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, a winding and an inverter bridge circuit, the winding is connected with a power supply through the inverter bridge circuit, and the control method comprises the following steps: determining a given voltage of the winding and a given angle of the rotor based on a control instruction, and obtaining a bus voltage and a phase current of the winding; determining a target vector angle according to the given angle; determining the size of a target vector according to the given angle, the given voltage, the bus voltage and the phase current; and controlling the inverter bridge circuit to work according to the target vector angle and the target vector size.

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 art, the bidirectional claw-pole permanent magnet synchronous motor is connected to the mains for operation, and the input voltage is fixed and cannot be adjusted.

[0003] When the mains voltage fluctuates, the motor output torque also fluctuates, resulting in insufficient output torque at low voltage and poor motor resistance to external interference. When the motor load fluctuates or is unloaded, the motor output is always fixed, resulting in high power consumption under light load and insufficient output under heavy load.

[0004] Therefore, how to overcome the above-mentioned technical defects has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, a first aspect of the present invention provides a method for controlling a motor.

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

[0008] A third aspect of the present invention provides a control device for a motor.

[0009] A fourth aspect of the present invention provides a readable storage medium.

[0010] A fifth aspect of the present invention provides an electric motor.

[0011] A sixth aspect of the present invention provides a cooking device.

[0012] In view of this, a first aspect of the present invention provides a method for controlling a motor, wherein the motor includes a rotor, a winding, and an inverter bridge circuit, wherein the winding is connected to a power supply via the inverter bridge circuit, and the method for controlling the motor includes:

[0013] Determine a given voltage of the winding and a given angle of the rotor based on the control command, and obtain the bus voltage and phase current of the winding;

[0014] Determine the target vector angle based on the given angle;

[0015] Determine the target vector size according to a given angle, a given voltage, a bus voltage and a phase current;

[0016] The operation of the inverter bridge circuit is controlled according to the target vector angle and the target vector size.

[0017] The present application defines a control method for a motor, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor, the winding generates an electromagnetic field after being energized, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy. The motor also includes an inverter bridge circuit, the winding is connected to a power supply through the inverter bridge circuit, and the direct current is inverted into an alternating current with two-phase amplitude, adjustable frequency and a phase difference of 90 degrees through the inverter bridge circuit, so as to drive the claw-pole synchronous motor to rotate at a controlled speed through the alternating current.

[0018] On this basis, after the motor is turned on, the motor is controlled to work according to the control instructions. In this process, the given voltage of the winding and the given angle of the rotor are determined according to the current control instructions, and the bus voltage and phase current of the winding are detected in real time. Thereafter, the corresponding target vector angle is determined according to the given angle. And, the target vector size is determined according to the determined given angle, given voltage, and the obtained bus current and bus voltage. Finally, the working state of the inverter bridge circuit is controlled according to the target vector angle and the target vector size to achieve rotor speed regulation and output regulation.

[0019] Among them, the target vector size determined by the given angle, given voltage, bus voltage and phase current can reflect the current load of the motor and the current fluctuation of the city voltage. By feedback-controlling the inverter bridge circuit through the target vector size and the target vector angle, on the one hand, the motor can adjust its working state according to the current load size, thereby solving the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient. On the other hand, the motor can adjust its working state according to the current city power fluctuation size, thereby solving the technical problems that the city current fluctuation is easy to reduce the output torque of the motor and the motor has poor anti-interference ability. Then the technical effect of optimizing the motor control method, improving the working reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor is achieved.

[0020] In addition, the control method of the motor provided by the present invention may also have the following additional technical features:

[0021] In the above technical solution, the step of determining the target vector size according to the given angle, the given voltage, the bus voltage and the phase current includes:

[0022] Determine the actual angle of the rotor according to the bus voltage, phase current and given voltage;

[0023] The target vector size is determined based on the given angle, actual angle, given voltage and bus voltage.

[0024] In this technical solution, in the process of determining the target vector size according to a given angle, a given voltage, a bus voltage and a phase current, the actual angle of the rotor is first determined according to the bus voltage, the phase current and the given voltage. Specifically, the bus voltage and the phase current can be substituted into the observer to estimate the actual angle of the rotor through the observer in combination with the given voltage. Thereafter, the target vector size is determined according to the given angle, the actual angle, the given voltage and the bus voltage. The difference between the given angle and the actual angle can reflect the size of the current load of the motor. When the motor load changes, the difference between the given angle and the actual angle will also change accordingly. Therefore, the target vector size determined by the given angle and the actual angle can match the current load of the motor to ensure that the output of the motor matches the current load. The change in the relationship between the given voltage and the bus voltage can reflect the fluctuation of the mains, so the target vector size determined by the given voltage and the bus voltage can match the fluctuation of the mains, ensuring that the output torque of the motor will not be affected by the fluctuation of the mains. Then, the technical effect of optimizing the motor control method, improving the working reliability and stability of the motor, improving the motor efficiency and reducing the power consumption of the motor is achieved.

[0025] In any of the above technical solutions, the step of determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage includes:

[0026] Determine the magnitude of a first vector according to a given angle and an actual angle;

[0027] Determine the magnitude of the second vector according to the given voltage and the bus voltage;

[0028] The second vector magnitude is compensated to the first vector magnitude to obtain the target vector magnitude.

[0029] In this technical solution, in the process of determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage, the first vector size is first determined according to the given angle and the actual angle, and the first vector size matches the current load size. Specifically, when the current load increases, the output of the motor can be increased by increasing the first vector size to avoid the problem of insufficient output under heavy load. Conversely, when the current load decreases, the output of the motor can be reduced by reducing the first vector size to avoid the technical problem of excessive power consumption under light load or no-load.

[0030] After determining the first vector magnitude, the second vector magnitude is determined according to the given voltage and the bus voltage collected in real time. The second vector magnitude is used to compensate the first vector magnitude to obtain the target vector magnitude that is ultimately used to control the operation of the inverter bridge circuit. Specifically, when the given voltage is greater than the bus voltage, a target vector magnitude greater than the first vector magnitude is obtained through a positive second vector magnitude. When the given voltage is less than the bus voltage, a target vector magnitude less than the first vector magnitude is obtained through a negative second vector magnitude. This ensures that the output torque of the motor is not disturbed by the fluctuation of the mains power supply, and solves the technical problem of poor anti-interference ability of the motor. This achieves the technical effect of optimizing the motor control method, improving the reliability and stability of the motor operation, improving the motor efficiency, and reducing the power consumption of the motor.

[0031] In any of the above technical solutions, the step of determining the target vector angle according to the given angle includes:

[0032] Determine the target sector according to a given angle;

[0033] The target vector angle is determined according to the target sector and the preset corresponding relationship.

[0034] In this technical solution, in the process of determining the target vector angle according to a given angle, the corresponding target sector is first determined according to the determined given angle. Taking the motor as a bidirectional claw-pole synchronous motor as an example, the motor includes six sectors, and the six sectors correspond to six angle intervals. The target sector can be determined by the interval in which the given angle falls. Afterwards, the target vector angle corresponding to the target sector is determined in combination with the preset corresponding relationship. Thereby reducing the difference between the given angle and the current angle, ensuring that the actual working state of the motor matches the current demand. Thereby achieving the technical effect of improving the motor control accuracy, improving the motor reliability and practicality.

[0035] In any of the above technical solutions, the inverter bridge circuit includes a plurality of switch tubes, and the steps of controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector magnitude include:

[0036] Determine a target duty cycle according to a target vector magnitude and a target vector angle;

[0037] Control multiple switch tubes to work according to the target duty cycle.

[0038] In this technical solution, the inverter bridge circuit includes multiple switch tubes, and the multiple switch tubes form multiple bridge arms. By controlling the on-off state of each bridge arm, the speed and output torque of the motor can be adjusted accordingly. Taking the motor as a bidirectional claw-pole synchronous motor as an example, the inverter bridge circuit can include three bridge arms, a one-phase winding is connected to the first bridge arm alone, a two-phase winding is connected to the third bridge arm alone, and a one-phase winding and a two-phase winding share the second bridge arm. The inverter bridge circuit can also include four bridge arms, a one-phase winding is connected to the first bridge arm and the second bridge arm, and a two-phase winding is connected to the third bridge arm and the fourth bridge arm. Among them, two switch tubes are connected in series on each bridge arm.

[0039] On this basis, in the process of controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector size, the target duty cycle is first determined according to the target vector size and the target vector angle, and then the switch states of multiple switch tubes are controlled by the target duty cycle, so as to accurately control the speed and output torque of the motor with the help of the inverter bridge circuit. This solves the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient, as well as the technical problems that the mains current fluctuations easily reduce the output torque of the motor and the motor has poor anti-interference ability. This achieves the technical effect of optimizing the motor control method, improving the reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor.

[0040] The second aspect of the present application provides a control device for a motor, wherein the motor includes a rotor, a winding and an inverter bridge circuit, wherein the winding is connected to a power supply via the inverter bridge circuit, and the control device of the motor includes: a first determination module, for determining a given voltage of the winding and a given angle of the rotor based on a control instruction, and obtaining a bus voltage and a phase current of the winding; a second determination module, for determining a target vector angle according to a given angle; a third determination module, for determining a target vector size according to a given angle, a given voltage, a bus voltage and a phase current; and a control module, for controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector size.

[0041] The present application defines a motor control device, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor, and the winding generates an electromagnetic field after being energized, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy. The motor also includes an inverter bridge circuit, the winding is connected to a power supply through the inverter bridge circuit, and the direct current is inverted into an alternating current with two-phase amplitude, adjustable frequency and a phase difference of 90 degrees through the inverter bridge circuit, so as to drive the claw-pole synchronous motor to rotate at a controlled speed through the alternating current.

[0042] On this basis, after the motor is turned on, the motor is controlled to work according to the control instruction. In this process, the first determination module determines the given voltage of the winding and the given angle of the rotor according to the current control instruction, and detects the bus voltage and phase current of the winding in real time. Thereafter, the second determination module determines the corresponding target vector angle according to the given angle. And, the third determination module determines the target vector size according to the determined given angle, given voltage, and the acquired bus current and bus voltage. The final control module controls the working state of the inverter bridge circuit according to the target vector angle and target vector size to achieve rotor speed regulation and output regulation.

[0043] Among them, the target vector size determined by the given angle, given voltage, bus voltage and phase current can reflect the current load of the motor and the current fluctuation of the city voltage. By feedback-controlling the inverter bridge circuit through the target vector size and the target vector angle, on the one hand, the motor can adjust its working state according to the current load size, thereby solving the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient. On the other hand, the motor can adjust its working state according to the current city power fluctuation size, thereby solving the technical problems that the city current fluctuation is easy to reduce the output torque of the motor and the motor has poor anti-interference ability. Then the technical effect of optimizing the motor control device, improving the working reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor is achieved.

[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; an inverter bridge circuit, the body is electrically connected to the power supply circuit through the inverter bridge circuit, and the inverter bridge circuit includes multiple switching tubes.

[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 an inverter bridge circuit. The three terminals of the winding are connected to the inverter bridge circuit. The inverter bridge circuit is connected to the power supply circuit. The power supply circuit transmits the electric energy output by the power supply to the inverter bridge circuit to control the working state of the motor through the inverter bridge circuit. After obtaining the control instruction, the inverter bridge circuit controls the working state of the motor by switching the connection state. At the same time, the inverter bridge 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] The inverter bridge circuit includes multiple switch tubes, which form multiple bridge arms. The speed and output torque of the motor can be adjusted accordingly by controlling the on-off state of each bridge arm. Taking the motor as a bidirectional claw-pole synchronous motor as an example, the inverter bridge circuit can include three bridge arms, a one-phase winding is connected to the first bridge arm alone, a two-phase winding is connected to the third bridge arm alone, and a one-phase winding and a two-phase winding share the second bridge arm. The inverter bridge circuit can also include four bridge arms, a one-phase winding is connected to the first bridge arm and the second bridge arm, and a two-phase winding is connected to the third bridge arm and the fourth bridge arm. Among them, two switch tubes are connected in series on each bridge arm.

[0054] In any of the above technical solutions, the multiple switch tubes include: 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.

[0055] In this technical solution, the inverter bridge circuit includes a first bridge arm, a second bridge arm and a third bridge arm connected in parallel. The first switch tube and the second switch tube are connected in series on the first bridge arm, 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 on the second bridge arm, 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 on the third bridge arm, 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.

[0056] 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 U applied to the first winding is generated between the first end and the second end. α , a second phase voltage U applied to the second winding is generated between the second end and the third end. β .

[0057] 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.

[0058] In any of the above technical solutions, the multiple switch tubes also include: a seventh switch tube, a first end of which is connected to a power supply circuit; an eighth switch tube, a first end of which is connected to a second end of the seventh switch tube, a second end of which is connected to a power supply circuit, and a fourth end of the body is connected to a common end of the seventh switch tube and the eighth switch tube.

[0059] In this technical solution, each phase winding in the motor has two terminals, and the inverter bridge circuit also includes a fourth bridge arm, and the first bridge arm, the second bridge arm, the third bridge arm and the fourth bridge arm are connected in parallel. Among them, the first end of the one-phase winding of the motor is connected to the first bridge arm and connected to the common end of the first switch tube and the second switch tube. The second end of the one-phase winding is connected to the second bridge arm and connected to the common end of the third switch tube and the fourth switch tube. The first end of the two-phase winding is connected to the third bridge arm and connected to the common end of the fifth switch tube and the sixth switch tube. The second end of the two-phase winding is connected to the fourth bridge arm and connected to the common end of the seventh switch tube and the eighth switch tube.

[0060] In any of the above technical solutions, the inverter bridge 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; a third resistor, a first end of the third resistor is connected to the inverter bridge circuit, and the second end of the third resistor is connected to the power supply circuit.

[0061] In this technical solution, the inverter bridge circuit also includes a first resistor and a second resistor. Specifically, the first resistor is arranged on the first bridge arm, 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 bridge arm, 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.

[0062] On this basis, the motor further includes a third resistor, the first bridge arm, the second bridge arm and the third bridge arm 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 inverter bridge circuit to determine the bus voltage of the motor through the total current of the inverter bridge 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.

[0063] In any of the above technical solutions, the power supply circuit includes: a bridge stack, wherein the first end and the second end of the bridge stack are used to connect to a power source; and a capacitor, wherein the first end of the capacitor is used to connect to the third end of the bridge stack, and the second end of the capacitor is used to connect to the fourth end of the bridge stack.

[0064] In this technical solution, the power supply circuit includes a bridge stack and a capacitor. The bridge stack includes four terminals. The first and second ends of the bridge stack are connected to the power supply and connected to the AC power. The third end of the bridge stack is connected to the first end of the capacitor. The fourth end of the bridge stack is connected to the second end of the capacitor. The first end of the inverter bridge circuit is connected between the third end of the bridge stack and the first end of the capacitor. The second end of the meter bridge circuit is connected between the third end of the bridge stack and the second end of the capacitor.

[0065] Among them, the mains electricity is rectified by the bridge stack and filtered by the capacitor to form 310V DC, which is then inverted through the bridge circuit to form two-phase AC with adjustable amplitude and frequency and a phase difference of 90 degrees, so that the speed and output torque of the motor can be adjusted.

[0066] 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.

[0067] 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.

[0068] In any of the above technical solutions, the cooking equipment includes: a wall breaking machine, a food processor or a blender.

[0069] When the cooking device is a wall breaking machine, the motor is used to drive the cutter head to rotate.

[0070] When the cooking device is a food processor, the motor is used to rotate the multifunctional cooking tool.

[0071] In the case where the cooking device is a blender, the motor is used to drive the blender to rotate.

[0072] 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

[0073] 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:

[0074] Figure 1 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0075] Figure 2 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0076] Figure 3 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0077] Figure 4 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0078] Figure 5 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0079] Figure 6 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0080] Figure 7 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0081] Figure 8 A circuit diagram of a motor according to an embodiment of the present invention is shown;

[0082] Fig. 9 A circuit diagram of a motor according to an embodiment of the present invention is shown;

[0083] Fig.10 shows a basic vector diagram of a motor according to an embodiment of the present invention;

[0084] Fig.11 A vector action time diagram within a single carrier cycle of a motor according to an embodiment of the present invention is shown;

[0085] Fig.12 shows a vector diagram and switching timing of sector 1 of a motor according to an embodiment of the present invention;

[0086] Fig.13 shows a vector diagram and switching timing of sector 6 of a motor according to one embodiment of the present invention;

[0087] Fig.14shows a vector diagram and switching time diagram of sector 5 of a motor according to an embodiment of the present invention;

[0088] Fig.15 shows a vector diagram and switching timing of sector 2 of a motor according to an embodiment of the present invention;

[0089] Fig.16 shows a vector diagram and switching timing of sector 4 of a motor according to an embodiment of the present invention;

[0090] Fig.17 A vector diagram and switching timings of sector 3 of an electric machine according to one embodiment of the present invention are shown.

[0091] in, Figure 8 and Fig. 9 The corresponding relationship between the reference numerals and component names is as follows:

[0092] 800 motor, 802 body, 8022 winding, 8024 rotor, 810 power supply circuit, C1 capacitor, GND1 grounding point, DB1 bridge stack, AC power supply, 820 inverter bridge 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, Q7 seventh switch tube, Q8 eighth switch tube, R1 first resistor, R2 second resistor, R3 third resistor, R4 fourth resistor, R5 fifth resistor. DETAILED DESCRIPTION

[0093] 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.

[0094] 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.

[0095] Refer to the following Figures 1 to 17 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.

[0096] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a motor, wherein the motor includes a rotor, a winding and an inverter bridge circuit, wherein the winding is connected to a power supply via the inverter bridge circuit, and the method for controlling the motor includes:

[0097] Step 102, determining a given voltage of the winding and a given angle of the rotor based on the control instruction, and obtaining a bus voltage and a phase current of the winding;

[0098] Step 104, determining the target vector angle according to the given angle;

[0099] Step 106, determining the target vector size according to the given angle, the given voltage, the bus voltage and the phase current;

[0100] Step 108, controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector magnitude.

[0101] The present application defines a control method for a motor, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor, the winding generates an electromagnetic field after being energized, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy. The motor also includes an inverter bridge circuit, the winding is connected to a power supply through the inverter bridge circuit, and the direct current is inverted into an alternating current with two-phase amplitude, adjustable frequency and a phase difference of 90 degrees through the inverter bridge circuit, so as to drive the claw-pole synchronous motor to rotate at a controlled speed through the alternating current.

[0102] On this basis, after the motor is turned on, the motor is controlled to work according to the control instructions. In this process, the given voltage of the winding and the given angle of the rotor are determined according to the current control instructions, and the bus voltage and phase current of the winding are detected in real time. Thereafter, the corresponding target vector angle is determined according to the given angle. And, the target vector size is determined according to the determined given angle, given voltage, and the obtained bus current and bus voltage. Finally, the working state of the inverter bridge circuit is controlled according to the target vector angle and the target vector size to achieve rotor speed regulation and output regulation.

[0103] Among them, the target vector size determined by the given angle, given voltage, bus voltage and phase current can reflect the current load of the motor and the current fluctuation of the city voltage. By feedback-controlling the inverter bridge circuit through the target vector size and the target vector angle, on the one hand, the motor can adjust its working state according to the current load size, thereby solving the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient. On the other hand, the motor can adjust its working state according to the current city power fluctuation size, thereby solving the technical problems that the city current fluctuation is easy to reduce the output torque of the motor and the motor has poor anti-interference ability. Then the technical effect of optimizing the motor control method, improving the working reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor is achieved.

[0104] like Figure 2 As shown, in the above embodiment, the step of determining the target vector size according to the given angle, the given voltage, the bus voltage and the phase current includes:

[0105] Step 202, determining the actual angle of the rotor according to the bus voltage, the phase current and the given voltage;

[0106] Step 204, determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage.

[0107] In this embodiment, in the process of determining the target vector size according to the given angle, given voltage, bus voltage and phase current, the actual angle of the rotor is first determined according to the bus voltage, phase current and given voltage. Specifically, the bus voltage and phase current can be substituted into the observer to estimate the actual angle of the rotor through the observer in combination with the given voltage. Thereafter, the target vector size is determined according to the given angle, actual angle, given voltage and bus voltage. The difference between the given angle and the actual angle can reflect the size of the current load of the motor. When the motor load changes, the difference between the given angle and the actual angle will also change accordingly. Therefore, the target vector size determined by the given angle and the actual angle can match the current load of the motor to ensure that the output of the motor matches the current load. The change in the relationship between the given voltage and the bus voltage can reflect the fluctuation of the mains, so the target vector size determined by the given voltage and the bus voltage can match the fluctuation of the mains, ensuring that the output torque of the motor will not be affected by the fluctuation of the mains. Then, the technical effect of optimizing the motor control method, improving the working reliability and stability of the motor, improving the motor efficiency and reducing the power consumption of the motor is achieved.

[0108] like Figure 3 As shown, in any of the above embodiments, the step of determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage includes:

[0109] Step 302, determining the magnitude of the first vector according to the given angle and the actual angle;

[0110] Step 304, determining the magnitude of the second vector according to the given voltage and the bus voltage;

[0111] Step 306 , compensating the second vector magnitude to the first vector magnitude to obtain a target vector magnitude.

[0112] In this embodiment, in the process of determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage, the first vector size is first determined according to the given angle and the actual angle, and the first vector size matches the current load size. Specifically, when the current load increases, the output of the motor can be increased by increasing the first vector size to avoid the problem of insufficient heavy-load output. Conversely, when the current load decreases, the output of the motor can be reduced by reducing the first vector size to avoid the technical problem of excessive power consumption under light load or no-load.

[0113] After determining the first vector magnitude, the second vector magnitude is determined according to the given voltage and the bus voltage collected in real time. The second vector magnitude is used to compensate the first vector magnitude to obtain the target vector magnitude that is ultimately used to control the operation of the inverter bridge circuit. Specifically, when the given voltage is greater than the bus voltage, a target vector magnitude greater than the first vector magnitude is obtained through a positive second vector magnitude. When the given voltage is less than the bus voltage, a target vector magnitude less than the first vector magnitude is obtained through a negative second vector magnitude. This ensures that the output torque of the motor is not disturbed by the fluctuation of the mains power supply, and solves the technical problem of poor anti-interference ability of the motor. This achieves the technical effect of optimizing the motor control method, improving the reliability and stability of the motor operation, improving the motor efficiency, and reducing the power consumption of the motor.

[0114] like Figure 4 As shown, in any of the above embodiments, the step of determining the target vector angle according to the given angle includes:

[0115] Step 402, determining a target sector according to a given angle;

[0116] Step 404: determine the target vector angle according to the target sector and the preset corresponding relationship.

[0117] In this embodiment, in the process of determining the target vector angle according to the given angle, the corresponding target sector is first determined according to the determined given angle. Taking the motor as a bidirectional claw-pole synchronous motor as an example, the motor includes six sectors, and the six sectors correspond to six angle intervals. The target sector can be determined by the interval in which the given angle falls. Thereafter, the target vector angle corresponding to the target sector is determined in combination with the preset corresponding relationship. Thereby reducing the difference between the given angle and the current angle, ensuring that the actual working state of the motor matches the current demand. Thereby achieving the technical effect of improving the motor control accuracy, improving the motor reliability and practicality.

[0118] like Figure 5 As shown, in any of the above embodiments, the inverter bridge circuit includes a plurality of switch tubes, and the steps of controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector magnitude include:

[0119] Step 502, determining a target duty cycle according to a target vector size and a target vector angle;

[0120] Step 504, controlling the operation of multiple switch tubes according to the target duty cycle.

[0121] In this embodiment, the inverter bridge circuit includes a plurality of switch tubes, and the plurality of switch tubes form a plurality of bridge arms. By controlling the on-off state of each bridge arm, the speed and output torque of the motor can be adjusted accordingly. Taking the motor as a bidirectional claw-pole synchronous motor as an example, the inverter bridge circuit may include three bridge arms, a one-phase winding is connected to the first bridge arm alone, a two-phase winding is connected to the third bridge arm alone, and a one-phase winding and a two-phase winding share the second bridge arm. The inverter bridge circuit may also include four bridge arms, a one-phase winding is connected to the first bridge arm and the second bridge arm, and a two-phase winding is connected to the third bridge arm and the fourth bridge arm. Two switch tubes are connected in series on each bridge arm.

[0122] On this basis, in the process of controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector size, the target duty cycle is first determined according to the target vector size and the target vector angle, and then the switch states of multiple switch tubes are controlled by the target duty cycle, so as to accurately control the speed and output torque of the motor with the help of the inverter bridge circuit. This solves the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient, as well as the technical problems that the mains current fluctuations easily reduce the output torque of the motor and the motor has poor anti-interference ability. This achieves the technical effect of optimizing the motor control method, improving the reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor.

[0123] Specifically, the inverter circuit includes 6 switch tubes, which form 3 bridge arms, and the control signals of each bridge arm are complementary. Different switch signals can form the basic control vectors shown in Table 1 below.

[0124] Q1 Q3 Q5 <![CDATA[U α ]]> <![CDATA[U β ]]> 0 0 0 0 0 1 0 0 Udc 0 1 1 0 0 -Udc 0 1 0 -Udc -Udc 0 1 1 -Udc 0 0 0 1 0 Udc 1 0 1 Udc Udc 1 1 1 0 0

[0125] Table 1

[0126] Among them, Q1 is the first switch tube, Q3 is the third switch tube, Q5 is the fifth switch tube, and 0 in the first three columns represents the disconnected state, and 1 represents the connected state.

[0127] U α Represents the first phase voltage, U β represents the second phase voltage, 0 in the fourth and fifth columns represents the voltage is 0, Udc represents the output positive voltage, and -Udc represents the output negative voltage.

[0128] Fig.10 shows the basic vector diagram of the motor. Fig.10 Based on this, the target sector can be determined by a given angle. Fig.10 In addition to the α-axis and the β-axis, there is also a split axis. Fig.10 Six regions are divided into six regions, corresponding to six sectors, wherein two basic vectors are shown in each sector, and the α-axis, the β-axis and the two directions of the dividing axis all indicate the corresponding switching states of Q1, Q3, and Q5.

[0129] On this basis, the calculation formula of the sector vector action time is as follows:

[0130]

[0131] Among them, X is the first time, Y is the second time, Z is the third time, and u α is the first phase voltage, u dc is the bus voltage, u β is the second phase voltage, θ is the current angle of the rotor, T is the first unit carrier time, and the first unit carrier time can be specifically 100 microseconds.

[0132] The voltage vector can be represented by equivalent basic vectors i, j, and i+j:

[0133] U dc ×T=i×cos(θ)×T+j×sin(θ)×T=i×X+j×Y=i×(cos(θ)-sin(θ))×T+(i+j)×sin(θ)×T

[0134] =i×Z+(i+j)×Y=cos(θ)×T×(i+j)-j×(cos(θ)-sin(θ))×T=(i+j)×Xj×Z.

[0135] On this basis, Table 2 below shows the action time of each sector vector.

[0136]

[0137] Table 2

[0138] After calculating the vector action time through the above formula, the switching time between the zero vector and the two basic synthetic vectors in a single carrier cycle can be further calculated as follows:

[0139]

[0140] Among them, Ta is the action time of the zero vector, Tb and Tc are the action times of the two basic vectors, corresponding to the switching durations of the three bridge arms, T1 is the second unit carrier time, and T2 is the third unit carrier time.

[0141] Fig.11 The vector action time within a single carrier cycle is shown.

[0142] On this basis, Fig.12 The vector and switching time of sector 1 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively;

[0143] Fig.13The vector and switching time of sector 6 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively;

[0144] Fig.14 The vector and switching time of sector 5 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively;

[0145] Fig.15 The vector and switching time of sector 2 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively;

[0146] Fig.16 The vector and switching time of sector 4 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively;

[0147] Fig.17 The vectors and switching times of sector 3 are shown, and the three lines from top to bottom correspond to the first bridge arm, the second bridge arm and the third bridge arm respectively.

[0148] On this basis, the switching times of the three bridge arms in different sectors are as shown in Table 3:

[0149] Sector 1 5 4 6 2 3 Tcm1 Ta Tb Tc Tc Tb Ta Tcm2 Tc Tc Tb Ta Ta Tb Tcm3 Tb Ta Ta Tb Tc Tc

[0150] Table 3

[0151] Tcm1 is the first target duty cycle, corresponding to the first bridge arm, Tcm2 is the second target duty cycle, corresponding to the second bridge arm, and Tcm3 is the third target duty cycle, corresponding to the third bridge arm.

[0152] like Figure 6 As shown, an embodiment of the present application provides a control device 600 for a motor, wherein the motor includes a rotor, a winding and an inverter bridge circuit, wherein the winding is connected to a power supply via the inverter bridge circuit, and the control device 600 for the motor includes: a first determination module 602, for determining a given voltage of the winding and a given angle of the rotor based on a control instruction, and obtaining a bus voltage and a phase current of the winding; a second determination module 604, for determining a target vector angle according to a given angle; a third determination module 606, for determining a target vector size according to a given angle, a given voltage, a bus voltage and a phase current; and a control module 608, for controlling the operation of the inverter bridge circuit according to a target vector angle and a target vector size.

[0153] The present application defines a motor control device 600, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor, the winding generates an electromagnetic field when energized, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy. The motor also includes an inverter bridge circuit, the winding is connected to a power source through the inverter bridge circuit, and the direct current is inverted into an alternating current with two-phase amplitude, adjustable frequency and a phase difference of 90 degrees through the inverter bridge circuit, so as to drive the claw-pole synchronous motor to rotate at a controlled speed through the alternating current.

[0154] On this basis, after the motor is turned on, the motor is controlled to work according to the control instruction. In this process, the first determination module 602 determines the given voltage of the winding and the given angle of the rotor according to the current control instruction, and detects the bus voltage and phase current of the winding in real time. Thereafter, the second determination module 604 determines the corresponding target vector angle according to the given angle. And, the third determination module 606 determines the target vector size according to the determined given angle, given voltage, and the acquired bus current and bus voltage. The final control module 608 controls the working state of the inverter bridge circuit according to the target vector angle and the target vector size to achieve the speed regulation and output regulation of the rotor.

[0155] Among them, the target vector size determined by the given angle, given voltage, bus voltage and phase current can reflect the current load of the motor and the current fluctuation of the city voltage. By feedback-controlling the inverter bridge circuit through the target vector size and the target vector angle, on the one hand, the motor can adjust its working state according to the current load size, thereby solving the technical problems that the motor output is always fixed, the light load power consumption is high, and the heavy load output is insufficient. On the other hand, the motor can adjust its working state according to the current city power fluctuation size, thereby solving the technical problems that the city current fluctuation is easy to reduce the output torque of the motor and the motor has poor anti-interference ability. Then the technical effect of optimizing the motor control device, improving the working reliability and stability of the motor, improving the motor efficiency, and reducing the power consumption of the motor is achieved.

[0156] like Figure 7 As shown, an embodiment of the present invention provides a motor control device 700, which includes: a memory 702, in which programs or instructions are stored; a processor 704, which executes the programs or instructions stored in the memory 702 to implement the steps of the motor control method in any of the above embodiments.

[0157] In this embodiment, a motor control device 700 is proposed, and the motor control device 700 includes a memory 702 and a processor 704. The processor 704 can implement the motor control method in any of the above embodiments by executing the program or instruction stored in the memory 702. Therefore, the motor control device 700 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.

[0158] An embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. 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.

[0159] 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.

[0160] like Figure 8 As shown, an embodiment of the present invention provides a motor 800, and the motor 800 includes: a control device for the motor in any of the above embodiments, and / or a readable storage medium in the above embodiments.

[0161] In this embodiment, a motor 800 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 800 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 800 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.

[0162] like Figure 8 As shown, in any of the above embodiments, the motor 800 further includes: a body 802, including a rotor 8024; a power supply circuit 810; an inverter bridge circuit 820, the body 802 is electrically connected to the power supply circuit 810 through the inverter bridge circuit 820, and the inverter bridge circuit 820 includes a plurality of switch tubes. Among them, the power supply circuit 810 includes a grounding point GND1, and the inverter bridge circuit further includes a fourth resistor R4 and a fifth resistor R5, and the fourth resistor R4 and the fifth resistor R5 are used to detect the bus voltage.

[0163] In this embodiment, the motor 800 further includes a body 802, in which a winding 8022 and a rotor 8024 are disposed, the winding 8022 includes a first winding 8022 and a second winding 8022, and the first winding 8022 and the second winding 8022 have three terminals, namely, a first end, a second end, and a third end. When the winding 8022 is energized, the rotor 8024 rotates under the action of an electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0164] On this basis, the motor 800 also includes a power supply circuit 810 and an inverter bridge circuit 820. The three terminals of the winding 8022 are connected to the inverter bridge circuit 820. The inverter bridge circuit 820 is connected to the power supply circuit 810. The power supply circuit 810 transmits the electric energy output by the power supply AC to the inverter bridge circuit 820 to control the working state of the motor 800 through the inverter bridge circuit 820. After obtaining the control instruction, the inverter bridge circuit 820 controls the working state of the motor 800 by switching the connection state. At the same time, the inverter bridge circuit 820 also has the ability to collect working parameters during the working process, so as to adjust the working state of the motor 800 in time according to the collected working parameters.

[0165] The inverter bridge circuit 820 includes a plurality of switch tubes, and the plurality of switch tubes form a plurality of bridge arms. By controlling the on-off state of each bridge arm, the speed and output torque of the motor 800 can be adjusted accordingly. Taking the motor 800 as a bidirectional claw-pole synchronous motor 800 as an example, the inverter bridge circuit 820 can include three bridge arms, the one-phase winding 8022 is connected to the first bridge arm alone, the two-phase winding 8022 is connected to the third bridge arm alone, and the one-phase winding 8022 and the two-phase winding 8022 share the second bridge arm. The inverter bridge circuit 820 can also include four bridge arms, the one-phase winding 8022 is connected to the first bridge arm and the second bridge arm, and the two-phase winding 8022 is connected to the third bridge arm and the fourth bridge arm. Two switch tubes are connected in series on each bridge arm.

[0166] like Figure 8As shown, in any of the above embodiments, the plurality of switch tubes include: a first switch tube Q1, a first end of the first switch tube Q1 is connected to the power supply circuit 810; 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, a second end of the second switch tube Q2 is connected to the power supply circuit 810, a first end of the body 802 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 810; a fourth switch tube Q4, a first end of the fourth switch tube Q4 is connected to the power supply circuit 810; The first end of the main body 802 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 810; 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 810, and the third end of the main body 802 is connected to the common end of the fifth switch tube Q5 and the sixth switch tube Q6.

[0167] In this embodiment, the inverter bridge circuit 820 includes a first bridge arm, a second bridge arm, and a third bridge arm connected in parallel. Among them, the first switch tube Q1 and the second switch tube Q2 are connected in series on the first bridge arm, 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 810. The third switch tube Q3 and the fourth switch tube Q4 are connected in series on the second bridge arm, 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 810. The fifth switch tube Q5 and the sixth switch tube Q6 are connected in series on the third bridge arm, 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 810.

[0168] On this basis, the first end of the winding 8022 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 8022 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 8022 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 8022 and the second winding 8022 share a second end, a first voltage Ua applied to the first winding 8022 is generated between the first end and the second end, and a second voltage Ub applied to the second winding 8022 is generated between the second end and the third end.

[0169] During the operation of the motor 800, the working state of the motor 800 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 800 matches the current load.

[0170] like Fig. 9As shown, in any of the above embodiments, the multiple switch tubes also include: a seventh switch tube Q7, a first end of the seventh switch tube Q7 is connected to the power supply circuit 810; an eighth switch tube Q8, a first end of the eighth switch tube Q8 is connected to the second end of the seventh switch tube Q7, a second end of the eighth switch tube Q8 is connected to the power supply circuit 810, and a fourth end of the body 802 is connected to a common end of the seventh switch tube Q7 and the eighth switch tube Q8.

[0171] In this embodiment, each phase winding 8022 in the motor 800 has two terminals, and the inverter bridge circuit 820 also includes a fourth bridge arm, and the first bridge arm, the second bridge arm, the third bridge arm and the fourth bridge arm are connected in parallel. Among them, the first end of the one-phase winding 8022 of the motor 800 is connected to the first bridge arm and connected to the common end of the first switch tube Q1 and the second switch tube Q2. The second end of the one-phase winding 8022 is connected to the second bridge arm and connected to the common end of the third switch tube Q3 and the fourth switch tube Q4. The first end of the two-phase winding 8022 is connected to the third bridge arm and connected to the common end of the fifth switch tube Q5 and the sixth switch tube Q6. The second end of the two-phase winding 8022 is connected to the fourth bridge arm and connected to the common end of the seventh switch tube Q7 and the eighth switch tube Q8.

[0172] like Figure 8 and Fig. 9 As shown, in any of the above embodiments, the inverter bridge circuit 820 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 810; 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 810; a third resistor R3, a first end of the third resistor R3 is connected to the inverter bridge circuit 820, and a second end of the third resistor R3 is connected to the power supply circuit 810.

[0173] In this embodiment, the inverter bridge circuit 820 also includes a first resistor R1 and a second resistor R2. Specifically, the first resistor R1 is arranged on the first bridge arm, 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 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 810. The first resistor R1 is used to detect the first phase current Ia. The second resistor R2 is arranged on the third bridge arm, 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 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 810. 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 8024, so as to generate the debugged control instruction in conjunction with the given angle, so that the working state of the motor 800 matches the current load.

[0174] On this basis, the motor 800 further includes a third resistor R3, the first bridge arm, the second bridge arm and the third bridge arm 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 810, and the third resistor R3 is used to detect the total current of the inverter bridge circuit 820, so as to determine the bus voltage of the motor 800 through the total current of the inverter bridge circuit 820. The bus voltage is used to determine the current angle of the rotor 8024, so as to generate a debugged control instruction in conjunction with the given angle, so that the working state of the motor 800 matches the current load.

[0175] like Figure 8 and Fig. 9 As shown, in any of the above embodiments, the power supply circuit 810 includes: a bridge stack DB1, wherein the first end and the second end of the bridge stack DB1 are used to connect to the power supply AC; a capacitor C1, wherein the first end of the capacitor C1 is used to connect to the third end of the bridge stack DB1, and the second end of the capacitor C1 is used to connect to the fourth end of the bridge stack DB1.

[0176] In this embodiment, the power supply circuit 810 includes a bridge stack DB1 and a capacitor C1. The bridge stack DB1 includes four connection terminals. The first and second ends of the bridge stack DB1 are connected to the power supply AC and connected to the AC power. The third end of the bridge stack DB1 is connected to the first end of the capacitor C1. The fourth end of the bridge stack DB1 is connected to the second end of the capacitor C1. The first end of the inverter bridge circuit 820 is connected between the third end of the bridge stack DB1 and the first end of the capacitor C1. The second end of the bridge circuit is connected between the third end of the bridge stack DB1 and the second end of the capacitor C1.

[0177] The AC power is rectified by bridge stack DB1 and filtered by capacitor C1 to form 310V DC power, which is then inverted by your bridge circuit to form two-phase AC power with adjustable amplitude and frequency and a phase difference of 90 degrees, so that the speed and output torque of motor 800 can be adjusted.

[0178] An embodiment of the present invention provides a cooking device, which includes: a base; and a motor such as that in any of the above embodiments, which is arranged on the base.

[0179] In this embodiment, a cooking device is defined that is provided with a motor in any of the above embodiments. Therefore, the cooking device has the advantages possessed by the motor in any of the above embodiments, and can achieve the technical effects that can be achieved by the motor in any of the above embodiments. To avoid repetition, it will not be described here.

[0180] In any of the above embodiments, the cooking device includes: a wall breaking machine, a food processor or a blender.

[0181] When the cooking device is a wall breaking machine, the motor is used to drive the cutter head to rotate.

[0182] When the cooking device is a food processor, the motor is used to rotate the multifunctional cooking tool.

[0183] In the case where the cooking device is a blender, the motor is used to drive the blender to rotate.

[0184] 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.

[0185] 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.

[0186] 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 comprises a rotor, a winding and an inverter bridge circuit, the winding is connected to a power supply via the inverter bridge circuit, and the control method comprises: Determine a given voltage of the winding and a given angle of the rotor based on a control instruction, and obtain a bus voltage and a phase current of the winding; Determine the target vector angle according to the given angle; Determine a target vector size according to the given angle, the given voltage, the bus voltage and the phase current; The inverter bridge circuit is controlled to operate according to the target vector angle and the target vector size.

2. The motor control method according to claim 1, characterized in that: The step of determining the target vector size according to the given angle, the given voltage, the bus voltage and the phase current comprises: Determine the actual angle of the rotor according to the bus voltage, the phase current and the given voltage; The target vector size is determined according to the given angle, the actual angle, the given voltage and the bus voltage.

3. The motor control method according to claim 2, characterized in that: The step of determining the target vector size according to the given angle, the actual angle, the given voltage and the bus voltage comprises: Determine a first vector magnitude according to the given angle and the actual angle; Determine the magnitude of the second vector according to the given voltage and the bus voltage; The second vector magnitude is compensated to the first vector magnitude to obtain the target vector magnitude.

4. The motor control method according to claim 1, characterized in that: The step of determining the target vector angle according to the given angle comprises: Determine a target sector according to the given angle; The target vector angle is determined according to the target sector and a preset corresponding relationship.

5. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: The inverter bridge circuit includes a plurality of switch tubes, and the step of controlling the operation of the inverter bridge circuit according to the target vector angle and the target vector magnitude includes: Determining a target duty cycle according to the target vector magnitude and the target vector angle; The multiple switch tubes are controlled to operate according to the target duty cycle.

6. A control device for a motor, characterized in that: The motor comprises a rotor, a winding and an inverter bridge circuit, the winding is connected to a power supply via the inverter bridge circuit, and the control device comprises: A first determination module, used to determine a given voltage of the winding and a given angle of the rotor based on a control instruction, and obtain a bus voltage and a phase current of the winding; A second determination module, used to determine the target vector angle according to the given angle; A third determination module, configured to determine a target vector size according to the given angle, the given voltage, the bus voltage and the phase current; A control module is used to control the operation of the inverter bridge circuit according to the target vector angle and the target vector size.

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, comprising the winding and the rotor; Power supply circuit; An inverter bridge circuit, the main body is electrically connected to the power supply circuit through the inverter bridge circuit, and the inverter bridge circuit includes a plurality of switch tubes.

11. The motor according to claim 10, characterized in that The plurality of switch tubes include: 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 body 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 body 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 the 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.

12. The motor according to claim 11, characterized in that The plurality of switch tubes further include: a seventh switch tube, wherein a first end of the seventh switch tube is connected to the power supply circuit; An eighth switch tube, wherein the first end of the eighth switch tube is connected to the second end of the seventh switch tube, the second end of the eighth switch tube is connected to the power supply circuit, and the fourth end of the body is connected to the common end of the seventh switch tube and the eighth switch tube.

13. The motor according to claim 11, characterized in that The inverter bridge circuit also 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; A third resistor, wherein a first end of the third resistor is connected to the inverter bridge circuit, and a second end of the third resistor is connected to the power supply circuit.

14. The electric machine according to any one of claims 10 to 13, characterized in that The power supply circuit comprises: A bridge stack, wherein the first end and the second end of the bridge stack are used to connect to a power source; A capacitor, wherein a first end of the capacitor is used to connect to the third end of the bridge stack, and a second end of the capacitor is used to connect to the fourth end of the bridge stack.

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

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

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