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 winding, and the control method comprises the steps: obtaining the initial resistance and environment temperature of the winding; determining the current resistance of the winding based on the received first instruction; determining the current temperature of the winding according to the initial resistance, the environment temperature and the current resistance; controlling the motor to work according to the current temperature.

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, when a claw-pole synchronous motor encounters a stall problem, the temperature rise of the winding is very high, and the high-temperature winding is likely to cause the motor to fail.

[0003] In addition, it is not convenient to directly set a temperature sensor on the winding of the claw-pole synchronous motor, and high-temperature detection of the winding cannot be achieved, resulting in technical problems such as high failure rate and poor user experience of the motor.

[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 winding, and the method for controlling the motor includes:

[0013] Obtain the initial resistance and ambient temperature of the winding;

[0014] Based on receiving the first instruction, detecting the current resistance of the winding;

[0015] Determine the current temperature of the winding based on the initial resistance, the ambient temperature and the current resistance;

[0016] Control the motor operation according to the current temperature.

[0017] 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 energized, the winding generates an electromagnetic field, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0018] Specifically, when the motor is powered on, the initial resistance of the winding in the motor and the ambient temperature of the motor are obtained. The winding of the motor can be equivalent to a series resistor and inductor. The initial resistance of the winding corresponds to the resistance of the winding at the initial ambient temperature. After the winding is powered on, the temperature rises, and the equivalent resistance of the winding changes with the increase in temperature. The ambient temperature corresponds to the environment in which the motor is located. Specifically, a temperature sensor can be set on the housing of the motor, and the ambient temperature can be detected by the temperature sensor. Before the motor is powered on, the temperature of the winding is close to the ambient temperature. Thereafter, in the process of controlling the operation of the motor, if the first instruction is obtained, the current resistance of the winding is detected, wherein the current resistance of the winding is associated with the current temperature of the winding. Subsequently, the current temperature of the winding is determined according to the previously obtained initial resistance, the ambient temperature, and the detected current resistance. Finally, the working state of the motor is controlled according to the determined current temperature. For example, when the current temperature is low and there is no hidden danger of high temperature failure, the motor can be controlled to execute the first instruction. When the current temperature is high and there is a hidden danger of high temperature failure, the motor is prohibited from executing the first instruction to avoid high temperature damage to the motor.

[0019] Specifically, the first instruction includes: a start instruction and a reversal instruction.

[0020] It can be seen that, through the above control process, the present application can determine the current temperature of the winding by combining the initial resistance, ambient temperature and current resistance when the motor is about to execute the first instruction, so as to realize the high temperature detection of the winding, and prevent the winding from continuing to execute the first instruction when there is a hidden danger of high temperature failure, thereby solving the technical problems of high winding temperature rise, high temperature winding easily leading to motor failure, and high motor failure rate in the related technology. Then, the control method of the motor is optimized, the safety and reliability of the motor is improved, and the technical effect of improving the user experience is realized.

[0021] Specifically, the winding can be equivalent to a series inductor and resistor, and its input-output transfer function is:

[0022]

[0023]

[0024] Among them, I(s) is the input current, U(s) is the input voltage, L is the inductive reactance of the equivalent inductor, R0 is the initial resistance of the equivalent resistor, and T is the system time constant.

[0025] When a DC voltage is applied to the winding, the current response function is:

[0026]

[0027] Among them, i(t) is the response current, e is a natural constant, U is the DC voltage value applied, and t is the response time after the DC voltage is applied.

[0028] In addition, the motor control method provided by the present invention may also have the following additional technical features:

[0029] In the above technical solution, the step of detecting the current resistance of the winding includes:

[0030] Determine the target duty cycle based on the initial resistance;

[0031] Injecting a driving voltage having a first voltage value and a target duty cycle into the winding, and acquiring a phase current of the motor;

[0032] A current resistance of the winding is determined according to the target duty cycle, the first voltage, and the phase current.

[0033] In this technical solution, in the process of detecting the current resistance of the winding, the target duty cycle of the PWM (Pulse Width Modulation) driving voltage to be injected is first determined according to the initial resistance determined when the motor is powered on, and then a driving voltage with a voltage value of a first voltage and a duty cycle of a target duty cycle is injected into the winding, and the current electromagnetic phase current is obtained after the driving voltage is injected, and finally the current resistance of the winding is calculated based on the obtained phase current, the target duty cycle and the first voltage.

[0034] Specifically, when the motor is stationary, by injecting a PWM drive voltage with a certain duty cycle into the motor winding, it is equivalent to passing a DC voltage, and the motor phase current is obtained when the response time after the voltage is passed is t>10T, where the target duty cycle can be determined based on the equivalent resistance of the winding and the current limit value. The specific formula is:

[0035]

[0036] Where D is the target duty cycle, I limt is the current limit value of the winding, which is related to the inherent parameters of the winding, U dc is the first voltage.

[0037] On this basis, according to the winding mathematical model, the winding responds to the current when a DC step signal is passed through the winding, but the actual voltage passed through is not a DC voltage, but a high-frequency PWM voltage with a certain pulse width. Compared with the DC voltage, the high-frequency PWM voltage has more high-frequency signals, and the winding has a large impedance to the high-frequency signal. Therefore, the winding has a smaller steady-state current when the high-frequency PWM voltage is passed through the winding than the DC voltage. This factor needs to be considered when calculating the current resistance of the motor winding. The corresponding formula is as follows:

[0038] I real =I inf ×K;

[0039]

[0040]

[0041] Among them, I real is the phase current after compensation, I inf is the collected phase current, K is the compensation coefficient, K can be specifically set to 1.05, R1 is the current resistance, U dc is the first voltage.

[0042] In any of the above technical solutions, the step of obtaining the phase current of the motor includes:

[0043] Get the inductive reactance of the winding;

[0044] Determine the target duration based on the initial resistance and inductive reactance;

[0045] The phase current of the motor is obtained based on the time duration of injecting the driving voltage into the winding reaching the target time duration.

[0046] In this technical solution, the inductive reactance of the equivalent inductance of the winding is obtained before the driving voltage is injected into the phase winding, and then the target duration is calculated through the initial resistance and inductive reactance. The target duration is used to define whether the response duration of the driving voltage meets the detection requirements. Subsequently, after the driving voltage is injected into the phase winding, the motor phase current is obtained after the timing duration reaches the target duration, so as to ensure that the obtained phase current can accurately calculate the current temperature of the winding, thereby achieving the technical effect of improving the detection accuracy of the current temperature and improving the reliability and stability of the motor.

[0047] Specifically, the calculation formula of the target duration t1 is:

[0048]

[0049] t1=10T.

[0050] When the response time t is greater than t1, the phase current of the winding can be collected to calculate the current temperature of the winding through the phase current.

[0051] In any of the above technical solutions, the step of determining the current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance includes:

[0052] Get the temperature coefficient of the winding;

[0053] The current temperature of the winding is determined based on the initial resistance, ambient temperature, current resistance and temperature coefficient.

[0054] In this technical solution, before calculating the current temperature of the winding based on the initial resistance, ambient temperature and current resistance, the temperature coefficient of the winding is first obtained. The temperature coefficient of the winding is related to the material of the winding. For example, when the winding is made of copper wire, the temperature coefficient of the winding is 0.00393.

[0055] Thereafter, the current temperature of the winding is calculated as:

[0056] R1÷R0=1+Kt×(T1-T0);

[0057] Among them, Kt is the temperature coefficient of the winding, T1 is the current temperature of the winding, and T0 is the ambient temperature.

[0058] In any of the above technical solutions, the step of controlling the operation of the motor according to the current temperature includes:

[0059] Based on the current temperature being lower than the preset temperature, controlling the motor to operate according to the first instruction;

[0060] If the current temperature is greater than or equal to the preset temperature, the motor is controlled to stop and a fault alarm is issued.

[0061] In this technical solution, after determining the current temperature of the winding, the current temperature and the preset temperature are compared, wherein the preset temperature is used to determine whether the winding has a hidden danger of high-temperature failure. Specifically, when the current temperature is lower than the preset temperature, it means that the current temperature of the winding is low, and there is no hidden danger of high-temperature failure. The motor can then be controlled to execute the first instruction obtained. On the contrary, when the current temperature is greater than or equal to the preset temperature, it means that the current temperature of the winding is high, and there is a hidden danger of high-temperature failure. The motor is then controlled to stop working and issue a fault alarm. The fault alarm can be an audible and visual alarm, or an alarm push message sent to the control host or user terminal to indicate that the motor has a hidden danger of high-temperature failure, and to remind the user to perform motor maintenance or troubleshooting in a timely manner, thereby achieving the technical effect of improving the safety and reliability of the motor and extending the service life of the motor.

[0062] The second aspect of the present invention provides a control device for a motor, which includes a winding. The control device for the motor includes: an acquisition module, used to obtain the initial resistance and ambient temperature of the winding; a first determination module, used to determine the current resistance of the winding based on receiving a first instruction; a second determination module, used to determine the current temperature of the winding according to the initial resistance, ambient temperature and current resistance; and a control module, used to control the operation of the motor according to the current temperature.

[0063] 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 energized, the winding generates an electromagnetic field, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0064] Specifically, the acquisition module acquires the initial resistance of the winding in the motor and the ambient temperature of the motor when the motor is powered on. The winding of the motor can be equivalent to a series resistor and inductor. The initial resistance of the winding corresponds to the resistance of the winding at the initial ambient temperature. After the winding is powered on, the temperature rises, and the equivalent resistance of the winding changes with the increase in temperature. The ambient temperature corresponds to the environment in which the motor is located. Specifically, a temperature sensor can be set on the housing of the motor, and the ambient temperature can be detected by the temperature sensor. Before the motor is powered on, the temperature of the winding is close to the ambient temperature. Thereafter, in the process of controlling the operation of the motor, if the first instruction is obtained, the first determination module detects the current resistance of the winding, wherein the current resistance of the winding is associated with the current temperature of the winding. Subsequently, the second determination module determines the current temperature of the winding according to the previously obtained initial resistance, ambient temperature, and the detected current resistance. Finally, the control module controls the working state of the motor according to the determined current temperature. For example, when the current temperature is low and there is no hidden danger of high temperature failure, the motor can be controlled to execute the first instruction. When the current temperature is high and there is a hidden danger of high temperature failure, the motor is prohibited from executing the first instruction to avoid high temperature damage to the motor.

[0065] Specifically, the first instruction includes: a start instruction and a reversal instruction.

[0066] It can be seen that the present application can determine the current temperature of the winding by combining the initial resistance, ambient temperature and current resistance when the motor is about to execute the first instruction through the control device of the above motor, so as to realize the high temperature detection of the winding, and prevent the winding from continuing to execute the first instruction when there is a hidden danger of high temperature failure, thereby solving the technical problems of high winding temperature rise, high temperature winding easily leading to motor failure, and high motor failure rate in the related technology. Then the technical effect of optimizing the control device of the motor, improving the safety and reliability of the motor, and improving the user experience is achieved.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] Specifically, the first switch tube and the second switch tube form a first common bridge arm, the third switch tube and the fourth switch tube form a second common bridge arm, and the fifth switch tube and the sixth switch tube form a third bridge arm.

[0081] When a PWM voltage signal is injected into the winding, the third switch tube can be disconnected and the fourth switch tube can be connected, the first common bridge arm and the third common bridge arm perform PWM chopping, and the first common bridge arm and the third common bridge arm are complementary PWM control signals, ensuring that no direct pass occurs and that the upper bridge bootstrap circuit can operate normally.

[0082] Alternatively, when a PWM voltage signal is injected into the winding, the second common bridge arm can also be chopped by a PWM complementary signal, and the second switch tube of the first common bridge arm and the sixth switch tube of the third common bridge arm can be turned on. At this time, the direction of the current flowing through the winding is opposite to that of the aforementioned scheme.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In any of the above technical solutions, the cooking equipment includes: a wall breaking machine, a food processor or a blender.

[0090] When the cooking device is a wall breaking machine, the motor is used to drive the cutter head to rotate.

[0091] When the cooking device is a food processor, the motor is used to drive the cooking tool to rotate.

[0092] In the case where the cooking device is a blender, the motor is used to drive the blender to rotate.

[0093] 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

[0094] 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:

[0095] Figure 1 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0096] Figure 2 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0097] Figure 3 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0098] Figure 4 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0099] Figure 5 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0100] Figure 6 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0101] Figure 7 A structural block diagram of a motor control device according to an embodiment of the present invention is shown;

[0102] Figure 8 A circuit diagram of a motor according to an embodiment of the present invention is shown;

[0103] Fig. 9 shows an equivalent schematic diagram of a winding according to an embodiment of the present invention;

[0104] Fig.10 A diagram showing the relationship between the response time and current of a winding according to an embodiment of the present invention is shown;

[0105] Fig.11 A schematic flow chart of a method for controlling a motor according to an embodiment of the present invention is shown.

[0106] in, Figure 8 The corresponding relationship between the reference numerals and component names is as follows:

[0107] 800 motor, 802 body, 8022 winding, 8024 rotor, 810 power supply circuit, C1 first capacitor, GND1 grounding point, DB1 bridge stack, AC power supply, 820 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

[0108] 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.

[0109] 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.

[0110] Refer to the following Figures 1 to 11 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.

[0111] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a motor, the motor including a winding, and the method for controlling the motor includes:

[0112] Step 102, obtaining the initial resistance and ambient temperature of the winding;

[0113] Step 104, based on receiving the first instruction, detecting the current resistance of the winding;

[0114] Step 106, determining the current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance;

[0115] Step 108, controlling the motor to operate according to the current temperature.

[0116] 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 energized, the winding generates an electromagnetic field, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0117] Specifically, when the motor is powered on, the initial resistance of the winding in the motor and the ambient temperature of the motor are obtained. The winding of the motor can be equivalent to a series resistor and inductor. The initial resistance of the winding corresponds to the resistance of the winding at the initial ambient temperature. After the winding is powered on, the temperature rises, and the equivalent resistance of the winding changes with the increase in temperature. The ambient temperature corresponds to the environment in which the motor is located. Specifically, a temperature sensor can be set on the housing of the motor, and the ambient temperature can be detected by the temperature sensor. Before the motor is powered on, the temperature of the winding is close to the ambient temperature. Thereafter, in the process of controlling the operation of the motor, if the first instruction is obtained, the current resistance of the winding is detected, wherein the current resistance of the winding is associated with the current temperature of the winding. Subsequently, the current temperature of the winding is determined according to the previously obtained initial resistance, the ambient temperature, and the detected current resistance. Finally, the working state of the motor is controlled according to the determined current temperature. For example, when the current temperature is low and there is no hidden danger of high temperature failure, the motor can be controlled to execute the first instruction. When the current temperature is high and there is a hidden danger of high temperature failure, the motor is prohibited from executing the first instruction to avoid high temperature damage to the motor.

[0118] Specifically, the first instruction includes: a start instruction and a reversal instruction.

[0119] It can be seen that, through the above control process, the present application can determine the current temperature of the winding by combining the initial resistance, ambient temperature and current resistance when the motor is about to execute the first instruction, so as to realize the high temperature detection of the winding, and prevent the winding from continuing to execute the first instruction when there is a hidden danger of high temperature failure, thereby solving the technical problems of high winding temperature rise, high temperature winding easily leading to motor failure, and high motor failure rate in the related technology. Then, the control method of the motor is optimized, the safety and reliability of the motor is improved, and the technical effect of improving the user experience is realized.

[0120] Specifically, Fig. 9 As shown, the winding can be equivalent to an inductor L and a resistor R in series. After the switch S is closed, the input voltage U can be injected into the winding. The corresponding input current i, the input voltage u on the corresponding winding is divided by the equivalent resistance and inductance to u R and u L .

[0121] Fig.10 The relationship between the winding current and the response time is shown, with the horizontal axis being the response time and the vertical axis being the winding current.

[0122] On this basis, the input-output transfer function of the winding is:

[0123]

[0124]

[0125] Among them, I(s) is the input current, U(s) is the input voltage, L is the inductive reactance of the equivalent inductor, R0 is the initial resistance of the equivalent resistor, and T is the system time constant.

[0126] When a DC voltage is applied to the winding, the current response function is:

[0127]

[0128] Among them, e is a natural constant, U is the DC voltage value applied, and t is the response time after the DC voltage is applied.

[0129] like Figure 2 As shown, in the above technical solution, the step of detecting the current resistance of the winding includes:

[0130] Step 202, determining a target duty cycle according to the initial resistance;

[0131] Step 204, injecting a driving voltage having a first voltage and a target duty cycle into the winding, and acquiring a phase current of the motor;

[0132] Step 206 , determining the current resistance of the winding according to the target duty cycle, the first voltage and the phase current.

[0133] In this technical solution, in the process of detecting the current resistance of the winding, the target duty cycle of the PWM drive voltage to be injected is first determined based on the initial resistance determined when the motor is powered on, and then a drive voltage with a voltage value of the first voltage and a duty cycle of the target duty cycle is injected into the winding, and the current electromagnetic phase current is obtained after the drive voltage is injected, and finally the current resistance of the winding is calculated based on the obtained phase current, target duty cycle and first voltage.

[0134] Specifically, when the motor is stationary, by injecting a PWM drive voltage with a certain duty cycle into the motor winding, it is equivalent to passing a DC voltage, and the motor phase current is obtained when the response time after the voltage is passed is t>10T, where the target duty cycle can be determined based on the equivalent resistance of the winding and the current limit value. The specific formula is:

[0135]

[0136] Where D is the target duty cycle, I limt is the current limit value of the winding, which is related to the inherent parameters of the winding, U dc is the first voltage.

[0137] On this basis, according to the winding mathematical model, the winding responds to the current when a DC step signal is passed through the winding, but the actual voltage passed through is not a DC voltage, but a high-frequency PWM voltage with a certain pulse width. Compared with the DC voltage, the high-frequency PWM voltage has more high-frequency signals, and the winding has a large impedance to the high-frequency signal. Therefore, the winding has a smaller steady-state current when the high-frequency PWM voltage is passed through the winding than the DC voltage. This factor needs to be considered when calculating the current resistance of the motor winding. The corresponding formula is as follows:

[0138] I real =I inf ×K;

[0139]

[0140]

[0141] Among them, I real is the phase current after compensation, I inf is the collected phase current, K is the compensation coefficient, K can be specifically set to 1.05, R1 is the current resistance, U dc is the first voltage.

[0142] like Figure 3 As shown, in any of the above technical solutions, the step of obtaining the phase current of the motor includes:

[0143] Step 302, obtaining the inductive reactance of the winding;

[0144] Step 304, determining the target duration according to the initial resistance and inductive reactance;

[0145] Step 306 : acquiring the phase current of the motor based on the time duration of injecting the driving voltage into the winding reaching the target time duration.

[0146] In this technical solution, the inductive reactance of the equivalent inductance of the winding is obtained before the driving voltage is injected into the phase winding, and then the target duration is calculated through the initial resistance and inductive reactance. The target duration is used to define whether the response duration of the driving voltage meets the detection requirements. Subsequently, after the driving voltage is injected into the phase winding, the motor phase current is obtained after the timing duration reaches the target duration, so as to ensure that the obtained phase current can accurately calculate the current temperature of the winding, thereby achieving the technical effect of improving the detection accuracy of the current temperature and improving the reliability and stability of the motor.

[0147] Specifically, the calculation formula of the target duration t1 is:

[0148]

[0149] t1=10T.

[0150] When the response time t is greater than t1, the phase current of the winding can be collected to calculate the current temperature of the winding through the phase current.

[0151] like Figure 4 As shown, in any of the above technical solutions, the step of determining the current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance includes:

[0152] Step 402, obtaining the temperature coefficient of the winding;

[0153] Step 404, determining the current temperature of the winding according to the initial resistance, the ambient temperature, the current resistance and the temperature coefficient.

[0154] In this technical solution, before calculating the current temperature of the winding based on the initial resistance, ambient temperature and current resistance, the temperature coefficient of the winding is first obtained. The temperature coefficient of the winding is related to the material of the winding. For example, when the winding is made of copper wire, the temperature coefficient of the winding is 0.00393.

[0155] Thereafter, the current temperature of the winding is calculated as:

[0156] R1÷R0=1+Kt×(T1-T0);

[0157] Where Kt is the temperature coefficient of the winding, T1 is the current temperature of the winding, and T0 is the ambient temperature.

[0158] like Figure 5 As shown, in any of the above technical solutions, the step of controlling the motor to work according to the current temperature includes:

[0159] Step 502, based on the current temperature being lower than the preset temperature, controlling the motor to operate according to the first instruction;

[0160] Step 504 , based on the current temperature being greater than or equal to the preset temperature, the motor is controlled to stop and a fault alarm is issued.

[0161] In this technical solution, after determining the current temperature of the winding, the current temperature and the preset temperature are compared, wherein the preset temperature is used to determine whether the winding has a hidden danger of high-temperature failure. Specifically, when the current temperature is lower than the preset temperature, it means that the current temperature of the winding is low, and there is no hidden danger of high-temperature failure. The motor can then be controlled to execute the first instruction obtained. On the contrary, when the current temperature is greater than or equal to the preset temperature, it means that the current temperature of the winding is high, and there is a hidden danger of high-temperature failure. The motor is then controlled to stop working and issue a fault alarm. The fault alarm can be an audible and visual alarm, or an alarm push message sent to the control host or user terminal to indicate that the motor has a hidden danger of high-temperature failure, and to remind the user to perform motor maintenance or troubleshooting in a timely manner, thereby achieving the technical effect of improving the safety and reliability of the motor and extending the service life of the motor.

[0162] Specifically, Fig.11 The control flow of the motor of this application is shown:

[0163] Step 1102, power on the machine to detect the initial resistance of the winding, and detect the ambient temperature as the initial temperature of the winding;

[0164] Step 1104, when the motor is started or reversed, the current resistance of the winding is detected by injecting a PWM voltage during shutdown;

[0165] Step 1106, calculating the current temperature of the winding according to the temperature coefficient, the initial resistance, the initial temperature and the current resistance;

[0166] Step 1108, determining whether the current temperature is greater than the preset temperature, if the determination result is yes, executing step 1110, if the determination result is no, executing step 1104;

[0167] Step 1110, controlling the motor to stop running and issuing a fault alarm.

[0168] like Figure 6 As shown, an embodiment of the present invention provides a motor control device 600, the motor includes a winding, and the motor control device 600 includes: an acquisition module 602, used to obtain the initial resistance and ambient temperature of the winding; a first determination module 604, used to determine the current resistance of the winding based on receiving a first instruction; a second determination module 606, used to determine the current temperature of the winding according to the initial resistance, ambient temperature and current resistance; a control module 608, used to control the operation of the motor according to the current temperature.

[0169] 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. When energized, the winding generates an electromagnetic field, and the rotor rotates under the action of the electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0170] Specifically, the acquisition module 602 acquires the initial resistance of the winding in the motor and the ambient temperature of the motor when the motor is powered on. The winding of the motor can be equivalent to a series resistor and inductor. The initial resistance of the winding corresponds to the resistance of the winding at the initial ambient temperature. After the winding is powered on, the temperature rises, and the equivalent resistance of the winding changes with the increase in temperature. The ambient temperature corresponds to the environment in which the motor is located. Specifically, a temperature sensor can be set on the housing of the motor, and the ambient temperature can be detected by the temperature sensor. Before the motor is powered on, the temperature of the winding is close to the ambient temperature. Thereafter, in the process of controlling the operation of the motor, if the first instruction is obtained, the first determination module 604 detects the current resistance of the winding, wherein the current resistance of the winding is associated with the current temperature of the winding. Subsequently, the second determination module 606 determines the current temperature of the winding according to the previously obtained initial resistance, ambient temperature, and the detected current resistance. Finally, the control module 608 controls the working state of the motor according to the determined current temperature. For example, when the current temperature is low and there is no hidden danger of high temperature failure, the motor can be controlled to execute the first instruction. When the current temperature is high and there is a hidden danger of high temperature failure, the motor is prohibited from executing the first instruction to avoid high temperature damage to the motor.

[0171] Specifically, the first instruction includes: a start instruction and a reversal instruction.

[0172] It can be seen that the present application can determine the current temperature of the winding by combining the initial resistance, ambient temperature and current resistance when the motor is about to execute the first instruction through the control device 600 of the motor, so as to realize the high temperature detection of the winding, and prevent the winding from continuing to execute the first instruction when there is a hidden danger of high temperature failure, thereby solving the technical problems of high winding temperature rise, high temperature winding easily leading to motor failure, and high motor failure rate in the related technology. Then the control device 600 of the motor is optimized, the safety and reliability of the motor is improved, and the technical effect of improving the user experience is achieved.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] like Figure 8 As shown, the fifth aspect of the present invention provides a motor 800, and the motor 800 includes: a control device for the motor as in any of the above embodiments, and / or a readable storage medium in the above embodiments.

[0178] 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.

[0179] 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 ; and a drive circuit 820 , wherein the body 802 is electrically connected to the power supply circuit 810 via the drive circuit 820 .

[0180] 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 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 8022 is energized, the rotor 8024 rotates under the action of an electromagnetic field to convert electrical energy into outputtable mechanical energy.

[0181] On this basis, the motor 800 also includes a power supply circuit 810 and a drive circuit 820. The three terminals of the winding 8022 are connected to the drive circuit 820. The drive circuit 820 is connected to the power supply circuit 810. The power supply circuit 810 transmits the electric energy output by the power supply to the drive circuit 820 to control the working state of the motor 800 through the drive circuit 820. After obtaining the control instruction, the drive circuit 820 controls the working state of the motor 800 by switching the connection state. At the same time, the drive 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.

[0182] Specifically, the power supply circuit 810 further includes a power source AC, a bridge stack DB1, a first capacitor C1 and a grounding point GND1.

[0183] like Figure 8 As shown, in any of the above embodiments, the driving circuit 820 includes: 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, and the second end of the second switch tube Q2 is connected to the power supply circuit 810, and 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 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 810, and the second end of the 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 body 802 is connected to the common end of the fifth switch tube Q5 and the sixth switch tube Q6.

[0184] In this embodiment, the driving circuit 820 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 810. 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 810. 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 810.

[0185] 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 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.

[0186] 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.

[0187] Specifically, the first switch tube Q1 and the second switch tube Q2 form a first common bridge arm, the third switch tube Q3 and the fourth switch tube Q4 form a second common bridge arm, and the fifth switch tube Q5 and the sixth switch tube Q6 form a third bridge arm.

[0188] When a PWM voltage signal is injected into the winding 8022, the third switch tube Q3 can be disconnected and the fourth switch tube Q4 can be connected, the first common bridge arm and the third common bridge arm perform PWM chopping, and the first common bridge arm and the third common bridge arm are complementary PWM control signals, ensuring that no direct pass occurs and that the upper bridge bootstrap circuit can operate normally.

[0189] Alternatively, when a PWM voltage signal is injected into the winding 8022, the second common bridge arm can also be chopped by a PWM complementary signal, and the second switch tube Q2 of the first common bridge arm and the sixth switch tube Q6 of the third common bridge arm can be turned on. At this time, the direction of the current flowing through the winding 8022 is opposite to the aforementioned scheme.

[0190] like Figure 8As shown, in any of the above embodiments, the driving 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.

[0191] In this embodiment, the drive circuit 820 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 810. 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 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.

[0192] like Figure 8 As shown, in any of the above embodiments, the motor 800 further includes: a third resistor R3 , a first end of the third resistor R3 is connected to the drive circuit 820 , and a second end of the third resistor R3 is connected to the power supply circuit 810 .

[0193] In this embodiment, the motor 800 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 810, and the third resistor R3 is used to detect the total current of the drive circuit 820, so as to determine the bus voltage of the motor 800 through the total current of the drive 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 accordance with the given angle, so that the working state of the motor 800 matches the current load.

[0194] 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 820.

[0195] Figure 8 A schematic diagram of load adaptive control of a bidirectional claw-pole permanent magnet synchronous motor is shown.

[0196] A sixth aspect of the present invention provides a cooking device, comprising: a base; and a motor 800 such as in any of the above embodiments, disposed on the base.

[0197] In this embodiment, a cooking device is defined that is provided with the motor 800 in any of the above embodiments. Therefore, the cooking device has the advantages possessed by the motor 800 in any of the above embodiments, and can achieve the technical effects that can be achieved by the motor 800 in any of the above embodiments. To avoid repetition, it will not be described here.

[0198] In any of the above embodiments, the cooking device includes: a wall breaking machine, a food processor or a blender.

[0199] When the cooking device is a wall-breaking machine, the motor 800 is used to drive the cutter head to rotate.

[0200] When the cooking device is a food processor, the motor 800 is used to drive the food processor to rotate.

[0201] When the cooking device is a blender, the motor 800 is used to drive the blender to rotate.

[0202] 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.

[0203] 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.

[0204] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a motor, characterized in that: The motor includes a winding, and the control method includes: Obtaining the initial resistance and ambient temperature of the winding; Based on receiving the first instruction, detecting the current resistance of the winding; determining a current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance; The motor is controlled to operate according to the current temperature.

2. The motor control method according to claim 1, characterized in that: The step of detecting the current resistance of the winding comprises: determining a target duty cycle according to the initial resistance; Injecting a driving voltage having a first voltage and a target duty cycle into the winding, and acquiring a phase current of the motor; The current resistance of the winding is determined according to the target duty cycle, the first voltage, and the phase current.

3. The motor control method according to claim 2, characterized in that: The step of obtaining the phase current of the motor comprises: obtaining the inductive reactance of the winding; Determining a target duration according to the initial resistance and the inductive reactance; The phase current of the motor is obtained based on that the duration of injecting the driving voltage into the winding reaches the target duration.

4. The motor control method according to claim 1, characterized in that: The step of determining the current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance comprises: obtaining a temperature coefficient of the winding; The current temperature of the winding is determined based on the initial resistance, the ambient temperature, the current resistance and the temperature coefficient.

5. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: The step of controlling the motor to operate according to the current temperature comprises: Based on the current temperature being lower than a preset temperature, controlling the motor to operate according to the first instruction; Based on the current temperature being greater than or equal to the preset temperature, the motor is controlled to stop and a fault alarm is issued.

6. A control device for a motor, characterized in that: The motor comprises a winding, and the control device comprises: An acquisition module, used for acquiring the initial resistance and ambient temperature of the winding; A first determination module, configured to detect a current resistance of the winding based on receiving a first instruction; A second determination module, configured to determine a current temperature of the winding according to the initial resistance, the ambient temperature and the current resistance; A control module is used to control the operation of the motor according to the current temperature.

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.

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