number of pulses per revolution) * 60. At this time, the above-mentioned speed estimation data corresponds to the number of pulses and the number of pulses per revolution. When it is an FG signal, the above-mentioned preset speed prediction algorithm can also be a time measurement method, which measures the time interval between two adjacent pulses, and then calculates the inverse thereof to obtain the pulse frequency, and then calculates the actual speed of the motor based on the relationship between the pulse frequency and the speed.

[0059] In other examples, when it is a winding frequency signal, considering that there is a certain relationship between the motor speed and the power supply frequency (winding frequency), the relationship equation (speed prediction algorithm) can be constructed through the number of motor pole pairs. When it is an AC motor, especially a synchronous motor and some types of asynchronous motors, the relationship equation between the motor speed and the power supply frequency and the number of motor pole pairs can be expressed as: n=60f / p; where n represents the motor speed (rpm), 60 represents per minute (seconds); f represents the power supply frequency (Hz), and p represents the number of pole pairs of the motor's rotating magnetic field. Based on the relationship equation, it can be seen that when the frequency f changes, the actual speed changes accordingly. When the frequency f is reduced, the actual speed becomes smaller: when the frequency f is increased, the actual speed increases.

[0060] Of course, if the FG signal and the winding frequency signal are obtained simultaneously, the actual rotation speed can be determined by combining the results calculated by the algorithms corresponding to the two signals, for example, by finding the average of the two calculation results.

[0061] In other examples, in order to calculate the actual speed more accurately and control the actual speed of the motor to reach the target speed, it is also possible to obtain multiple factors such as the motor's load, voltage, temperature, motor parameters, and mechanical friction during the speed monitoring process to conduct a comprehensive analysis of the actual speed, so as to obtain a more accurate actual speed and facilitate more accurate adjustment of the speed and bus voltage.

[0062] In this embodiment, during the speed monitoring process, an air conditioning speed regulation request can be obtained to determine whether the target speed of the motor has changed, and if it has changed, the target speed of the motor is adjusted in time to meet the user's demand for air conditioning wind speed; and a first time condition is set to ensure that the target speed set by the user has enough time to be transmitted to the motor; by obtaining the FG signal and / or winding frequency signal of the motor, the actual speed of the motor in the current monitoring cycle can be accurately analyzed, thereby achieving more accurate boost and speed regulation.

[0063] In an optional embodiment, in combination Figure 3 and Figure 4 As shown, step S14: judging whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed, specifically includes:

[0064] Step S141, calculating a first speed difference between the actual speed of the motor and the target speed in the current monitoring period, and determining whether the first speed difference is less than or equal to a minimum speed fluctuation threshold;

[0065] Step S142, if the first speed difference is greater than the minimum speed fluctuation threshold, it is determined that the external power supply condition of the motor is abnormal;

[0066] Step S143: if the first speed difference is less than or equal to the minimum speed fluctuation threshold, it is determined that the external power supply condition of the motor does not have abnormality, and the next monitoring cycle is entered to monitor the operating state of the motor.

[0067] In this embodiment, through comparative analysis, the system can promptly detect abnormal conditions in the operation of the motor, such as too fast or too slow speed, too large fluctuation, etc. After obtaining the actual speed of the motor in the current monitoring period, the first speed difference between the actual speed and the target speed can be calculated, and then compared with the minimum speed fluctuation threshold, that is, Figure 3 The actual speed + Krpm ≥ the target speed. Considering that there may be speed fluctuations during the operation of the motor, the motor may have a speed fluctuation difference. In this embodiment, the speed fluctuation difference K is set to 10rpm. Of course, the speed fluctuation difference is adjustable according to the performance and other parameters of the motor. If the minimum speed fluctuation threshold is met, it means that the actual speed has reached the set target speed; if it is not met, it is determined that the motor has an abnormally low external power supply condition, so that the speed is limited by the motor back electromotive force, and then enters the boost cycle.

[0068] In this embodiment, by calculating the first speed difference between the actual speed and the target speed in the current monitoring period and comparing it with the minimum speed fluctuation threshold, it is possible to identify that the external power supply condition of the motor is abnormally low, and timely make voltage boost adjustments based on the abnormally low power supply condition to ensure that the actual speed is closer to the target speed, thereby improving the working efficiency and reliability of the motor.

[0069] In an optional embodiment, in combination Figure 3 and Figure 5 As shown, step S16: the step of boosting the bus voltage of the motor specifically includes:

[0070] Step S161, obtaining the bus voltage of the motor in the current monitoring cycle;

[0071] Step S162, determining whether the bus voltage of the motor reaches the bus voltage threshold value in the current monitoring cycle;

[0072] Step S163, if the bus voltage of the motor does not reach the bus voltage threshold in the current monitoring cycle, a boost instruction is generated, and the bus voltage increase amplitude of the motor is controlled based on the boost instruction, wherein the bus voltage threshold is the maximum bus voltage.

[0073] In this embodiment, under the premise of determining that the external power supply condition of the motor is abnormally low, a boost cycle is performed by adjusting the bus voltage of the motor to increase the actual speed. First, the main control speed monitoring circuit can obtain the bus voltage of the motor in the current monitoring cycle by issuing instructions, and then compare the bus voltage with the bus voltage threshold. When the bus voltage does not reach the bus voltage threshold, that is, the bus voltage is less than A volt, A volt is the maximum value that the bus voltage can be increased to, then the boost cycle process is entered. At this time, the main control speed monitoring circuit issues a boost instruction to the boost circuit, driving the boost circuit to increase the preset amplitude to supply the bus voltage of the motor. After a single boost is completed, the main control speed monitoring circuit continues to make judgments on the motor speed.

[0074] In some examples, the increased amplitude can be a unit amplitude, that is, a fixed increase in amplitude each time, for example: a fixed increase of 10V each time; it can also be an amplitude that is dynamically adjusted based on the size of the first speed difference. There can be a mapping relationship between the first speed difference and the dynamically adjusted amplitude, that is, different sizes of first speed differences correspond to different increase ranges of the increase amplitude. The larger the first speed difference, the larger the increase in amplitude; conversely, the smaller it is, but the amplitude of a single increase does not exceed the bus voltage threshold.

[0075] In this embodiment, when the external power supply condition of the motor is abnormally low, the bus voltage of the motor can be boosted to increase the output power of the motor and enhance the actual speed of the motor; and after the boost, the motor can generate a larger torque in a short time, and the motor can respond faster when accelerating or the load changes, thereby reaching the required target speed faster. Even if the target speed is the maximum speed, it can be achieved through at least one boost adjustment to ensure the ultimate capacity of the air conditioner and the reliability of the motor.

[0076] In an optional embodiment, in combination Figure 3 and Figure 6 As shown, step S18: controlling the running state of the motor according to the actual speed of the motor after boosting and the bus boosting data specifically includes:

[0077] Step S181, obtaining the actual speed of the motor after boosting in the current monitoring period, and calculating the second speed difference based on the actual speed of the motor before and after boosting;

[0078] Step S182, determining whether the second speed difference corresponding to the boosted voltage reaches the minimum speed increase threshold;

[0079] Step S183, if the second speed difference reaches the minimum speed boost threshold, then calculating whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold;

[0080] Step S184, if the first speed difference between the actual speed of the motor after boosting and the target speed is greater than the minimum speed fluctuation threshold, and the bus voltage has not yet reached the bus voltage threshold, then repeatedly enter the boost cycle at least once, calculate the first speed difference corresponding to each boost, until the first speed difference is less than or equal to the minimum speed fluctuation threshold, then end the boost cycle;

[0081] Step S185, if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, then adjust the current bus voltage and current limit value of the motor and continue to enter the motor speed monitoring.

[0082] In this embodiment, there are three cases corresponding to the boost cycle process, and this embodiment corresponds to the first case. After the boost process, the actual speed of the motor after the boost can be obtained, and the actual speed of the motor before the boost can be obtained, and the second speed difference between the two can be calculated to determine whether the second speed difference reaches the minimum speed increase threshold, that is, Figure 3 , the speed after boosting - the speed before boosting ≥ Lrpm, where L represents the minimum speed boost threshold, in this embodiment, L=5rpm. If it is satisfied, it means that the motor speed is improved after boosting, then return to step S14, calculate whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold, if the minimum speed fluctuation threshold is not satisfied, then continue to enter at least one boost cycle, calculate the first speed difference corresponding to each boost, until the actual speed reaches the target speed, and end the boost cycle. If the second speed difference does not meet the minimum speed boost threshold, the motor speed can be monitored after the current bus voltage and current limit value of the motor are modified.

[0083] In some examples, the actual speed data monitored can be stored in a memory, database or cloud platform, which is convenient for reading historical speed data and conducting long-term data analysis and trend prediction. These data are of great reference value for evaluating the health of air-conditioning motors, predicting potential failures, and optimizing system performance. In particular, for speed data, specific algorithms can be used to smooth out fluctuations that may occur in a short period of time, thereby improving the stability of speed measurement, such as proportional-integral-differential (PID) controllers, sliding average filters, low-pass filters, etc.

[0084] In this embodiment, if the actual speed fails to reach the target speed, under the premise of not exceeding the maximum value of the bus voltage, the bus voltage is continuously increased through multiple boost cycles to increase the output power of the motor, thereby increasing the actual speed of the motor, so that the actual speed of the motor is continuously approached to the target speed, to ensure that the motor can operate at the target speed and meet the user's demand for air-conditioning wind speed as much as possible.

[0085] In an optional embodiment, in combination Figure 3 and Figure 7 As shown, in step S184: after the step of repeatedly entering the boost cycle at least once and calculating the first speed difference corresponding to each boost, the method further includes:

[0086] Step S186, during each boost cycle, if the first speed difference of the motor is greater than the minimum speed fluctuation threshold, and it is monitored that the bus voltage of the motor in the current boost cycle reaches the bus voltage threshold, then a third speed difference is calculated based on the target speed and the actual speed corresponding to the current boost cycle, and it is determined whether the third speed difference is greater than or equal to the maximum speed fluctuation threshold;

[0087] Step S187, if the third speed difference is greater than or equal to the maximum speed fluctuation threshold, control the motor to stop working or output fault data;

[0088] Step S188: If the third speed difference is less than the maximum speed fluctuation threshold, the motor is controlled to run and the next monitoring cycle is entered to monitor the actual speed of the motor.

[0089] In this embodiment, it corresponds to the second situation of the boost cycle process. The first situation is carried out under the premise of ensuring that the bus voltage after boosting does not exceed the maximum value of the bus voltage. The second situation provided by this embodiment is carried out under the premise that the bus voltage of the motor is greater than or equal to the bus voltage threshold, that is, the bus voltage ≥A volts. After each boost, the actual speed is improved, but the actual speed still cannot reach the target speed. Until the bus voltage ≥A volts appears, the boost cycle stops and enters the judgment process of the maximum speed fluctuation threshold. It is judged whether the third speed difference between the actual speed of the motor and the target speed in the current cycle is greater than or equal to the maximum speed fluctuation threshold, that is Figure 3 Target speed - actual speed ≥ Drpm, where D represents the maximum speed fluctuation threshold. If the third speed difference is less than Drpm, the motor will continue to run and enter the next monitoring cycle to monitor the actual speed of the motor; if it is greater than or equal to Drpm, the motor will be shut down and fault data will be output. The fault data can be a code, for example: if the third speed difference is 30rpm, D is 25rpm, 30rpm>25rpm, the motor will be controlled to shut down or fault data will be output.

[0090] Furthermore, when the speed difference is ≥Drpm, the main control speed monitoring circuit determines that there is a serious abnormality in the speed of the motor, so it is necessary to control the motor to stop working or output fault data. Among them, serious abnormalities include changes in motor load. For example, under heavy load conditions, the motor needs to provide a greater torque to maintain the set speed, resulting in the actual speed being lower than the set value. Serious abnormalities also include abnormalities in the motor itself, such as motor winding short circuit, open circuit or motor bearing wear, which may cause abnormal speed. Serious abnormalities also include abnormalities in the mechanical transmission system, such as wear or looseness of components such as bearings, gears, and belts. Serious abnormalities also include control system failures, such as failures of control lines, controllers, sensors and other components or improper parameter settings.

[0091] It should be noted that the first speed difference, the second speed difference and the third speed difference mentioned in the above embodiments are only named for different judgment conditions, and there is no order or size difference. The Drpm corresponding to the above maximum speed fluctuation threshold is greater than the Krpm corresponding to the minimum speed fluctuation threshold.

[0092] In this embodiment, when the first speed difference of the motor after boosting is still unable to be less than or equal to the minimum speed fluctuation threshold, that is, the actual speed cannot reach the target speed, but the bus voltage has exceeded the maximum value of the bus voltage, by controlling the motor to stop the boost cycle in time, it is possible to avoid damage to the motor circuit due to the bus voltage exceeding the capacity of the maximum voltage, thereby achieving circuit protection and ensuring the reliability of the motor; and when the third speed difference is ≥Drpm, the motor is promptly controlled to stop working, thereby avoiding greater damage to the motor; and the output fault data can provide reliable data support for fault analysis.

[0093] In an optional embodiment, in combination Figure 3 As shown, step S185: if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, then the current bus voltage and current limit value of the motor are adjusted and then the motor speed monitoring is continued, which specifically includes:

[0094] Step S1851, if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, the bus voltage of the motor is adjusted to the voltage value corresponding to the most recent boost cycle, and the current limit value of the motor is increased, wherein the current limit value of the motor is calculated based on a preset drive current limit value and a motor overload coefficient;

[0095] Step S1852, after the bus voltage and the current limiting value are adjusted, determining whether the second speed difference of the motor before and after the boost reaches the minimum speed boost threshold;

[0096] Step S1853, if the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold, determine whether the first speed difference between the actual speed corresponding to the motor after the bus voltage and the current limit value are adjusted and the target speed is less than or equal to the minimum speed fluctuation threshold;

[0097] Step S1854: if the first speed difference of the motor before and after the boost is less than or equal to the minimum speed fluctuation threshold after the bus voltage and the current limiting value of the motor are adjusted, then the next monitoring cycle is entered to perform speed monitoring;

[0098] Step S1855, if after the bus voltage and the current limit value of the motor are adjusted, the first speed difference of the motor is greater than the minimum speed fluctuation threshold, or the second speed difference is less than the minimum speed increase threshold, then determine whether the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold;

[0099] Step S1856, if the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold, control the motor to stop working or output fault data;

[0100] Step S1857: If the third speed difference between the actual speed of the motor and the target speed is less than the maximum speed fluctuation threshold, the motor is controlled to run and the next monitoring cycle is entered to perform actual speed monitoring.

[0101] In this embodiment, it corresponds to the third situation in the boost cycle process. When the bus voltage is less than A volt after a certain cycle of boost, but does not meet the condition that the speed after boost - the speed before boost ≥ 5rpm, that is, after the boost process, the actual speed of the motor has not been increased. The main control speed monitoring circuit determines that there may be other factors causing the abnormal speed, including abnormalities in the air-conditioning return, air outlet or other places, resulting in a larger motor winding. At this time, the bus voltage of the motor can be restored to the voltage value of the most recent boost cycle, and the current limit value can be increased to C*k amperes through the drive protection circuit, where C represents the factory preset drive current limit value; k represents the motor overload factor, and the motor overload factor k is different for different motors. The current limit value can refer to the maximum allowable current generated by the motor during load operation.

[0102] Furthermore, after the current limit value is increased, the motor can generate enough torque to overcome the load, thereby restoring to a higher actual speed; it can also allow the motor to reach its maximum output torque faster, thereby possibly reaching a stable speed faster. Therefore, continue to determine whether the speed after the increase - the speed before the increase ≥ 5rpm is met; if this condition is met, continue to determine whether the actual speed + 10rpm ≥ the target speed is met; if this condition is met, it means that the actual speed has reached the target speed, exit the speed adjustment, and continue the speed monitoring.

[0103] Furthermore, if after the current limit value is increased, the motor does not meet any of the two conditions: the speed after the increase - the speed before the increase ≥ 5rpm or the actual speed + 10rpm ≥ the target speed, it means that the actual speed has not increased or has increased but has not reached the target speed. In this regard, it is determined whether the target speed - the actual speed < Drpm is met. If so, the motor is kept running; if the target speed - the actual speed ≥ Drpm, the motor is shut down or fault data is output.

[0104] In this embodiment, after the boost cycle and the bus voltage does not exceed the maximum bus voltage, if the actual speed still cannot meet the target speed requirement, the bus voltage is restored to the voltage value of the previous boost cycle, and then the motor current limit value is increased, so that the motor can generate a greater output torque by increasing the current limit value. Even if the target speed reaches the maximum speed, the actual speed of the motor can still be controlled to meet the target speed requirement, ensuring that the motor speed is stable and reliable, so as to ensure the ultimate heat exchange capacity of the air conditioner. And when the speed is greater than or equal to the maximum speed fluctuation threshold, the motor is promptly controlled to stop working, which can avoid greater damage to the equipment.

[0105] Based on a motor control method provided in each of the above embodiments, based on the same inventive concept, a motor control device is also provided in this embodiment, which is used to implement the above embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0106] According to the schematic diagram of the present application, the device includes: a monitoring module 81, which is used to monitor the operating status of the motor and obtain the actual speed of the motor in the current monitoring period; a comparison module 83, which is used to determine whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; a boost module 85, which is used to boost the bus voltage of the motor if there is an abnormal external power supply condition; and an adjustment module 87, which is used to control the operating status of the motor according to the actual speed of the motor after boosting and the bus boost data.

[0107] Optionally, the monitoring module includes: a first monitoring unit, used to monitor whether an air conditioning speed regulation request is received within the current monitoring period; an adjustment unit, used to adjust the motor speed based on the air conditioning speed regulation request to determine the target speed if the air conditioning speed regulation request is received; a first acquisition unit, used to obtain the feedback signal of the motor within the current monitoring period if the speed regulation duration meets a preset first time condition, the feedback signal including a position feedback signal and / or a winding frequency signal; a signal processing unit, used to perform signal processing on the position feedback signal and / or the winding frequency signal to obtain speed estimation data, and calculate the speed estimation data based on a preset speed prediction algorithm to obtain the actual speed of the motor within the current monitoring period.

[0108] Optionally, the comparison module includes: a first calculation unit, used to calculate a first speed difference between the actual speed of the motor and the target speed in the current monitoring cycle, and determine whether the first speed difference is less than or equal to a minimum speed fluctuation threshold; a first judgment unit, used to determine that the motor has an abnormal external power supply condition if the first speed difference is greater than the minimum speed fluctuation threshold; a second judgment unit, used to determine that the motor does not have an abnormal external power supply condition if the first speed difference is less than or equal to the minimum speed fluctuation threshold, and enter the next monitoring cycle to monitor the operating status of the motor.

[0109] Optionally, the boost module includes: a second acquisition unit, used to acquire the bus voltage of the motor in the current monitoring cycle; a first judgment unit, used to judge whether the bus voltage of the motor in the current monitoring cycle reaches the bus voltage threshold; a first boost unit, used to generate a boost instruction if the bus voltage of the motor in the current monitoring cycle does not reach the bus voltage threshold, and control the bus voltage increase amplitude of the motor based on the boost instruction, wherein the bus voltage threshold is the maximum value of the bus voltage.

[0110] Optionally, the regulation module includes: a second calculation unit, used to obtain the actual speed of the motor after boosting in the current monitoring period, and calculate the second speed difference based on the actual speed of the motor before and after boosting; a second judgment unit, used to judge whether the corresponding second speed difference after boosting reaches the minimum speed increase threshold; a third calculation unit, used to calculate whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold if the second speed difference reaches the minimum speed increase threshold; a second boost unit, used to repeatedly enter at least one boost cycle if the first speed difference between the actual speed of the motor after boosting and the target speed is greater than the minimum speed fluctuation threshold, and the bus voltage has not yet reached the bus voltage threshold, calculate the first speed difference corresponding to each boost, until the first speed difference is less than or equal to the minimum speed fluctuation threshold, and the boost cycle ends; a parameter adjustment unit, used to adjust the current bus voltage and current limiting value of the motor and continue to enter the motor speed monitoring if the second speed difference does not reach the minimum speed increase threshold and the bus voltage has not yet reached the bus voltage threshold.

[0111] Optionally, the second boost unit includes: a first judgment subunit, used for calculating a third speed difference based on the target speed and the actual speed corresponding to the current boost cycle during each boost cycle, and judging whether the third speed difference is greater than or equal to the maximum speed fluctuation threshold if the first speed difference of the motor is greater than the minimum speed fluctuation threshold and the bus voltage of the motor in the current boost cycle is monitored to reach the bus voltage threshold; a control subunit, used for controlling the motor to stop working or output fault data if the third speed difference is greater than or equal to the maximum speed fluctuation threshold; and a second control subunit, used for controlling the motor to run and entering the next monitoring cycle to monitor the actual speed of the motor if the third speed difference is less than the maximum speed fluctuation threshold.

[0112] Optionally, the parameter adjustment unit includes: a parameter adjustment subunit, which is used to adjust the bus voltage of the motor to the voltage value corresponding to the most recent boost cycle if the second speed difference does not reach the minimum speed increase threshold and the bus voltage still does not reach the bus voltage threshold, and to increase the current limit value of the motor, wherein the current limit value of the motor is calculated based on a preset drive current limit value and a motor overload coefficient; a second judgment subunit, which is used to judge whether the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold after the bus voltage and the current limit value are adjusted; a third judgment subunit, which is used to judge whether the first speed difference between the actual speed corresponding to the motor after the bus voltage and the current limit value are adjusted and the target speed is less than or equal to the minimum speed fluctuation threshold if the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold; a monitoring subunit, which is used to judge whether the first speed difference between the actual speed corresponding to the motor after the bus voltage and the current limit value are adjusted and the target speed is less than or equal to the minimum speed fluctuation threshold if the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold; and After the voltage and the current limiting value are adjusted, if the first speed difference of the motor before and after the boost is less than or equal to the minimum speed fluctuation threshold, the next monitoring cycle is entered for speed monitoring; the fourth judgment subunit is used to judge whether the actual speed of the motor and the third speed difference of the target speed are greater than or equal to the maximum speed fluctuation threshold if the first speed difference of the motor is greater than the minimum speed fluctuation threshold, or the second speed difference is less than the minimum speed boost threshold after the bus voltage and the current limiting value of the motor are adjusted; the third control subunit is used to control the motor to stop working or output fault data if the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold; the fourth control subunit is used to control the motor to run if the third speed difference between the actual speed of the motor and the target speed is less than the maximum speed fluctuation threshold, and enter the next monitoring cycle for actual speed monitoring.

[0113] It should be noted that the above modules and units are implemented in the same examples and application scenarios as the corresponding steps, but are not limited to the contents disclosed in the above embodiments. Figure 2 In the hardware environment shown, it can be implemented by software or by hardware.

[0114] According to another aspect of the embodiment of the present application, the present application provides an air conditioner, such as Fig. 9 As shown, it includes a memory 901, a processor 903, a communication interface 905 and a communication bus 907. The memory 901 stores a computer program that can be run on the processor 903. The memory 901 and the processor 903 communicate through the communication interface 905 and the communication bus 907. When the processor 903 executes the computer program, the steps of the above method are implemented.

[0115] The memory and processor in the above electronic device communicate via a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

[0116] The memory may include random access memory, non-volatile memory, storage device located away from the aforementioned processor, etc. The processor may be a general-purpose processor, including a central processing unit, a network processor, etc.; it may also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0117] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of any of the above embodiments.

[0118] Optionally, in an embodiment of the present application, the computer-readable medium is configured to store program codes for the processor to perform the following steps:

[0119] Step S12, monitor the running status of the motor and obtain the actual speed of the motor in the current monitoring period; Step S14, determine whether there is any abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; Step S16, if there is any abnormal external power supply condition, boost control is performed on the bus voltage of the motor; Step S18, control the running status of the motor according to the actual speed of the motor after boosting and the bus boost data.

[0120] Optionally, the specific examples in this embodiment can refer to the examples described in the above embodiments, and this embodiment will not be repeated here. And when the embodiments of this application are specifically implemented, they can refer to the above embodiments and have corresponding technical effects.

[0121] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0122] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0123] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned motor control method embodiment, and will not be repeated here.

[0125] In the embodiments provided in the present application, it should be understood that the disclosed motor control device and motor control method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0126] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a motor control method described in each embodiment of the present application.

[0127] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A motor control method, characterized in that: Methods include: Monitor the running status of the motor and obtain the actual speed of the motor in the current monitoring cycle; Based on the actual speed of the motor in the current monitoring period and the set target speed, it is determined whether there is an abnormal external power supply condition; If the external power supply condition is abnormal, the bus voltage of the motor is boosted; Control the running state of the motor according to the actual speed of the motor after boosting and the bus boosting data; The monitoring of the running state of the motor to obtain the actual speed of the motor in the current monitoring period includes: Monitor whether an air conditioning speed adjustment request is received within the current monitoring period; If the air conditioner speed regulation request is received, the motor speed is regulated based on the air conditioner speed regulation request to determine the target speed; If the speed adjustment duration meets the preset first time condition, a feedback signal of the motor in the current monitoring period is obtained, wherein the feedback signal includes a position feedback signal and / or a winding frequency signal; Processing the position feedback signal and / or the winding frequency signal to obtain speed estimation data, and calculating the speed estimation data based on a preset speed prediction algorithm to obtain an actual speed of the motor in a current monitoring period; The step-up control of the bus voltage of the motor includes: obtaining the bus voltage of the motor in the current monitoring cycle; judging whether the bus voltage of the motor in the current monitoring cycle reaches the bus voltage threshold; if the bus voltage of the motor in the current monitoring cycle does not reach the bus voltage threshold, generating a step-up instruction, and controlling the bus voltage increase amplitude of the motor based on the step-up instruction, wherein the bus voltage threshold is the maximum value of the bus voltage; The method of controlling the running state of the motor according to the actual speed of the motor after boosting and the bus boosting data includes: obtaining the actual speed of the motor after boosting in the current monitoring period, and calculating the second speed difference based on the actual speed of the motor before and after boosting; judging whether the corresponding second speed difference after boosting reaches the minimum speed increase threshold; if the second speed difference reaches the minimum speed increase threshold, calculating whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold; if the first speed difference between the actual speed of the motor after boosting and the target speed is greater than the minimum speed fluctuation threshold, and the bus voltage has not yet reached the bus voltage threshold, then repeatedly entering at least one boosting cycle, calculating the first speed difference corresponding to each boosting, until the first speed difference is less than or equal to the minimum speed fluctuation threshold, the boosting cycle is terminated; if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage has not yet reached the bus voltage threshold, then adjusting the current bus voltage and current limiting value of the motor and continuing to enter the motor speed monitoring.

2. The method according to claim 1, characterized in that The determining whether there is an abnormal external power condition based on the actual speed of the motor and the set target speed in the current monitoring period includes: Calculate a first speed difference between the actual speed of the motor and the target speed in the current monitoring period, and determine whether the first speed difference is less than or equal to a minimum speed fluctuation threshold; If the first speed difference is greater than the minimum speed fluctuation threshold, it is determined that the external power supply condition of the motor is abnormal; If the first speed difference is less than or equal to the minimum speed fluctuation threshold, it is determined that the external power supply condition of the motor does not have abnormality, and the next monitoring cycle is entered to monitor the operating status of the motor.

3. The method according to claim 1, characterized in that After the step of repeatedly entering the boost cycle at least once and calculating the first speed difference corresponding to each boost, the method further includes: During each boost cycle, if the first speed difference of the motor is greater than the minimum speed fluctuation threshold, and it is monitored that the bus voltage of the motor in the current boost cycle reaches the bus voltage threshold, a third speed difference is calculated based on the target speed and the actual speed corresponding to the current boost cycle, and it is determined whether the third speed difference is greater than or equal to the maximum speed fluctuation threshold; If the third speed difference is greater than or equal to the maximum speed fluctuation threshold, the motor is controlled to stop working or output fault data; If the third speed difference is less than the maximum speed fluctuation threshold, the motor is controlled to run, and the next monitoring cycle is entered to monitor the actual speed of the motor.

4. The method according to claim 3, characterized in that If the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, the current bus voltage and current limit value of the motor are adjusted and then the motor speed monitoring is continued, including: If the second speed difference does not reach the minimum speed increase threshold, and the bus voltage still does not reach the bus voltage threshold, the bus voltage of the motor is adjusted to the voltage value corresponding to the most recent boost cycle, and the current limit value of the motor is increased, wherein the current limit value of the motor is calculated based on a preset drive current limit value and a motor overload coefficient; After the bus voltage and the current limiting value are adjusted, determining whether the second speed difference of the motor before and after the boost reaches the minimum speed boost threshold; If the second speed difference of the motor before and after the boost reaches the minimum speed increase threshold, determine whether the first speed difference between the actual speed corresponding to the motor after the bus voltage and the current limit value are adjusted and the target speed is less than or equal to the minimum speed fluctuation threshold; If, after the bus voltage and the current limiting value of the motor are adjusted, the first speed difference of the motor before and after the boost is less than or equal to the minimum speed fluctuation threshold, the next monitoring cycle is entered for speed monitoring; If, after the bus voltage and the current limiting value of the motor are adjusted, the first speed difference of the motor is greater than the minimum speed fluctuation threshold, or the second speed difference is less than the minimum speed increase threshold, then determining whether the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold; If the third speed difference between the actual speed of the motor and the target speed is greater than or equal to the maximum speed fluctuation threshold, the motor is controlled to stop working or output fault data; If the third speed difference between the actual speed of the motor and the target speed is less than the maximum speed fluctuation threshold, the motor is controlled to run and the next monitoring cycle is entered to perform actual speed monitoring.

5. A motor control device, characterized in that: The device includes: The monitoring module is used to monitor the running status of the motor and obtain the actual speed of the motor in the current monitoring cycle; A comparison module, used to determine whether there is an abnormal external power supply condition based on the actual speed of the motor in the current monitoring period and the set target speed; A boost module, used for boosting the bus voltage of the motor if the external power supply condition is abnormal; A regulating module is used to control the running state of the motor according to the actual speed of the motor after boosting and the bus boosting data; The monitoring module comprises: The first monitoring unit is used to monitor whether an air conditioner speed adjustment request is received within a current monitoring period; an adjusting unit, configured to adjust the motor speed based on the air conditioning speed adjustment request and determine the target speed if the air conditioning speed adjustment request is received; A first acquisition unit, configured to acquire a feedback signal of the motor in a current monitoring period if the speed adjustment duration satisfies a preset first time condition, wherein the feedback signal includes a position feedback signal and / or a winding frequency signal; A signal processing unit, configured to perform signal processing on the position feedback signal and / or the winding frequency signal to obtain speed estimation data, and calculate the speed estimation data based on a preset speed prediction algorithm to obtain an actual speed of the motor in a current monitoring period; The boost module is specifically used to: obtain the bus voltage of the motor in the current monitoring period; determine whether the bus voltage of the motor in the current monitoring period reaches the bus voltage threshold; if the bus voltage of the motor in the current monitoring period does not reach the bus voltage threshold, generate a boost instruction, and control the bus voltage increase amplitude of the motor based on the boost instruction, wherein the bus voltage threshold is the maximum bus voltage; The regulating module is specifically used to: obtain the actual speed of the motor after boosting in the current monitoring period, calculate the second speed difference based on the actual speed of the motor before and after boosting; determine whether the corresponding second speed difference after boosting reaches the minimum speed increase threshold; if the second speed difference reaches the minimum speed increase threshold, calculate whether the first speed difference between the actual speed of the motor after boosting and the target speed is less than or equal to the minimum speed fluctuation threshold; if the first speed difference between the actual speed of the motor after boosting and the target speed is greater than the minimum speed fluctuation threshold, and the bus voltage has not yet reached the bus voltage threshold, then repeatedly enter the boost cycle at least once, calculate the first speed difference corresponding to each boost, until the first speed difference is less than or equal to the minimum speed fluctuation threshold, and end the boost cycle; if the second speed difference does not reach the minimum speed increase threshold, and the bus voltage has not yet reached the bus voltage threshold, then adjust the current bus voltage and current limiting value of the motor and continue to enter the motor speed monitoring.

6. An air conditioner, comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be run on the processor, and the memory and the processor communicate through the communication bus and the communication interface, characterized in that: When the processor executes the computer program, the motor control method described in any one of claims 1 to 4 is implemented.

7. A computer-readable medium having a non-volatile program code executable by a processor, characterized in that: The program code enables the processor to execute the motor control method described in any one of claims 1 to 4.

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