Motor control method and device, storage medium, motor and cooking equipment

Abstract

The invention provides a motor control method and device, a storage medium, a motor and cooking equipment, and relates to the technical field of motors. The motor comprises a rotor, and the control method of the motor comprises the steps of determining a given voltage of the motor and a given angle of the rotor based on a control instruction; acquiring working parameters of the motor; determining the actual angle of the rotor according to the working parameters and the given voltage; and controlling the motor to work according to the working parameters, the given angle and the actual angle.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a motor control method, a motor control device, a storage medium, a motor and a cooking device. Background Art

[0002] In the related technology, the speed of the bidirectional claw-pole permanent magnet synchronous motor is fixed and cannot be adjusted. When the motor load fluctuates or is unloaded, the motor output is always fixed, and there are problems such as high power consumption under light load, insufficient output under heavy load, low efficiency and high noise.

[0003] Therefore, how to overcome the above-mentioned technical defects has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, a first aspect of the present invention provides a method for controlling a motor.

[0006] A second aspect of the present invention provides a control device for a motor.

[0007] A third aspect of the present invention provides a control device for a motor.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] A fifth aspect of the present invention provides an electric motor.

[0010] A sixth aspect of the present invention provides a cooking device.

[0011] In view of this, a first aspect of the present invention provides a method for controlling a motor, wherein the motor includes a rotor, and the method for controlling the motor includes: determining a given voltage of the motor and a given angle of the rotor based on a control instruction; obtaining operating parameters of the motor; determining an actual angle of the rotor according to the operating parameters and the given voltage; and controlling the operation of the motor according to the operating parameters, the given angle and the actual angle.

[0012] The present application defines a motor control method, which can be specifically used to control the operation of a bidirectional claw-pole permanent magnet synchronous motor, wherein the motor includes a rotor, which rotates under the action of an electromagnetic field after power is supplied to convert electrical energy into outputtable mechanical energy.

[0013] Specifically, after the motor is turned on, the motor works according to the acquired control instruction, and determines the corresponding given voltage and the given angle of the rotor according to the acquired control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. In this process, the working parameters of the motor are collected, and the working parameters include the bus voltage and phase current of the motor, and the working parameters can reflect the current working state of the motor. Thereafter, the current actual angle of the rotor is determined by the working parameters and the given voltage, and the working parameters and the given voltage can be specifically substituted into the observer to estimate the actual angle of the rotor through the observer. Finally, the working state of the motor is adjusted according to the working parameters, the given angle and the actual angle to achieve feedback adjustment. Among them, the size relationship between the given angle and the actual angle can reflect the current load size of the motor, so that the working parameters are modulated according to the size relationship between the given angle and the actual angle to obtain the modulated control instruction.

[0014] It can be seen that by limiting the above control process, the motor can be adaptively adjusted according to the current load size, so that the working state of the motor matches the current load, so that the motor speed matches the current load, and the motor is prevented from having high power consumption, insufficient output, low efficiency, and high noise when the load fluctuates or is unloaded. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0015] In addition, the control method of the motor provided by the present invention may also have the following additional technical features:

[0016] In the above technical scheme, the working parameters include the bus voltage of the motor, and the steps of controlling the motor operation according to the working parameters, the given angle and the actual angle include: determining the modulation parameters according to the bus voltage and the difference between the given angle and the actual angle; and controlling the motor operation according to the modulation parameters.

[0017] In this technical solution, the step of controlling the operation of the motor according to the operating parameters, the given angle and the actual angle is described in detail. Specifically, the operating parameters include the bus voltage of the motor. After determining the given angle and the actual angle of the rotor, the given angle and the actual angle are subtracted to obtain the angle difference, which can reflect the size of the load. Thereafter, the modulation parameters are calculated according to the angle difference and the bus voltage to adjust the working state of the motor through the modulation parameters.

[0018] Specifically, the difference between the given angle and the actual angle can directly reflect the size of the current load. By modulating the motor with the modulation parameters calculated by the angle difference, it can be ensured that the speed and torque output by the motor can match the current load of the motor, avoiding the motor from outputting fixed speed and torque that do not match when the load fluctuates or is unloaded, thereby optimizing the control process of the motor, improving the intelligence level of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0019] Specifically, the angle difference is calculated as: θ dif =θ openloop -θ obs ;

[0020] Among them, θ dif is the angle difference, θ openloop For a given angle, θ obs is the actual angle.

[0021] The calculation formula of the modulation parameters is as follows:

[0022] U dc =θ dif ×K;

[0023]

[0024] Among them, U dc is the output voltage amplitude, K is the negative feedback coefficient, U bus is the bus voltage, D max is a modulation parameter, wherein the modulation parameter corresponds to the maximum value of the PWM (Pulse Width Modulation) duty cycle.

[0025] In any of the above technical solutions, the step of controlling the operation of the motor according to the modulation parameters includes: determining the modulation duty cycle according to the given angle and the modulation parameters; generating a control instruction according to the modulation duty cycle, and controlling the operation of the motor through the control instruction.

[0026] In this technical solution, the step of controlling the motor operation according to the modulation parameters is described in detail. Specifically, after calculating the modulation parameters, the modulation duty cycle is calculated by the modulation parameters and the given angle, and then the modulated control instructions are generated based on the modulation duty cycle through SVPWM (Space Vector Pulse Width Modulation), and the working state of the motor is controlled according to the newly generated control instructions. This cycle can enable the motor to be controlled based on the current load to ensure that the output speed and output torque of the motor match the current load. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0027] Specifically, when the motor is a bidirectional claw-pole permanent magnet synchronous motor, the modulation duty cycle includes a first modulation duty cycle and a second modulation duty cycle.

[0028] The calculation formula of the first modulation duty cycle is:

[0029] D α =D max ×cosθ openloop ;

[0030] Among them, D α is the first modulation duty cycle.

[0031] The calculation formula of the second modulation duty cycle is:

[0032] D β =D max ×sinθ openloop ;

[0033] Among them, D β is the second modulation duty cycle.

[0034] In any of the above technical solutions, the working parameters also include the phase current of the motor, and the step of determining the actual angle of the rotor based on the working parameters and the given voltage includes: determining the actual angle of the rotor based on the bus voltage, the phase current and the given voltage.

[0035] In this technical solution, the working parameters include not only the bus voltage of the motor but also the phase current of the motor. Taking the motor as a bidirectional claw-pole permanent magnet synchronous motor as an example, under the action of the first phase voltage Ua and the second phase voltage Ub, the bus current includes the first phase current Ia and the second phase current Ib.

[0036] On this basis, the step of determining the actual angle of the rotor according to the working parameters and the given voltage is described in detail. Specifically, after the bus voltage and phase current are collected, the bus voltage and phase current are substituted into the observer, and the actual angle of the rotor corresponding to the given voltage is determined by the observer. Thereafter, the working state of the motor is adjusted according to the working parameters, the given angle and the actual angle to achieve feedback adjustment. This achieves the technical effect of optimizing the control process of the motor, improving the intelligence level of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0037] In any of the above technical solutions, the step of determining a given angle of the rotor based on a control instruction includes: determining a given rotational speed of the rotor according to the control instruction; and determining a given angle of the rotor according to the given rotational speed.

[0038] In this technical solution, the step of determining the given angle of the rotor based on the control instruction is described in detail. Specifically, after obtaining the control instruction, the given speed of the rotor contained in the control instruction is first determined, and then the actual speed instruction is generated according to the given speed through acceleration or deceleration for a certain period of time, and finally the given angle of the rotor is determined according to the actual speed instruction.

[0039] By limiting the above control steps, the motor can determine the current given angle of the rotor according to the real-time updated control instructions, and thus determine the load size of the motor in accordance with the actual angle determined in fact, so as to control the motor to adjust the working state according to the current load and realize feedback regulation. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence level of the motor, reducing the loss of the motor, and reducing the temperature rise and noise of the motor.

[0040] A second aspect of the present invention provides a control device for a motor, wherein the motor includes a rotor, and the control device for the motor includes: a first determination module, used to determine a given voltage of the motor and a given angle of the rotor based on a control instruction; an acquisition module, used to acquire the working parameters of the motor; a second determination module, used to determine the actual angle of the rotor according to the working parameters and the given voltage; and a third determination module, used to control the operation of the motor according to the working parameters, the given angle and the actual angle.

[0041] The present application defines a motor control device, which can be specifically used to control the operation of a bidirectional claw-pole permanent magnet synchronous motor, wherein the motor includes a rotor, which rotates under the action of an electromagnetic field when powered on to convert electrical energy into outputtable mechanical energy.

[0042] Specifically, after the motor is turned on, the motor works according to the acquired control instruction, and the first determination module determines the corresponding given voltage and the given angle of the rotor according to the acquired control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. In this process, the acquisition module collects the working parameters of the motor, and the working parameters include the bus voltage and phase current of the motor, and the working parameters can reflect the current working state of the motor. Thereafter, the second determination module determines the current actual angle of the rotor through the working parameters and the given voltage, and specifically, the working parameters and the given voltage can be substituted into the observer to estimate the actual angle of the rotor through the observer. Finally, the third determination module adjusts the working state of the motor according to the working parameters, the given angle and the actual angle to achieve feedback regulation. Among them, the size relationship between the given angle and the actual angle can reflect the current load size of the motor, so that the working parameters are modulated according to the size relationship between the given angle and the actual angle to obtain the modulated control instruction.

[0043] It can be seen that by limiting the above control process, the motor can be adaptively adjusted according to the current load size, so that the working state of the motor matches the current load, so that the motor speed matches the current load, and the motor is prevented from having high power consumption, insufficient output, low efficiency, and high noise when the load fluctuates or is unloaded. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0044] The third aspect of the present invention provides a motor control device, which includes: a memory, in which programs or instructions are stored; and a processor, which executes the programs or instructions stored in the memory to implement the steps of the motor control method in any of the above technical solutions.

[0045] In this technical solution, a motor control device is proposed, and the motor control device includes a memory and a processor. The processor executes the program or instruction stored in the memory to implement the motor control method in any of the above technical solutions. Therefore, the motor control device has the advantages of the motor control method in any of the above technical solutions, and can achieve the technical effects that can be achieved by the motor control method in any of the above technical solutions. To avoid repetition, it will not be repeated here.

[0046] A fourth aspect of the present invention provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of a method for controlling a motor as in any of the above technical solutions.

[0047] In this technical solution, a readable storage medium is proposed, which stores a program or instruction. The program or instruction is executed by a processor to implement the steps of the motor control method in any of the above technical solutions. Therefore, the readable storage medium has the advantages of the motor control method in any of the above technical solutions, and can achieve the technical effects that can be achieved by the motor control method in any of the above technical solutions. To avoid repetition, it will not be repeated here.

[0048] A fifth aspect of the present invention provides a motor, which includes: a motor control device as in any of the above technical solutions, and / or a readable storage medium as in the above technical solutions.

[0049] In this technical solution, a motor including the motor control device in any of the above technical solutions and / or the readable storage medium in the above technical solution is proposed, so the motor has the advantages of the motor control device in any of the above technical solutions, and can achieve the technical effects that can be achieved by the motor control device in any of the above technical solutions, and / or the motor has the advantages of the readable storage medium in the above technical solution, and can achieve the technical effects that can be achieved by the readable storage medium in the above technical solution. To avoid repetition, it will not be repeated here.

[0050] In any of the above technical solutions, the motor also includes: a body, including a rotor; a power supply circuit; and a drive circuit, and the body is electrically connected to the power supply circuit through the drive circuit.

[0051] In the technical solution, the motor also includes a body, in which a winding and a rotor are arranged, the winding includes a first winding and a second winding, and the first winding and the second winding have three terminals, namely, a first end, a second end, and a third end. After the winding is energized, the rotor rotates under the action of an electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0052] On this basis, the motor also includes a power supply circuit and a drive circuit. The three terminals of the winding are connected to the drive circuit. The drive circuit is connected to the power supply circuit. The power supply circuit transmits the electric energy output by the power supply to the drive circuit to control the working state of the motor through the drive circuit. After obtaining the control instruction, the drive circuit controls the working state of the motor by switching the connection state. At the same time, the drive circuit also has the ability to collect working parameters during the working process, so as to adjust the working state of the motor in time according to the collected working parameters.

[0053] In any of the above technical solutions, the driving circuit includes: a first switch tube, a first end of the first switch tube is connected to the power supply circuit; a second switch tube, a first end of the second switch tube is connected to the second end of the first switch tube, the second end of the second switch tube is connected to the power supply circuit, and the first end of the body is connected to the common end of the first switch tube and the second switch tube; a third switch tube, a first end of the third switch tube is connected to the power supply circuit; a fourth switch tube, a first end of the fourth switch tube is connected to the second end of the third switch tube, the second end of the fourth switch tube is connected to the power supply circuit, and the second end of the body is connected to the common end of the third switch tube and the fourth switch tube; a fifth switch tube, a first end of the fifth switch tube is connected to the power supply circuit; a sixth switch tube, a first end of the sixth switch tube is connected to the second end of the fifth switch tube, the second end of the sixth switch tube is connected to the power supply circuit, and the third end of the body is connected to the common end of the fifth switch tube and the sixth switch tube.

[0054] In this technical solution, the driving circuit includes a first branch, a second branch and a third branch connected in parallel. The first switch tube and the second switch tube are connected in series to the first branch, and the first end of the first switch tube and the second end of the second switch tube are connected to the power supply circuit. The third switch tube and the fourth switch tube are connected in series to the second branch, and the first end of the third switch tube and the second end of the fourth switch tube are connected to the power supply circuit. The fifth switch tube and the sixth switch tube are connected in series to the third branch, and the first end of the fifth switch tube and the second end of the sixth switch tube are connected to the power supply circuit.

[0055] On this basis, the first end of the winding is connected between the second end of the first switch tube and the first end of the second switch tube, the second end of the winding is connected between the second end of the third switch tube and the first end of the fourth switch tube, and the third end of the winding is connected between the second end of the fifth switch tube and the first end of the sixth switch tube. The first winding and the second winding share the second end, and a first phase voltage Ua applied to the first winding is generated between the first end and the second end, and a second phase voltage Ub applied to the second winding is generated between the second end and the third end.

[0056] During the operation of the motor, the working state of the motor can be controlled by adjusting the on-off state of the first to sixth switch tubes. Different control instructions correspond to different switch combinations to ensure that the working state of the motor matches the current load.

[0057] In any of the above technical solutions, the driving circuit also includes: a first resistor, a first end of the first resistor is connected to the second end of the second switch tube, and the second end of the first resistor is connected to the power supply circuit; a second resistor, a first end of the second resistor is connected to the second end of the sixth switch tube, and the second end of the second resistor is connected to the power supply circuit.

[0058] In this technical solution, the drive circuit also includes a first resistor and a second resistor. Specifically, the first resistor is arranged on the first branch, the first resistor is connected in series with the first switch tube and the second switch tube, specifically the first end of the first resistor is connected to the second end of the second switch tube, and the second end of the first resistor is connected to the power supply circuit. The first resistor is used to detect the first phase current Ia. The second resistor is arranged on the third branch, the second resistor is connected in series with the fifth switch tube and the sixth switch tube, specifically the first end of the second resistor is connected to the second end of the sixth switch tube, and the second end of the second resistor is connected to the power supply circuit. The second resistor is used to detect the second phase current Ib. The first phase current Ia and the second phase current Ib are used to determine the current angle of the rotor, so as to generate a debugged control instruction in conjunction with a given angle, so that the working state of the motor matches the current load.

[0059] In any of the above technical solutions, the motor further includes: a third resistor, a first end of the third resistor is connected to the drive circuit, and a second end of the third resistor is connected to the power supply circuit.

[0060] In this technical solution, the motor further includes a third resistor, the first branch, the second branch and the third branch are connected in parallel and then connected in series with the first end of the third resistor, the second end of the third resistor is connected to the power supply circuit, and the third resistor is used to detect the total current of the drive circuit to determine the bus voltage of the motor through the total current of the drive circuit. The bus voltage is used to determine the current angle of the rotor to generate a debugged control instruction in conjunction with a given angle so that the working state of the motor matches the current load.

[0061] A sixth aspect of the present invention provides a cooking device, comprising: a base; and a motor as in any of the above technical solutions, arranged on the base.

[0062] In this technical solution, a cooking device is defined that is provided with a motor in any of the above-mentioned technical solutions. Therefore, the cooking device has the advantages possessed by the motor in any of the above-mentioned technical solutions, and can achieve the technical effects that can be achieved by the motor in any of the above-mentioned technical solutions. To avoid repetition, it will not be repeated here.

[0063] In any of the above technical solutions, the cooking equipment includes: a wall breaking machine or a blender.

[0064] When the cooking device is a wall breaking machine, the motor is used to drive the cutter head to rotate.

[0065] In the case where the cooking device is a blender, the motor is used to drive the blender to rotate.

[0066] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0068] Figure 1 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0069] Figure 2 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0070] Figure 3 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0071] Figure 4 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0072] Figure 5 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0073] Figure 6 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0074] Figure 7 A circuit diagram of a motor according to an embodiment of the present invention is shown;

[0075] Figure 8 A schematic diagram of load adaptive control of a motor according to an embodiment of the present invention is shown.

[0076] in, Figure 7 The corresponding relationship between the reference numerals and component names is as follows:

[0077] 700 motor, 702 body, 7022 winding, 7024 rotor, 710 power supply circuit, C1 first capacitor, GND1 grounding point, DB1 bridge stack, AC power supply, 720 drive circuit, Q1 first switch tube, Q2 second switch tube, Q3 third switch tube, Q4 fourth switch tube, Q5 fifth switch tube, Q6 sixth switch tube, R1 first resistor, R2 second resistor, R3 third resistor, R4 fourth resistor, R5 fifth resistor. DETAILED DESCRIPTION

[0078] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0079] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0080] Refer to the following Figures 1 to 8 A motor control method, a device, a storage medium, a motor, and a cooking device according to some embodiments of the present invention are described.

[0081] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a motor, wherein the motor includes a rotor, and the method for controlling the motor includes:

[0082] Step 102, determining a given voltage of the motor and a given angle of the rotor based on the control instruction;

[0083] Step 104, obtaining the working parameters of the motor;

[0084] Step 106, determining the actual angle of the rotor according to the operating parameters and the given voltage;

[0085] Step 108, controlling the motor to operate according to the operating parameters, the given angle and the actual angle.

[0086] The present application defines a motor control method, which can be specifically used to control the operation of a bidirectional claw-pole permanent magnet synchronous motor, wherein the motor includes a rotor, which rotates under the action of an electromagnetic field after power is supplied to convert electrical energy into outputtable mechanical energy.

[0087] Specifically, after the motor is turned on, the motor works according to the acquired control instruction, and determines the corresponding given voltage and the given angle of the rotor according to the acquired control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. In this process, the working parameters of the motor are collected, and the working parameters include the bus voltage and phase current of the motor, and the working parameters can reflect the current working state of the motor. Thereafter, the current actual angle of the rotor is determined by the working parameters and the given voltage, and the working parameters and the given voltage can be specifically substituted into the observer to estimate the actual angle of the rotor through the observer. Finally, the working state of the motor is adjusted according to the working parameters, the given angle and the actual angle to achieve feedback adjustment. Among them, the size relationship between the given angle and the actual angle can reflect the current load size of the motor, so that the working parameters are modulated according to the size relationship between the given angle and the actual angle to obtain the modulated control instruction.

[0088] It can be seen that by limiting the above control process, the motor can be adaptively adjusted according to the current load size, so that the working state of the motor matches the current load, so that the motor speed matches the current load, and the motor is prevented from having high power consumption, insufficient output, low efficiency, and high noise when the load fluctuates or is unloaded. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0089] like Figure 2 As shown, in the above embodiment, the working parameters include the bus voltage of the motor, and the steps of controlling the motor operation according to the working parameters, the given angle and the actual angle include:

[0090] Step 202, determining a modulation parameter according to the bus voltage and the difference between a given angle and an actual angle;

[0091] Step 204, controlling the motor to operate according to the modulation parameters.

[0092] In this embodiment, the step of controlling the operation of the motor according to the operating parameters, the given angle and the actual angle is described in detail. Specifically, the operating parameters include the bus voltage of the motor. After determining the given angle and the actual angle of the rotor, the given angle and the actual angle are subtracted to obtain an angle difference, which can reflect the size of the load. Thereafter, a modulation parameter is calculated according to the angle difference and the bus voltage to adjust the working state of the motor through the modulation parameter.

[0093] Specifically, the difference between the given angle and the actual angle can directly reflect the size of the current load. By modulating the motor with the modulation parameters calculated by the angle difference, it can be ensured that the speed and torque output by the motor can match the current load of the motor, avoiding the motor from outputting fixed speed and torque that do not match when the load fluctuates or is unloaded, thereby optimizing the control process of the motor, improving the intelligence level of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0094] Specifically, the angle difference is calculated as: θ dif =θ openloop -θ obs ;

[0095] Among them, θ dif is the angle difference, θ openloop For a given angle, θ obs is the actual angle.

[0096] The calculation formula of the modulation parameters is as follows:

[0097] U dc =θ dif ×K;

[0098]

[0099] Among them, U dc is the output voltage amplitude, K is the negative feedback coefficient, U bus is the bus voltage, D max is a modulation parameter, wherein the modulation parameter corresponds to the maximum value of the PWM (Pulse Width Modulation) duty cycle.

[0100] like Figure 3 As shown, in any of the above embodiments, the step of controlling the motor to work according to the modulation parameters includes:

[0101] Step 302, determining a modulation duty cycle according to a given angle and modulation parameters;

[0102] Step 304: Generate a control instruction according to the modulation duty cycle, and control the operation of the motor through the control instruction.

[0103] In this embodiment, the step of controlling the operation of the motor according to the modulation parameters is described in detail. Specifically, after the modulation parameters are calculated, the modulation duty cycle is calculated by the modulation parameters and the given angle, and then the modulated control instructions are generated based on the modulation duty cycle through SVPWM (Space Vector Pulse Width Modulation), and the working state of the motor is controlled according to the newly generated control instructions. This cycle can enable the motor to be controlled based on the current load to ensure that the output speed and output torque of the motor match the current load. This achieves the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0104] Specifically, when the motor is a bidirectional claw-pole permanent magnet synchronous motor, the modulation duty cycle includes a first modulation duty cycle and a second modulation duty cycle.

[0105] The calculation formula of the first modulation duty cycle is:

[0106] D α =D max ×cosθ openloop ;

[0107] Among them, D α is the first modulation duty cycle.

[0108] The calculation formula of the second modulation duty cycle is:

[0109] D β =D max ×sinθ openloop ;

[0110] Among them, D β is the second modulation duty cycle.

[0111] In any of the above embodiments, the operating parameters further include the phase current of the motor, and the step of determining the actual angle of the rotor according to the operating parameters and the given voltage includes:

[0112] The actual angle of the rotor is determined based on the bus voltage, phase current and set voltage.

[0113] In this embodiment, the operating parameters include, in addition to the bus voltage of the motor, the phase current of the motor. Taking the motor as a bidirectional claw-pole permanent magnet synchronous motor as an example, under the action of the first phase voltage Ua and the second phase voltage Ub, the bus current includes the first phase current Ia and the second phase current Ib.

[0114] On this basis, the step of determining the actual angle of the rotor according to the working parameters and the given voltage is described in detail. Specifically, after the bus voltage and phase current are collected, the bus voltage and phase current are substituted into the observer, and the actual angle of the rotor corresponding to the given voltage is determined by the observer. Thereafter, the working state of the motor is adjusted according to the working parameters, the given angle and the actual angle to achieve feedback adjustment. This achieves the technical effect of optimizing the control process of the motor, improving the intelligence level of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0115] like Figure 4 As shown, in any of the above embodiments, the step of determining a given angle of the rotor based on the control instruction includes:

[0116] Step 402, determining a given speed of the rotor according to the control instruction;

[0117] Step 404, determining a given angle of the rotor according to a given rotation speed.

[0118] In this embodiment, the step of determining the given angle of the rotor based on the control instruction is described in detail. Specifically, after obtaining the control instruction, the given speed of the rotor contained in the control instruction is first determined, and then the actual speed instruction is generated according to the given speed through acceleration or deceleration for a certain period of time, and finally the given angle of the rotor is determined according to the actual speed instruction.

[0119] By limiting the above control steps, the motor can determine the current given angle of the rotor according to the real-time updated control instructions, and thus determine the load size of the motor in accordance with the actual angle determined in fact, so as to control the motor to adjust the working state according to the current load and realize feedback regulation. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence level of the motor, reducing the loss of the motor, and reducing the temperature rise and noise of the motor.

[0120] like Figure 5 As shown, the second aspect of the present invention provides a motor control device 500, the motor includes a rotor, and the motor control device 500 includes: a first determination module 502, used to determine the given voltage of the motor and the given angle of the rotor based on the control instruction; an acquisition module 504, used to acquire the working parameters of the motor; a second determination module 506, used to determine the actual angle of the rotor according to the working parameters and the given voltage; a third determination module 508, used to control the operation of the motor according to the working parameters, the given angle and the actual angle.

[0121] The present application defines a motor control device 500, which can be specifically used to control the operation of a bidirectional claw-pole permanent magnet synchronous motor, wherein the motor includes a rotor, which rotates under the action of an electromagnetic field when powered on to convert electrical energy into outputtable mechanical energy.

[0122] Specifically, after the motor is turned on, the motor works according to the acquired control instruction, and the first determination module 502 determines the corresponding given voltage and the given angle of the rotor according to the acquired control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. In this process, the acquisition module 504 collects the working parameters of the motor, and the working parameters include the bus voltage and phase current of the motor, and the working parameters can reflect the current working state of the motor. Thereafter, the second determination module 506 determines the current actual angle of the rotor through the working parameters and the given voltage, and specifically, the working parameters and the given voltage can be substituted into the observer to estimate the actual angle of the rotor through the observer. Finally, the third determination module 508 adjusts the working state of the motor according to the working parameters, the given angle and the actual angle to achieve feedback regulation. Among them, the size relationship between the given angle and the actual angle can reflect the current load size of the motor, so that the working parameters are modulated according to the size relationship between the given angle and the actual angle to obtain the modulated control instruction.

[0123] It can be seen that by limiting the above control process, the motor can be adaptively adjusted according to the current load size, so that the working state of the motor matches the current load, so that the motor speed matches the current load, and the motor is prevented from having high power consumption, insufficient output, low efficiency, and high noise when the load fluctuates or is unloaded. This can achieve the technical effect of optimizing the control process of the motor, improving the intelligence of the motor, improving the working efficiency and reliability of the motor, and reducing the working energy consumption of the motor.

[0124] Specifically, the third determination module 508 is further configured to determine a modulation parameter according to the bus voltage and the difference between the given angle and the actual angle; and control the operation of the motor according to the modulation parameter.

[0125] The third determination module 508 is further used to determine the modulation duty cycle according to the given angle and modulation parameters; generate a control instruction according to the modulation duty cycle, and control the operation of the motor through the control instruction.

[0126] The second determination module 506 is further configured to determine the actual angle of the rotor according to the bus voltage, the phase current and the given voltage.

[0127] The first determination module 502 is further configured to determine a given rotational speed of the rotor according to the control instruction; and determine a given angle of the rotor according to the given rotational speed.

[0128] like Figure 6 As shown, the third aspect of the present invention provides a motor control device 600, which includes: a memory 602, in which programs or instructions are stored; a processor 604, which executes the program or instructions stored in the memory 602 to implement the steps of the motor control method in any of the above embodiments.

[0129] In this embodiment, a motor control device 600 is proposed, and the motor control device 600 includes a memory 602 and a processor 604. The processor 604 can implement the motor control method in any of the above embodiments by executing the program or instruction stored in the memory 602. Therefore, the motor control device 600 has the advantages of the motor control method in any of the above embodiments, and can achieve the technical effects that can be achieved by the motor control method in any of the above embodiments. To avoid repetition, it will not be described here.

[0130] A fourth aspect of the present invention provides a readable storage medium having a program or instruction stored thereon, and when the program or instruction is executed by a processor, the steps of the motor control method in any of the above embodiments are implemented.

[0131] In this embodiment, a readable storage medium is proposed, which stores a program or instruction. The program or instruction is executed by a processor to implement the steps of the motor control method in any of the above embodiments. Therefore, the readable storage medium has the advantages of the motor control method in any of the above embodiments, and can achieve the technical effects that can be achieved by the motor control method in any of the above embodiments. To avoid repetition, it will not be described here.

[0132] like Figure 7 As shown, the fifth aspect of the present invention provides a motor 700, which includes: a control device for the motor as in any of the above embodiments, and / or a readable storage medium as in the above embodiments.

[0133] In this embodiment, a motor 700 including the motor control device in any of the above embodiments and / or the readable storage medium in the above embodiments is proposed, so the motor 700 has the advantages of the motor control device in any of the above embodiments and can achieve the technical effects that can be achieved by the motor control device in any of the above embodiments, and / or the motor 700 has the advantages of the readable storage medium in the above embodiments and can achieve the technical effects that can be achieved by the readable storage medium in the above embodiments. To avoid repetition, it will not be repeated here.

[0134] like Figure 7 As shown, in any of the above embodiments, the motor 700 further includes: a body 702 including a rotor 7024 ; a power supply circuit 710 ; and a drive circuit 720 , wherein the body 702 is electrically connected to the power supply circuit 710 via the drive circuit 720 .

[0135] In this embodiment, the motor 700 further includes a body 702, in which a winding 7022 and a rotor 7024 are disposed, the winding 7022 includes a first winding and a second winding, and the first winding and the second winding have three terminals, namely, a first end, a second end, and a third end. When the winding 7022 is energized, the rotor 7024 rotates under the action of an electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0136] On this basis, the motor 700 also includes a power supply circuit 710 and a drive circuit 720. The three terminals of the winding 7022 are connected to the drive circuit 720. The drive circuit 720 is connected to the power supply circuit 710. The power supply circuit 710 transmits the electric energy output by the power supply to the drive circuit 720 to control the working state of the motor 700 through the drive circuit 720. After obtaining the control instruction, the drive circuit 720 controls the working state of the motor 700 by switching the connection state. At the same time, the drive circuit 720 also has the ability to collect working parameters during the working process, so as to adjust the working state of the motor 700 in time according to the collected working parameters.

[0137] Specifically, the power supply circuit 710 further includes a power source AC, a bridge DB1, a first capacitor C1 and a grounding point GND1.

[0138] like Figure 7As shown, in any of the above embodiments, the driving circuit 720 includes: a first switch tube Q1, a first end of the first switch tube Q1 is connected to the power supply circuit 710; a second switch tube Q2, a first end of the second switch tube Q2 is connected to the second end of the first switch tube Q1, and the second end of the second switch tube Q2 is connected to the power supply circuit 710, and a first end of the body 702 is connected to a common end of the first switch tube Q1 and the second switch tube Q2; a third switch tube Q3, a first end of the third switch tube Q3 is connected to the power supply circuit 710; a fourth switch tube Q4, a first end of the fourth switch tube Q4 is connected to the common end of the first switch tube Q1 and the second switch tube Q2. One end is connected to the second end of the third switch tube Q3, the second end of the fourth switch tube Q4 is connected to the power supply circuit 710, and the second end of the body 702 is connected to the common end of the third switch tube Q3 and the fourth switch tube Q4; the fifth switch tube Q5, the first end of the fifth switch tube Q5 is connected to the power supply circuit 710; the sixth switch tube Q6, the first end of the sixth switch tube Q6 is connected to the second end of the fifth switch tube Q5, the second end of the sixth switch tube Q6 is connected to the power supply circuit 710, and the third end of the body 702 is connected to the common end of the fifth switch tube Q5 and the sixth switch tube Q6.

[0139] In this embodiment, the driving circuit 720 includes a first branch, a second branch, and a third branch connected in parallel. Among them, the first switch tube Q1 and the second switch tube Q2 are connected in series on the first branch, and the first end of the first switch tube Q1 and the second end of the second switch tube Q2 are connected to the power supply circuit 710. The third switch tube Q3 and the fourth switch tube Q4 are connected in series on the second branch, and the first end of the third switch tube Q3 and the second end of the fourth switch tube Q4 are connected to the power supply circuit 710. The fifth switch tube Q5 and the sixth switch tube Q6 are connected in series on the third branch, and the first end of the fifth switch tube Q5 and the second end of the sixth switch tube Q6 are connected to the power supply circuit 710.

[0140] On this basis, the first end of the winding 7022 is connected between the second end of the first switch tube Q1 and the first end of the second switch tube Q2, the second end of the winding 7022 is connected between the second end of the third switch tube Q3 and the first end of the fourth switch tube Q4, and the third end of the winding 7022 is connected between the second end of the fifth switch tube Q5 and the first end of the sixth switch tube Q6. The first winding and the second winding share the second end, and a first phase voltage Ua applied to the first winding is generated between the first end and the second end, and a second phase voltage Ub applied to the second winding is generated between the second end and the third end.

[0141] During the operation of the motor 700, the working state of the motor 700 can be controlled by adjusting the on-off state of the first switch tube Q1 to the sixth switch tube Q6. Different control instructions correspond to different switch combinations to ensure that the working state of the motor 700 matches the current load.

[0142] like Figure 7As shown, in any of the above embodiments, the driving circuit 720 also includes: a first resistor R1, a first end of the first resistor R1 is connected to the second end of the second switch tube Q2, and the second end of the first resistor R1 is connected to the power supply circuit 710; a second resistor R2, a first end of the second resistor R2 is connected to the second end of the sixth switch tube Q6, and the second end of the second resistor R2 is connected to the power supply circuit 710.

[0143] In this embodiment, the drive circuit 720 also includes a first resistor R1 and a second resistor R2. Specifically, the first resistor R1 is arranged on the first branch, the first resistor R1 is connected in series with the first switch tube Q1 and the second switch tube Q2, specifically the first end of the first resistor R1 is connected with the second end of the second switch tube Q2, and the second end of the first resistor R1 is connected with the power supply circuit 710. The first resistor R1 is used to detect the first phase current Ia. The second resistor R2 is arranged on the third branch, the second resistor R2 is connected in series with the fifth switch tube Q5 and the sixth switch tube Q6, specifically the first end of the second resistor R2 is connected with the second end of the sixth switch tube Q6, and the second end of the second resistor R2 is connected with the power supply circuit 710. The second resistor R2 is used to detect the second phase current Ib. The first phase current Ia and the second phase current Ib are used to determine the current angle of the rotor 7024, so as to generate the debugged control instruction in conjunction with the given angle, so that the working state of the motor 700 matches the current load.

[0144] like Figure 7 As shown, in any of the above embodiments, the motor 700 further includes: a third resistor R3 , a first end of the third resistor R3 is connected to the drive circuit 720 , and a second end of the third resistor R3 is connected to the power supply circuit 710 .

[0145] In this embodiment, the motor 700 further includes a third resistor R3, the first branch, the second branch and the third branch are connected in parallel and then connected in series with the first end of the third resistor R3, the second end of the third resistor R3 is connected to the power supply circuit 710, and the third resistor R3 is used to detect the total current of the drive circuit 720, so as to determine the bus voltage of the motor 700 through the total current of the drive circuit 720. The bus voltage is used to determine the current angle of the rotor 7024, so as to generate a debugged control instruction in accordance with the given angle, so that the working state of the motor 700 matches the current load.

[0146] Specifically, the motor also includes a fourth resistor R4 and a fifth resistor R5, which are connected in series and in parallel with the first branch, the second branch and the third branch, and are used to detect the total voltage of the drive circuit 720.

[0147] Figure 8 A schematic diagram of load adaptive control of a bidirectional claw-pole permanent magnet synchronous motor is shown.

[0148] A sixth aspect of the present invention provides a cooking device, comprising: a base; and a motor 700 such as that in any of the above embodiments, disposed on the base.

[0149] In this embodiment, a cooking device is defined that is provided with the motor 700 in any of the above embodiments. Therefore, the cooking device has the advantages possessed by the motor 700 in any of the above embodiments, and can achieve the technical effects that can be achieved by the motor 700 in any of the above embodiments. To avoid repetition, it will not be described here.

[0150] In any of the above embodiments, the cooking device includes: a wall breaking machine or a blender.

[0151] When the cooking device is a wall-breaking machine, the motor 700 is used to drive the cutter head to rotate.

[0152] When the cooking device is a blender, the motor 700 is used to drive the blender to rotate.

[0153] It should be clarified that in the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances of the above data.

[0154] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0155] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a motor, characterized in that: The motor includes a rotor, and the control method includes: Determining a given voltage of the motor and a given angle of the rotor based on a control instruction; Obtaining operating parameters of the motor; Determining the actual angle of the rotor according to the operating parameters and the given voltage; The motor is controlled to operate according to the operating parameter, the given angle and the actual angle.

2. The motor control method according to claim 1, characterized in that: The operating parameters include the bus voltage of the motor, and the step of controlling the motor to operate according to the operating parameters, the given angle and the actual angle includes: Determining a modulation parameter according to the bus voltage and a difference between the given angle and the actual angle; The motor is controlled to operate according to the modulation parameters.

3. The motor control method according to claim 2, characterized in that: The step of controlling the motor to operate according to the modulation parameters comprises: Determining a modulation duty cycle according to the given angle and the modulation parameter; The control instruction is generated according to the modulation duty cycle, and the operation of the motor is controlled by the control instruction.

4. The motor control method according to claim 2, characterized in that: The operating parameters also include the phase current of the motor, and the step of determining the actual angle of the rotor according to the operating parameters and the given voltage includes: The actual angle of the rotor is determined according to the bus voltage, the phase current and the given voltage.

5. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: The step of determining the given angle of the rotor based on the control instruction comprises: determining a given rotational speed of the rotor according to the control instruction; The given angle of the rotor is determined according to the given rotation speed.

6. A control device for a motor, characterized in that: The motor comprises a rotor, and the control device comprises: A first determination module, configured to determine a given voltage of the motor and a given angle of the rotor based on a control instruction; An acquisition module, used for acquiring the operating parameters of the motor; A second determination module, configured to determine an actual angle of the rotor according to the operating parameters and the given voltage; The third determination module is used to control the operation of the motor according to the operating parameters, the given angle and the actual angle.

7. A control device for a motor, characterized in that: include: A memory, wherein a program or an instruction is stored in the memory; A processor, wherein the processor executes the program or instruction stored in the memory to implement the steps of the motor control method according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the motor control method as described in any one of claims 1 to 5 are implemented.

9. A motor, characterized in that: include: The control device for a motor as claimed in claim 6, and / or The control device for a motor as claimed in claim 7, and / or The readable storage medium as claimed in claim 8.

10. The motor according to claim 9, characterized in that Also includes: A body, including windings and the rotor; Power supply circuit; A drive circuit, wherein the winding is electrically connected to the power supply circuit through the drive circuit.

11. The motor according to claim 10, characterized in that The driving circuit comprises: A first switch tube, wherein a first end of the first switch tube is connected to the power supply circuit; a second switch tube, wherein a first end of the second switch tube is connected to a second end of the first switch tube, a second end of the second switch tube is connected to the power supply circuit, and a first end of the winding is connected to a common end of the first switch tube and the second switch tube; A third switch tube, a first end of the third switch tube is connected to the power supply circuit; a fourth switch tube, wherein a first end of the fourth switch tube is connected to a second end of the third switch tube, a second end of the fourth switch tube is connected to the power supply circuit, and a second end of the winding is connected to a common end of the third switch tube and the fourth switch tube; a fifth switch tube, wherein a first end of the fifth switch tube is connected to the power supply circuit; A sixth switch tube, wherein a first end of the sixth switch tube is connected to a second end of the fifth switch tube, a second end of the sixth switch tube is connected to the power supply circuit, and a third end of the winding is connected to a common end of the fifth switch tube and the sixth switch tube.

12. The motor according to claim 11, characterized in that The driving circuit further includes: a first resistor, wherein a first end of the first resistor is connected to a second end of the second switch tube, and a second end of the first resistor is connected to the power supply circuit; A second resistor, wherein a first end of the second resistor is connected to a second end of the sixth switch tube, and a second end of the second resistor is connected to the power supply circuit.

13. The electric machine according to any one of claims 10 to 12, characterized in that Also includes: A third resistor, wherein a first end of the third resistor is connected to the driving circuit, and a second end of the third resistor is connected to the power supply circuit.

14. A cooking device, characterized in that: include: matrix; The motor according to any one of claims 9 to 13, arranged on the base.

15. The cooking device according to claim 14, characterized in that The cooking equipment includes: a wall breaking machine or a blender.

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