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 control method comprises the steps of obtaining phase current and phase voltage of a motor; controlling the motor to operate in a first mode on the basis that the phase current and the phase voltage meet preset conditions, and controlling the motor to operate in a second mode on the basis that the phase current and the phase voltage do not meet the preset conditions; wherein the rotation direction of the motor in the first mode is different from the rotation direction of the motor in the second mode.

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, it is difficult to detect and protect claw-pole synchronous motors when the motor is stalled, which causes the motor temperature to rise when it is stalled, resulting in the product being prone to failure and a poor user experience.

[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, the method comprising:

[0012] Get the phase current and phase voltage of the motor;

[0013] Based on the phase current and the phase voltage satisfying the preset conditions, the motor is controlled to operate in the first mode; based on the phase current and the phase voltage not satisfying the preset conditions, the motor is controlled to operate in the second mode;

[0014] The rotation direction of the motor in the first mode is different from the rotation direction of the motor in the second mode.

[0015] The present application defines a motor control method, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor. When the winding is energized, the rotor rotates under the action of the electromagnetic field generated by the winding to convert electrical energy into outputtable mechanical energy.

[0016] Specifically, after the motor is turned on, it runs in the first mode or the second mode according to the control instruction, wherein the direction of the motor in the first mode is opposite to the direction of the motor in the second mode. Taking the second mode as the forward mode as an example, the first mode is the reverse mode.

[0017] During this operation, the phase current and phase voltage of the motor are collected in real time, and after the phase current and phase voltage are obtained, it is determined whether the phase current and phase voltage meet the preset conditions, which are used to determine whether the motor is blocked. If the judgment result is that the phase voltage and phase current meet the preset conditions, it proves that the motor currently has a blocked problem, and then the motor is controlled to run in the first mode, that is, the motor is controlled to reverse, for blocked protection. On the contrary, if the judgment result is that the phase voltage and phase current do not meet the preset conditions, it proves that the motor currently does not have a blocked problem, and then the motor is controlled to run in the second mode, that is, the corresponding function is executed by controlling the motor to rotate forward.

[0018] It can be seen that the present application can detect motor stall faults by judging whether the phase current and phase voltage meet the preset conditions. On this basis, when it is determined that the motor has a stall problem, the stall problem can be troubleshooted by controlling the motor reversal to protect the motor. This solves the technical problems in the related art that the motor stall problem cannot be detected and protected, the motor is prone to failure due to stall temperature rise, and the user experience is poor. This achieves the technical effect of optimizing the motor control method, improving the safety and reliability of the motor, reducing the motor failure rate, and improving the user experience.

[0019] In addition, the control method of the motor provided by the present invention may also have the following additional technical features:

[0020] In the above technical solution, before the step of controlling the motor to operate in the first mode based on the phase current and the phase voltage satisfying the preset condition and controlling the motor to operate in the second mode based on the phase current and the phase voltage not satisfying the preset condition, the control method further includes:

[0021] determining a first threshold value according to the phase voltage;

[0022] The preset conditions include a first preset condition, which is:

[0023] The phase current is greater than a first threshold.

[0024] In this technical solution, the preset condition includes a first preset condition. Specifically, before the step of controlling the motor to operate in the first mode based on the phase current and phase voltage satisfying the preset condition, and controlling the motor to operate in the second mode based on the phase current and phase voltage not satisfying the preset condition, it is necessary to determine the first threshold value according to the phase voltage, and compare the magnitude relationship between the phase current and the first threshold value after determining the first threshold value. If the phase current is greater than the first threshold value, it is determined that the first preset condition is satisfied, indicating that the motor currently has a stall problem, and the motor is then controlled to enter the first mode corresponding to the reverse rotation. On the contrary, if the phase current is less than or equal to the first threshold value, it is determined that the first preset condition is not satisfied, indicating that the motor currently does not have a stall problem, and the motor is then controlled to enter the second mode corresponding to the forward rotation, so as to realize the corresponding function through the forward rotating motor.

[0025] When the motor is stuck, the phase current of the motor will increase, and the first threshold determined by the phase voltage can be used to determine whether the current phase current of the motor has reached the stall fault value, thereby accurately detecting the motor stall fault, thereby achieving the technical effect of improving the motor control accuracy and reducing the motor failure rate.

[0026] Specifically, when the motor is stalled, the back electromotive force is zero, and the calculation formula for the corresponding motor stall current is:

[0027] I0=U÷(R s +j×ω×L);

[0028] Among them, I0 is the locked-rotor current, U is the phase voltage, R s is the one-phase internal resistance of the claw-pole synchronous motor, j is the imaginary unit, ω is the current frequency, and L is the one-phase inductance of the claw-pole synchronous motor.

[0029] When the motor is operating normally, the calculation formula for the maximum current of the motor is:

[0030] I1=(UV FB )÷(R s +j×ω×L);

[0031] V FB =ω×ψ;

[0032] Where I1 is the maximum current, V FB is the back electromotive force, ψ is the motor flux.

[0033] Combining the above formula, the calculation formula of the first threshold is:

[0034] I block =(I0+I1)÷2=[(U-ω×ψ)÷2]÷(R s +j×ω×L);

[0035] Among them, I blockis the first threshold.

[0036] In any of the above technical solutions, the motor includes a rotor, and before the step of controlling the motor to operate in a first mode based on the phase current and the phase voltage satisfying a preset condition, and controlling the motor to operate in a second mode based on the phase current and the phase voltage not satisfying the preset condition, the control method further includes:

[0037] Determine a given voltage of the motor and a given angle of the rotor based on the current control command;

[0038] Determine the actual angle of the rotor according to the phase voltage, phase current and given voltage;

[0039] The preset condition also includes a second preset condition, which is:

[0040] The difference between the given angle and the actual angle is greater than a second threshold.

[0041] In this technical solution, the preset condition includes a second preset condition. Specifically, before the step of controlling the motor to operate in the first mode based on the phase current and phase voltage satisfying the preset condition and controlling the motor to operate in the second mode based on the phase current and phase voltage not satisfying the preset condition, it is necessary to determine the corresponding given voltage and the given angle of the rotor based on the current control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. Thereafter, the current actual angle of the rotor is determined by the phase voltage, the phase current and the given voltage, and specifically, the phase voltage, the phase current and the given voltage can be substituted into the observer to estimate the actual angle of the rotor through the observer.

[0042] After determining the given angle and the actual angle, a difference operation is performed on the given angle and the actual angle to obtain the angle difference. If the angle difference is greater than the second threshold, it is determined that the second preset condition is met, indicating that the motor currently has a stall problem, and the motor is then controlled to enter the first mode corresponding to the reverse rotation. On the contrary, if the angle difference is less than or equal to the second threshold, it is determined that the preset condition is not met, indicating that the motor currently does not have a stall problem, and the motor is then controlled to enter the second mode corresponding to the forward rotation, so as to realize the corresponding function through the forward rotating motor.

[0043] When the motor is stuck, the gap between the given angle and the actual angle will increase, and the second threshold can be used to determine whether the current angle difference of the motor has reached the stall fault value, thereby accurately detecting the motor stall fault, thereby achieving the technical effect of improving the motor control accuracy and reducing the motor failure rate.

[0044] Specifically, the angle difference is calculated as: θ dif =θ openloop -θ obs ;

[0045] Among them, θ difis the angle difference, θ openloop For a given angle, θ obs is the actual angle.

[0046] In any of the above technical solutions, the step of controlling the motor to operate in the first mode includes: counting the number of times the phase current and phase voltage meet the second preset condition; and controlling the motor to operate in the first mode based on the count value reaching a third threshold.

[0047] In this technical solution, after determining that the angle difference is greater than the second threshold, the number of times the angle difference is greater than the second threshold is counted. If the count value reaches the third threshold, it proves that the rotor angle lag is not an accidental phenomenon, confirming that the motor currently has a stall problem, and then the motor is controlled to enter the first mode corresponding to the reversal to complete the stall fault investigation and protect the motor.

[0048] By limiting the above control steps, it is possible to avoid misjudgment of a stall fault caused by an accidental increase in the angle difference, and prevent the motor from entering the first mode under a non-stall fault, thereby achieving the technical effect of improving the control accuracy of the motor and improving the working reliability and stability of the motor.

[0049] In any of the above technical solutions, after the step of controlling the motor to operate in the first mode, the method further includes: switching the working mode of the motor to the second mode based on the operating time of the first mode being greater than or equal to the preset time.

[0050] In this technical solution, after the motor is controlled to run in the first mode based on the phase current and phase voltage meeting the preset conditions, the running time of the motor in the first mode is timed. If the running time is greater than or equal to the preset time, it proves that the stall fault troubleshooting operation is completed, and then the motor is controlled to switch to the second mode corresponding to forward rotation to restore the normal function of the motor. Thereafter, if the phase current and phase voltage meet the preset conditions again, the second troubleshooting operation is performed, and this cycle is repeated.

[0051] By limiting the above control steps, the motor can resume forward rotation in time after the stall fault is eliminated, thus preventing the stall fault from affecting the working efficiency of the motor and preventing the reverse electrode from damaging the corresponding functions of related products.

[0052] In view of this, the second aspect of the present invention provides a control device for a motor, the control device for the motor comprising: an acquisition module, for acquiring the phase current and phase voltage of the motor; a control module, based on the phase current and phase voltage satisfying a preset condition, the control module controls the motor to operate in a first mode, and based on the phase current and phase voltage not satisfying the preset condition, the control module controls the motor to operate in a second mode; wherein the direction of rotation of the motor in the first mode is different from the direction of rotation of the motor in the second mode.

[0053] 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. When the winding is energized, the rotor rotates under the action of the electromagnetic field generated by the winding to convert electrical energy into outputtable mechanical energy.

[0054] Specifically, after the motor is turned on, it runs in the first mode or the second mode according to the control instruction, wherein the direction of the motor in the first mode is opposite to the direction of the motor in the second mode. Taking the second mode as the forward mode as an example, the first mode is the reverse mode.

[0055] During this operation, the acquisition module collects the phase current and phase voltage of the motor in real time, and after obtaining the phase current and phase voltage, it determines whether the phase current and phase voltage meet the preset conditions, which are used to determine whether the motor is blocked. If the judgment result is that the phase voltage and phase current meet the preset conditions, it proves that the motor currently has a blocked problem, and the control module immediately controls the motor to run in the first mode, that is, controls the motor to reverse, to perform blocked protection. On the contrary, if the judgment result is that the phase voltage and phase current do not meet the preset conditions, it proves that the motor currently does not have a blocked problem, and the control module immediately controls the motor to run in the second mode, that is, by controlling the motor to rotate forward to perform the corresponding function.

[0056] It can be seen that the present application can detect motor stall faults by judging whether the phase current and phase voltage meet the preset conditions. On this basis, when it is determined that the motor has a stall problem, the stall problem can be troubleshooted by controlling the motor reversal to protect the motor. This solves the technical problems in the related art that the motor stall problem cannot be detected and protected, the motor is prone to failure due to stall temperature rise, and the user experience is poor. This further achieves the technical effect of optimizing the motor control device, improving the safety and reliability of the motor, reducing the motor failure rate, and improving the user experience.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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, a first voltage Ua applied to the first winding is generated between the first end and the second end, and a second voltage Ub applied to the second winding is generated between the second end and the third end.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] In any of the above technical solutions, the cooking equipment includes: a wall breaking machine, a food processor or a blender.

[0077] When the cooking device is a wall breaking machine, the motor is used to drive the cutter head to rotate.

[0078] When the cooking device is a food processor, the motor is used to drive the tool that executes the corresponding cooking steps to rotate.

[0079] In the case where the cooking device is a blender, the motor is used to drive the blender to rotate.

[0080] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] 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:

[0082] Figure 1 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0083] Figure 2 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0084] Figure 3 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0085] Figure 4 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0086] Figure 5 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0087] Figure 6 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0088] Figure 7 A circuit diagram of a motor according to an embodiment of the present invention is shown.

[0089] in, Figure 7 The corresponding relationship between the reference numerals and component names in the figure is:

[0090] 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

[0091] 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.

[0092] 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.

[0093] Refer to the following Figures 1 to 7 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.

[0094] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a motor, and the method for controlling a motor includes:

[0095] Step 102, obtaining the phase current and phase voltage of the motor;

[0096] Step 104, based on the phase current and the phase voltage satisfying the preset condition, controlling the motor to operate in the first mode, and based on the phase current and the phase voltage not satisfying the preset condition, controlling the motor to operate in the second mode;

[0097] The rotation direction of the motor in the first mode is different from the rotation direction of the motor in the second mode.

[0098] The present application defines a motor control method, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor. When the winding is energized, the rotor rotates under the action of the electromagnetic field generated by the winding to convert electrical energy into outputtable mechanical energy.

[0099] Specifically, after the motor is turned on, it runs in the first mode or the second mode according to the control instruction, wherein the direction of the motor in the first mode is opposite to the direction of the motor in the second mode. Taking the second mode as the forward mode as an example, the first mode is the reverse mode.

[0100] During this operation, the phase current and phase voltage of the motor are collected in real time, and after the phase current and phase voltage are obtained, it is determined whether the phase current and phase voltage meet the preset conditions, which are used to determine whether the motor is blocked. If the judgment result is that the phase voltage and phase current meet the preset conditions, it proves that the motor currently has a blocked problem, and then the motor is controlled to run in the first mode, that is, the motor is controlled to reverse, for blocked protection. On the contrary, if the judgment result is that the phase voltage and phase current do not meet the preset conditions, it proves that the motor currently does not have a blocked problem, and then the motor is controlled to run in the second mode, that is, the corresponding function is executed by controlling the motor to rotate forward.

[0101] It can be seen that the present application can detect motor stall faults by judging whether the phase current and phase voltage meet the preset conditions. On this basis, when it is determined that the motor has a stall problem, the stall problem can be troubleshooted by controlling the motor reversal to protect the motor. This solves the technical problems in the related art that the motor stall problem cannot be detected and protected, the motor is prone to failure due to stall temperature rise, and the user experience is poor. This achieves the technical effect of optimizing the motor control method, improving the safety and reliability of the motor, reducing the motor failure rate, and improving the user experience.

[0102] In the above embodiment, before the step of controlling the motor to operate in the first mode based on the phase current and the phase voltage satisfying the preset condition and controlling the motor to operate in the second mode based on the phase current and the phase voltage not satisfying the preset condition, the control method further includes:

[0103] determining a first threshold value according to the phase voltage;

[0104] The preset conditions include a first preset condition, which is:

[0105] The phase current is greater than a first threshold.

[0106] In this embodiment, the preset condition includes a first preset condition. Specifically, before the step of controlling the motor to operate in the first mode based on the phase current and phase voltage satisfying the preset condition, and controlling the motor to operate in the second mode based on the phase current and phase voltage not satisfying the preset condition, it is necessary to determine the first threshold value according to the phase voltage, and compare the magnitude relationship between the phase current and the first threshold value after determining the first threshold value. If the phase current is greater than the first threshold value, it is determined that the first preset condition is satisfied, indicating that the motor currently has a stall problem, and the motor is then controlled to enter the first mode corresponding to the reverse rotation. On the contrary, if the phase current is less than or equal to the first threshold value, it is determined that the first preset condition is not satisfied, indicating that the motor currently does not have a stall problem, and the motor is then controlled to enter the second mode corresponding to the forward rotation, so as to realize the corresponding function through the forward rotating motor.

[0107] When the motor is stuck, the phase current of the motor will increase, and the first threshold determined by the phase voltage can be used to determine whether the current phase current of the motor has reached the stall fault value, thereby accurately detecting the motor stall fault, thereby achieving the technical effect of improving the motor control accuracy and reducing the motor failure rate.

[0108] Specifically, when the motor is stalled, the back electromotive force is zero, and the calculation formula for the corresponding motor stall current is:

[0109] I0=U÷(R s +j×ω×L);

[0110] Among them, I0 is the locked-rotor current, U is the phase voltage, R sis the one-phase internal resistance of the claw-pole synchronous motor, j is the imaginary unit, ω is the current frequency, and L is the one-phase inductance of the claw-pole synchronous motor.

[0111] When the motor is operating normally, the calculation formula for the maximum current of the motor is:

[0112] I1=(UV FB )÷(R s +j×ω×L);

[0113] V FB =ω×ψ;

[0114] Where I1 is the maximum current, V FB is the back electromotive force, ψ is the motor flux.

[0115] Combining the above formula, the calculation formula of the first threshold is:

[0116] I block =(I0+I1)÷2=[(U-ω×ψ)÷2]÷(R s +j×ω×L);

[0117] Among them, I block is the first threshold.

[0118] like Figure 2 As shown, in any of the above embodiments, the motor includes a rotor, and before the step of controlling the motor to operate in a first mode based on that the phase current and the phase voltage meet the preset condition, and controlling the motor to operate in a second mode based on that the phase current and the phase voltage do not meet the preset condition, the control method further includes:

[0119] Step 202, determining a given voltage of the motor and a given angle of the rotor based on the current control instruction;

[0120] Step 204, determining the actual angle of the rotor according to the phase voltage, the phase current and the given voltage;

[0121] The preset condition also includes a second preset condition, which is:

[0122] The difference between the given angle and the actual angle is greater than a second threshold.

[0123] In this embodiment, the preset condition includes a second preset condition. Specifically, before the step of controlling the motor to operate in the first mode based on the phase current and the phase voltage satisfying the preset condition and controlling the motor to operate in the second mode based on the phase current and the phase voltage not satisfying the preset condition, it is necessary to determine the corresponding given voltage and the given angle of the rotor based on the current control instruction, and the given angle of the rotor corresponds to the expected angle of the rotor. Thereafter, the current actual angle of the rotor is determined by the phase voltage, the phase current and the given voltage, and specifically, the phase voltage, the phase current and the given voltage can be substituted into the observer to estimate the actual angle of the rotor through the observer.

[0124] After determining the given angle and the actual angle, a difference operation is performed on the given angle and the actual angle to obtain the angle difference. If the angle difference is greater than the second threshold, it is determined that the second preset condition is met, indicating that the motor currently has a stall problem, and the motor is then controlled to enter the first mode corresponding to the reverse rotation. On the contrary, if the angle difference is less than or equal to the second threshold, it is determined that the preset condition is not met, indicating that the motor currently does not have a stall problem, and the motor is then controlled to enter the second mode corresponding to the forward rotation, so as to realize the corresponding function through the forward rotating motor.

[0125] When the motor is stuck, the gap between the given angle and the actual angle will increase, and the second threshold can be used to determine whether the current angle difference of the motor has reached the stall fault value, thereby accurately detecting the motor stall fault, thereby achieving the technical effect of improving the motor control accuracy and reducing the motor failure rate.

[0126] Specifically, the angle difference is calculated as: θ dif =θ openloop -θ obs ;

[0127] Among them, θ dif is the angle difference, θ openloop For a given angle, θ obs is the actual angle.

[0128] like Figure 3 As shown, in any of the above embodiments, the step of controlling the motor to operate in the first mode includes:

[0129] Step 302, counting the number of times that the phase current and the phase voltage meet the second preset condition;

[0130] Step 304 : Based on the count value reaching a third threshold, the motor is controlled to operate in the first mode.

[0131] In this embodiment, after determining that the angle difference is greater than the second threshold, the number of times the angle difference is greater than the second threshold is counted. If the count value reaches the third threshold, it proves that the rotor angle lag is not an accidental phenomenon, confirming that the motor currently has a stall problem, and then the motor is controlled to enter the first mode corresponding to the reversal to complete the stall fault troubleshooting and protect the motor.

[0132] By limiting the above control steps, it is possible to avoid misjudgment of a stall fault caused by an accidental increase in the angle difference, and prevent the motor from entering the first mode under a non-stall fault, thereby achieving the technical effect of improving the control accuracy of the motor and improving the working reliability and stability of the motor.

[0133] In any of the above embodiments, after the step of controlling the motor to operate in the first mode, the step further includes: switching the operating mode of the motor to the second mode based on the operating time of the first mode being greater than or equal to the preset time.

[0134] In this embodiment, after the motor is controlled to run in the first mode based on the phase current and phase voltage satisfying the preset conditions, the running time of the motor in the first mode is timed. If the running time is greater than or equal to the preset time, it proves that the stall fault troubleshooting operation is completed, and then the motor is controlled to switch to the second mode corresponding to forward rotation to restore the normal function of the motor. Thereafter, if the phase current and phase voltage meet the preset conditions again, the second troubleshooting operation is performed, and this cycle is repeated.

[0135] By limiting the above control steps, the motor can resume forward rotation in time after the stall fault is eliminated, thus preventing the stall fault from affecting the working efficiency of the motor and preventing the reverse electrode from damaging the corresponding functions of related products.

[0136] like Figure 6 As shown, in one embodiment of the present application, the control process of the motor is as follows:

[0137] Step 602, obtaining phase current and detecting current angle;

[0138] Step 604, determine whether the phase current is greater than the first threshold, or whether the number of times the angle difference is greater than the second threshold reaches a third threshold. If the determination result is yes, execute step 606, if the determination result is no, execute step 614;

[0139] Step 606, determining whether the current working mode is the second mode, if the determination result is yes, executing step 608, if the determination result is no, executing step 612;

[0140] Step 608, controlling the motor to enter the first mode;

[0141] Step 610, determining whether the running time of the first mode is ≥ 3 seconds, if the determination result is yes, executing step 612, if the determination result is no, executing step 614;

[0142] Step 612, controlling the motor to enter the second mode;

[0143] Step 614, determining whether the current working mode is the second mode, if the determination result is no, executing step 616;

[0144] Step 616, controlling the motor to enter the second mode.

[0145] like Figure 4 As shown, an embodiment of the present invention provides a motor control device 400, which includes: an acquisition module 402, used to acquire the phase current and phase voltage of the motor; a control module 404, based on the phase current and phase voltage satisfying a preset condition, the control module 404 controls the motor to operate in a first mode, and based on the phase current and phase voltage not satisfying the preset condition, the control module 404 controls the motor to operate in a second mode; wherein the direction of rotation of the motor in the first mode is different from the direction of rotation of the motor in the second mode.

[0146] The present application defines a motor control device 400, which can be specifically used to control the operation of a claw-pole synchronous motor, wherein the motor includes a winding and a rotor. When the winding is energized, the rotor rotates under the action of the electromagnetic field generated by the winding to convert electrical energy into outputtable mechanical energy.

[0147] Specifically, after the motor is turned on, it runs in the first mode or the second mode according to the control instruction, wherein the direction of the motor in the first mode is opposite to the direction of the motor in the second mode. Taking the second mode as the forward mode as an example, the first mode is the reverse mode.

[0148] During this operation, the acquisition module 402 collects the phase current and phase voltage of the motor in real time, and after acquiring the phase current and phase voltage, determines whether the phase current and phase voltage meet the preset conditions, and the preset conditions are used to determine whether the motor is blocked. If the judgment result is that the phase voltage and phase current meet the preset conditions, it proves that the motor currently has a blocked problem, and the control module 404 immediately controls the motor to run in the first mode, that is, controls the motor to reverse, to perform blocked protection. On the contrary, if the judgment result is that the phase voltage and phase current do not meet the preset conditions, it proves that the motor currently does not have a blocked problem, and the control module 404 immediately controls the motor to run in the second mode, that is, by controlling the motor to rotate forward to perform the corresponding function.

[0149] It can be seen that the present application can detect motor stall faults by judging whether the phase current and phase voltage meet the preset conditions. On this basis, when it is determined that the motor has a stall problem, the stall problem can be troubleshooted by controlling the motor reversal to protect the motor. This solves the technical problems in the related art that the motor stall problem cannot be detected and protected, the motor is prone to failure due to stall temperature rise, and the user experience is poor. This further achieves the technical effect of optimizing the motor control device, improving the safety and reliability of the motor, reducing the motor failure rate, and improving the user experience.

[0150] like Figure 5 As shown, one embodiment of the present application provides a motor control device 500, which includes: a memory 502, in which programs or instructions are stored; a processor 504, which executes the program or instructions stored in the memory 502 to implement the steps of the motor control method in any of the above embodiments.

[0151] In this embodiment, a motor control device 500 is proposed, and the motor control device 500 includes a memory 502 and a processor 504. The processor 504 can implement the motor control method in any of the above embodiments by executing the program or instruction stored in the memory 502. Therefore, the motor control device 500 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.

[0152] One embodiment of the present application 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.

[0153] 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.

[0154] like Figure 7 As shown, an embodiment of the present application provides a motor 700, and the motor 700 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.

[0155] 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.

[0156] 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 .

[0157] 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.

[0158] 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.

[0159] Specifically, the power supply circuit 710 further includes a power source AC, a bridge DB1, a first capacitor C1 and a grounding point GND1.

[0160] 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.

[0161] 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.

[0162] 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, a first voltage Ua applied to the first winding is generated between the first end and the second end, and a second voltage Ub applied to the second winding is generated between the second end and the third end.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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 .

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] In any of the above embodiments, the cooking device includes: a wall breaking machine, a food processor or a blender.

[0172] When the cooking device is a wall-breaking machine, the motor 700 is used to drive the cutter head to rotate.

[0173] When the cooking device is a food processor, the motor 700 is used to drive the tool that executes the corresponding cooking steps to rotate.

[0174] When the cooking device is a blender, the motor 700 is used to drive the blender to rotate.

[0175] 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.

[0176] 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.

[0177] 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 control method comprises: Obtaining the phase current and phase voltage of the motor; Based on the phase current and the phase voltage satisfying a preset condition, controlling the motor to operate in a first mode, and based on the phase current and the phase voltage not satisfying the preset condition, controlling the motor to operate in a second mode; The rotation direction of the motor in the first mode is different from the rotation direction of the motor in the second mode.

2. The motor control method according to claim 1, characterized in that: Before the step of controlling the motor to operate in the first mode based on the phase current and the phase voltage satisfying a preset condition, and controlling the motor to operate in the second mode based on the phase current and the phase voltage not satisfying the preset condition, the control method further includes: determining a first threshold value according to the phase voltage; The preset condition includes a first preset condition, which is: The phase current is greater than the first threshold.

3. The motor control method according to claim 1, characterized in that: The motor includes a rotor. Before the step of controlling the motor to operate in a first mode based on the phase current and the phase voltage satisfying a preset condition and controlling the motor to operate in a second mode based on the phase current and the phase voltage not satisfying the preset condition, the control method further includes: Determining a given voltage of the motor and a given angle of the rotor based on a current control instruction; determining the actual angle of the rotor according to the phase voltage, the phase current and the given voltage; The preset condition further includes a second preset condition, and the second preset condition is: A difference between the given angle and the actual angle is greater than a second threshold.

4. The motor control method according to claim 3, characterized in that: The step of controlling the motor to operate in a first mode comprises: Counting the number of times the phase current and the phase voltage meet the second preset condition; Based on the count value reaching a third threshold, the motor is controlled to operate in the first mode.

5. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: After the step of controlling the motor to operate in the first mode, the method further includes: Based on the running time of the first mode being greater than or equal to the preset time, the working mode of the motor is switched to the second mode.

6. A control device for a motor, characterized in that: The control device comprises: An acquisition module, used for acquiring the phase current and phase voltage of the motor; a control module, wherein the control module controls the motor to operate in a first mode based on the phase current and the phase voltage satisfying a preset condition, and controls the motor to operate in a second mode based on the phase current and the phase voltage not satisfying the preset condition; The rotation direction of the motor in the first mode is different from the rotation direction of the motor in the second mode.

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: The body, including the winding 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, a food processor or a blender.

Images