Dust collector motor vibration noise reduction method and system

Abstract

The invention relates to the technical field of motor regulation and control, in particular to a dust collector motor vibration noise reduction method and system, and the method comprises the steps: obtaining a sinusoidal modulation electric signal generated by a sinusoidal pulse width modulation frequency converter, and carrying out the harmonic filtering of the sinusoidal modulation electric signal, and obtaining a higher harmonic; calculating harmonic interference magnetomotive force according to the higher harmonics, multiplying the harmonic interference magnetomotive force by the air gap magnetic conductance to obtain radial magnetic flux density, and calculating radial electromagnetic force waves; performing feature extraction operation on the radial electromagnetic force wave to obtain a feature set, performing principal component analysis operation based on vibration intensity to obtain a radial vibration principal component feature set, and performing noise principal component harmonic extraction operation on the higher harmonic according to the radial vibration principal component feature set to obtain a noise harmonic; and performing noise reduction calculation on the sinusoidal modulation electric signal according to the noise harmonic wave to obtain a noise reduction modulation electric signal, and performing power control on the motor. The vibration noise of the dust collector motor can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method and system for reducing vibration noise of a vacuum cleaner motor. Background Art

[0002] Vacuum cleaners play a huge role in both household cleaning and industrial cleaning. With the development of vacuum cleaners, they are equipped with different gears and suction ports to meet different needs.

[0003] Nowadays, with the development of intelligence, it is possible to intelligently identify the load of the vacuum cleaner and automatically switch the vacuuming function to achieve maximum vacuuming efficiency. However, the vacuum cleaner power that changes with the load greatly increases the motor vibration and noise, which not only affects the user's sense of use, but also reduces the service life of the vacuum cleaner. Summary of the invention

[0004] The invention provides a method for reducing the vibration noise of a vacuum cleaner motor, the main purpose of which is to reduce the vibration noise of the vacuum cleaner motor.

[0005] To achieve the above object, the present invention provides a method for reducing vibration noise of a vacuum cleaner motor, comprising:

[0006] Collecting electrical signals from a motor in a pre-built vacuum cleaner to obtain current and voltage, calculating a real-time load of the motor based on the current and voltage, and monitoring the real-time load to obtain a load change rate;

[0007] Acquire the gas-electric parameters of the motor, and acquire the air-gap magnetomotive force and air-gap permeance of the motor according to the gas-electric parameters and the current;

[0008] Determining whether the load change rate is less than a preset mutation threshold;

[0009] When the load change rate is less than the mutation threshold, a pre-built sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and power control of the motor is performed according to the sinusoidal modulated electrical signal;

[0010] When the load change rate is greater than or equal to the mutation threshold, the sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and the sinusoidal modulated electrical signal is subjected to harmonic filtering to obtain higher harmonics;

[0011] The air gap magnetomotive force is updated according to the high-order harmonics to obtain a harmonic interference magnetomotive force, the harmonic interference magnetomotive force and the air gap permeance are multiplied to obtain a radial magnetic flux density, and the radial magnetic flux density is calculated according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave;

[0012] Using a pre-trained vibration noise reduction recognition model, a signal shape feature extraction operation is performed on the radial electromagnetic force wave to obtain a radial vibration signal feature set, a principal component analysis operation based on vibration intensity is performed on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and a noise principal component harmonic extraction operation is performed on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics;

[0013] According to the noise harmonics, the sinusoidal modulated electrical signal is subjected to noise reduction calculation to obtain a noise-reduced modulated electrical signal, and the motor is power-controlled according to the noise-reduced modulated electrical signal.

[0014] Optionally, obtaining the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and the current includes:

[0015] According to the gas-electric parameters and current, the three-phase winding magnetomotive force amplitude of the motor at zero load is obtained, wherein the three-phase winding magnetomotive force amplitude includes the fundamental magnetomotive force amplitude, the stator harmonic magnetomotive force amplitude and the rotor harmonic magnetomotive force amplitude, wherein the three-phase winding magnetomotive force amplitude is expressed as:

[0016]

[0017] Where F0 is the fundamental magnetomotive force amplitude, F v is the stator harmonic magnetomotive force amplitude, F μ is the amplitude of the rotor harmonic magnetomotive force, W represents the number of series turns of each phase of the stator winding, K dpv represents the winding coefficient, p represents the number of pole pairs of the motor, v represents the harmonic order of the stator winding, μ represents the harmonic order of the rotor winding, I0 represents the excitation current, I1 represents the load current, I2 represents the rotor current, and I0, I1 and I2 are included in the current, D 2v Indicates the damping coefficient, W, K dpv , p and D 2v Included in the gas and electricity parameters;

[0018] According to the three-phase winding magnetomotive force amplitude, the three-phase winding magnetomotive force is calculated, wherein the three-phase winding magnetomotive force includes fundamental magnetomotive force, stator winding harmonic magnetomotive force and rotor winding harmonic magnetomotive force, wherein the three-phase winding magnetomotive force is expressed as:

[0019] f0(θ,t)=F0cos(pθ-ωt)

[0020] f v (θ,t)=F v cos(vθ-ωt)

[0021] fμ (θ,t)=F μ cos(μθ-ω μ t)

[0022] Where f0(θ,t) represents the fundamental magnetomotive force, f v (θ,t) represents the stator winding harmonic magnetomotive force, f μ (θ,t) represents the harmonic magnetomotive force of the rotor winding, θ represents the mechanical angular displacement, ω represents the fundamental rotation angular velocity, ω μ represents the angular velocity of the rotor winding harmonic magnetomotive force relative to the stator, and t represents time;

[0023] The weighted sum of each magnetomotive force in the three-phase winding magnetomotive force is performed to obtain the air gap magnetomotive force of the motor, wherein the air gap magnetomotive force is expressed as:

[0024]

[0025] Where, f(θ,t) represents the air gap magnetomotive force;

[0026] The initial air gap permeability, stator slot air gap permeability, rotor slot air gap permeability and air gap length in the gas-electric parameters are obtained, and the initial air gap permeability is weightedly calculated by interaction force according to the stator slot air gap permeability, rotor slot air gap permeability and air gap length to obtain the air gap permeability.

[0027] Optionally, the method of using a pre-built sinusoidal pulse width modulation frequency converter to generate a sinusoidal modulated electrical signal adapted to the real-time load includes:

[0028] Acquire a fundamental sinusoidal signal in the current and acquire a triangular wave signal;

[0029] Comparing the fundamental sinusoidal signal with the triangular wave signal to obtain a comparison result, configuring a high level for a time period in which the fundamental sinusoidal signal is greater than the triangular wave signal in the comparison result to obtain a high level signal distribution, and configuring a low level for a time period in which the fundamental sinusoidal signal is less than or equal to the triangular wave signal in the comparison result to obtain a low level signal distribution;

[0030] According to the high level signal distribution and the low level signal distribution, the fast switch in the pre-built sinusoidal pulse width modulation inverter is controlled to obtain a sinusoidal modulated electrical signal.

[0031] Optionally, performing harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics includes:

[0032] According to a pre-built Fourier transform algorithm, the sinusoidal modulated electrical signal is transformed into a frequency domain signal spectrum, wherein the frequency domain signal spectrum includes the amplitude and frequency of each signal;

[0033] A peak feature recognition operation is performed on the frequency domain signal spectrum to obtain a harmonic characteristic peak, and based on the harmonic characteristic peak, the sinusoidal modulated electrical signal is filtered to obtain higher-order harmonics.

[0034] Optionally, updating the air gap magnetomotive force according to the high-order harmonics to obtain the harmonic interference magnetomotive force includes:

[0035] The adjusted harmonic value of the high-order harmonic is obtained, and the high-order harmonic magnetomotive force amplitude of the high-order harmonic is obtained according to the adjusted harmonic value, and the high-order harmonic magnetomotive force of the high-order harmonic is constructed according to the high-order harmonic magnetomotive force amplitude, wherein the high-order harmonic magnetomotive force is expressed as:

[0036] ∑f k (θ,t)=∑F k cos(kθ-kωt)

[0037] In the formula, ∑f k (θ, t) represents the high-order harmonic magnetomotive force, k represents the adjusted harmonic value, representing the harmonic order in the high-order harmonic, F k represents the amplitude of the high-order harmonic magnetomotive force, and corresponds to the amplitude of the kth high-order harmonic in the frequency domain signal spectrum;

[0038] According to the high-order harmonic magnetomotive force, the air gap magnetomotive force is weighted to obtain the harmonic interference magnetomotive force, wherein the harmonic interference magnetomotive force is expressed as:

[0039]

[0040] Where f′(θ,t) represents the harmonic interference magnetomotive force.

[0041] Optionally, the radial electromagnetic force wave is expressed as:

[0042]

[0043] b(θ,t)=f′(θ,t)·λ(θ,t)

[0044] Wherein, p(θ, t) represents the radial electromagnetic force wave, b(θ, t) represents the radial magnetic flux density, λ(θ, t) represents the air gap permeability, and μ0 represents the vacuum permeability.

[0045] Optionally, performing a principal component analysis operation based on vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set includes:

[0046] Using a pre-built principal component analysis algorithm, performing a random replacement operation based on vibration intensity on each radial vibration signal feature in the radial vibration signal feature set, and obtaining a vibration intensity variation coefficient of each radial vibration signal feature;

[0047] The radial vibration signal features whose vibration intensity variation coefficients in the radial vibration signal feature set are greater than a preset principal component threshold are screened to obtain a radial vibration principal component feature set.

[0048] Optionally, performing noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain the noise-reduced modulated electrical signal includes:

[0049] Acquire the frequency and amplitude of the noise harmonic, and generate a compensating harmonic of the noise harmonic according to the frequency and amplitude of the noise harmonic, wherein the compensating harmonic has the same frequency as the noise harmonic and an opposite phase;

[0050] According to a preset offset strategy, the amplitude of the compensation harmonic is adjusted to obtain an updated compensation harmonic;

[0051] The updated compensation harmonic is used to superimpose the sinusoidal modulated electrical signal to obtain a noise reduction modulated electrical signal.

[0052] Optionally, after obtaining the noise reduction modulated electrical signal, the method further includes:

[0053] Acquire historical noise harmonics of the vibration noise reduction identification model within a preset time period, cluster the vibration orders and vibration frequencies of the historical noise harmonics, and obtain vibration order intervals and vibration frequency intervals;

[0054] According to the historical noise harmonics, vibration order intervals and vibration frequency intervals, a model for determining whether noise reduction is needed is trained;

[0055] When subsequent high-order harmonics are received, the noise order interval and noise frequency interval corresponding to the subsequent high-order harmonics are identified according to the noise reduction judgment model, and the subsequent high-order harmonics are screened according to the noise order interval and noise frequency interval to obtain noise harmonics in the subsequent high-order harmonics.

[0056] To achieve the above object, the present invention further provides a vacuum cleaner motor vibration noise reduction system, comprising:

[0057] A motor data acquisition module, for collecting electrical signals from the motor in the pre-built vacuum cleaner to obtain current and voltage, and calculating the real-time load of the motor according to the current and voltage, and monitoring the real-time load to obtain the load change rate, and obtaining the gas-electric parameters of the motor, and obtaining the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and current;

[0058] A noise reduction trigger control module, used to determine whether the load change rate is less than a preset mutation threshold, and when the load change rate is less than the mutation threshold, use a pre-built sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load, and perform power control on the motor according to the sinusoidal modulated electrical signal;

[0059] A harmonic filtering module, used for generating a sinusoidal modulated electrical signal adapted to the real-time load by using the sinusoidal pulse width modulation inverter when the load change rate is greater than or equal to the mutation threshold, and performing harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics;

[0060] A noise harmonic identification module is used to update the air gap magnetomotive force according to the high-order harmonics to obtain a harmonic interference magnetomotive force, multiply the harmonic interference magnetomotive force and the air gap permeability to obtain a radial magnetic flux density, and calculate the radial magnetic flux density according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave, and use a pre-trained vibration noise reduction identification model to perform a signal shape feature extraction operation on the radial electromagnetic force wave to obtain a radial vibration signal feature set, perform a principal component analysis operation based on vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and perform a noise principal component harmonic extraction operation on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics;

[0061] The noise reduction control module is used to perform noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain a noise reduction modulated electrical signal, and perform power control on the motor according to the noise reduction modulated electrical signal.

[0062] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising:

[0063] a memory storing at least one instruction; and

[0064] The processor executes the instructions stored in the memory to implement the above-mentioned method for reducing vibration noise of the vacuum cleaner motor.

[0065] In order to solve the above problem, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned method for reducing vibration noise of a vacuum cleaner motor.

[0066] The present invention is to solve the problem described in the background technology. The present invention first collects the motor data in the vacuum cleaner, such as current and voltage, real-time load, air gap magnetomotive force and air gap permeance; by monitoring the real-time load, the change of the motor power can be known, and the radial electromagnetic force of the motor can be known by the air gap magnetomotive force and air gap permeance, wherein the radial electromagnetic force is related to the vibration noise of the motor; then, the present invention monitors the load change rate. When the motor is not in the start-stop, gear shifting and working scene switching, the load change is small and no noise reduction is required; when the motor starts to start and stop, a huge load change rate will occur, and at this time, the sinusoidal pulse width modulation inverter generates a sinusoidal modulated electrical signal to ensure that the motor works more smoothly, wherein the sinusoidal modulated electrical signal has more high-order harmonics, and these high-order harmonics have a huge impact on the vibration of the motor; the present invention realizes noise reduction before the sinusoidal modulated electrical signal reaches the motor by querying the noise harmonics that generate vibration to the motor in the high-order harmonics, thereby realizing noise reduction power control of the motor. Therefore, the present invention can reduce the vibration noise of the vacuum cleaner motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A schematic diagram of a flow chart of a method for reducing vibration noise of a vacuum cleaner motor provided by an embodiment of the present invention;

[0068] Figure 2 A functional module diagram of a vacuum cleaner motor vibration noise reduction system provided by an embodiment of the present invention;

[0069] Figure 3 A schematic diagram of the structure of an electronic device for implementing the method for reducing vibration noise of a vacuum cleaner motor provided by an embodiment of the present invention.

[0070] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0072] The embodiment of the present application provides a method for reducing the vibration noise of a vacuum cleaner motor. The execution subject of the method for reducing the vibration noise of a vacuum cleaner motor includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for reducing the vibration noise of a vacuum cleaner motor can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0073] Reference Figure 1FIG. 1 is a flow chart of a method for reducing the vibration noise of a vacuum cleaner motor provided by an embodiment of the present invention. In this embodiment, the method for reducing the vibration noise of a vacuum cleaner motor includes:

[0074] S1. Collect electrical signals from a motor in a pre-built vacuum cleaner to obtain current and voltage, calculate a real-time load of the motor based on the current and voltage, and monitor the real-time load to obtain a load change rate.

[0075] In the embodiment of the present invention, when the vacuum cleaner is operated in different environments, such as ceramic floor and wool carpet, or when different gears are switched, the workload changes, resulting in an increase in the current required by the motor and aggravating the heating of the motor. Therefore, it can be assumed that the current is proportional to the load. The present invention monitors the motor load by monitoring the current and voltage of the motor.

[0076] Specifically, in the embodiment of the present invention, the current and voltage of the motor are measured by a multimeter, and the real-time load of the motor is calculated by the product of the voltage and the current.

[0077] Then, the real-time load is recorded and retained within a preset time period (for example, within three seconds), so as to facilitate the calculation of the load change rate within a unit time.

[0078] S2. Obtaining gas-electric parameters of the motor, and obtaining air-gap magnetomotive force and air-gap permeance of the motor according to the gas-electric parameters and current.

[0079] Among them, the gas-electric parameters refer to the various product information parameters equipped when the motor leaves the factory, such as the number of series turns of each phase of the stator winding in the motor, the gap size of the stator and rotor slots, the number of pole pairs and the initial air gap magnetic permeability, etc. These parameters are often fixed and do not change with changes in voltage or current.

[0080] Specifically, since the vibration of the motor is often related to the radial electromagnetic force of the motor, and the radial electromagnetic force is related to the air gap magnetomotive force and air gap permeance in the motor, in the embodiment of the present invention, the air gap magnetomotive force is affected by the current size and current waveform, and affects the radial electromagnetic force size.

[0081] In detail, in an embodiment of the present invention, the step of obtaining the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and the current includes:

[0082] According to the gas-electric parameters and current, the three-phase winding magnetomotive force amplitude of the motor at zero load is obtained, wherein the three-phase winding magnetomotive force amplitude includes the fundamental magnetomotive force amplitude, the stator harmonic magnetomotive force amplitude and the rotor harmonic magnetomotive force amplitude, wherein the three-phase winding magnetomotive force amplitude is expressed as:

[0083]

[0084] Where F0 is the fundamental magnetomotive force amplitude, F v is the stator harmonic magnetomotive force amplitude, F μ is the amplitude of the rotor harmonic magnetomotive force, W represents the number of series turns of each phase of the stator winding, K dpv represents the winding coefficient, p represents the number of pole pairs of the motor, v represents the harmonic order of the stator winding, μ represents the harmonic order of the rotor winding, I0 represents the excitation current, I1 represents the load current, I2 represents the rotor current, and I0, I1 and I2 are included in the current, D 2v Indicates the damping coefficient, W, K dpv , p and D 2v Included in the gas and electricity parameters;

[0085] According to the three-phase winding magnetomotive force amplitude, the three-phase winding magnetomotive force is calculated, wherein the three-phase winding magnetomotive force includes fundamental magnetomotive force, stator winding harmonic magnetomotive force and rotor winding harmonic magnetomotive force, wherein the three-phase winding magnetomotive force is expressed as:

[0086] f0(θ,t)=F0cos(pθ-ωt)

[0087] f v (θ,t)=F v cos(vθ-ωt)

[0088] f μ (θ,t)=F μ cos(μθ-ω μ t)

[0089] Where f0(θ,t) represents the fundamental magnetomotive force, f v (θ,t) represents the stator winding harmonic magnetomotive force, f μ (θ,t) represents the harmonic magnetomotive force of the rotor winding, θ represents the mechanical angular displacement, ω represents the fundamental rotation angular velocity, ω μ represents the angular velocity of the rotor winding harmonic magnetomotive force relative to the stator, and t represents time;

[0090] The weighted sum of each magnetomotive force in the three-phase winding magnetomotive force is performed to obtain the air gap magnetomotive force of the motor, wherein the air gap magnetomotive force is expressed as:

[0091]

[0092] Where, f(θ,t) represents the air gap magnetomotive force;

[0093] The initial air gap permeability, stator slot air gap permeability, rotor slot air gap permeability and air gap length in the gas-electric parameters are obtained, and the initial air gap permeability is weightedly calculated by interaction force according to the stator slot air gap permeability, rotor slot air gap permeability and air gap length to obtain the air gap permeability.

[0094] Specifically, in the embodiment of the present invention, taking a three-phase motor as an example, after the motor is powered on, the interaction between the stator and the rotor will generate an air gap synthetic magnetic field:

[0095]

[0096] f0(θ,t)=F0cos(pθ-ωt)

[0097] f v (θ,t)=F v cos(vθ-ωt)

[0098] f μ (θ,t)=F μ cos(μθ-ω μ t)

[0099] Wherein, p represents the number of pole pairs of the motor, v represents the harmonic order of the stator winding, and μ represents the harmonic order of the rotor winding, and the relationship is:

[0100] v=(6k1+1)p

[0101] μ=z2k2+p

[0102] k1, k2 = ±1, ±2, ...

[0103] Then, the present invention inquires about the gas-electric parameters of the motor, obtains the number of stator slots of the motor is 60, the number of rotor slots z2=60, and the number of pole pairs p=2, thereby realizing the calculation of the air gap magnetomotive force.

[0104] Further, in the embodiment of the present invention, according to the definition of air gap permeability λ(θ,t), and according to the stator slot air gap permeability, the rotor slot air gap permeability and the air gap length, the initial air gap permeability is weightedly calculated for interaction force, and it can be known that:

[0105]

[0106] Wherein, Λ0 represents the initial air gap permeability, λ k1 represents the stator slot air gap permeability, λ k2 Indicates the rotor slot air gap permeability and air gap length, λ k1 λ k2 Represents the air gap permeability caused by the interaction between the stator and the rotor, k1, k2 = 1, 2, 3,…

[0107] in, K c represents the Carter coefficient, and δ represents the air gap length.

[0108] In the embodiment of the present invention, the relevant numerical values ​​of the gas-electric parameters are queried and introduced into the above formula to obtain the air gap permeability λ(θ, t).

[0109] S3. Determine whether the load change rate is less than a preset mutation threshold.

[0110] In the embodiment of the present invention, in order to solve the problems of motor start and stop, gear sudden change, etc., a pre-built sinusoidal pulse width modulation inverter is used on the vacuum cleaner to control the motor to work more smoothly.

[0111] The sinusoidal pulse width modulation inverter is a highly efficient and reliable power electronic device, which can accurately control the motor according to the required output frequency and voltage.

[0112] However, the sine pulse width modulation inverter will introduce a large number of high-order harmonics into the generated sine wave, and these high-order harmonics will cause an increase in radial electromagnetic force. The greater the load change rate, the more high-order harmonics are introduced. Therefore, when there is only a slight load fluctuation, this solution does not use subsequent noise reduction methods, and only uses the sine pulse width modulation inverter to control the motor. Among them, the mutation threshold can be adaptively configured according to the positioning of different products, for example, 20%.

[0113] When the load change rate is less than the mutation threshold, S4, using a pre-built sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load, and performing power control on the motor according to the sinusoidal modulated electrical signal.

[0114] In detail, in the embodiment of the present invention, the use of a pre-built sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load includes:

[0115] Acquire a fundamental sinusoidal signal in the current and acquire a triangular wave signal;

[0116] Comparing the fundamental sinusoidal signal with the triangular wave signal to obtain a comparison result, configuring a high level for a time period in which the fundamental sinusoidal signal is greater than the triangular wave signal in the comparison result to obtain a high level signal distribution, and configuring a low level for a time period in which the fundamental sinusoidal signal is less than or equal to the triangular wave signal in the comparison result to obtain a low level signal distribution;

[0117] According to the high level signal distribution and the low level signal distribution, the fast switch in the pre-built sinusoidal pulse width modulation inverter is controlled to obtain a sinusoidal modulated electrical signal.

[0118] Specifically, in the embodiment of the present invention, the fundamental sinusoidal signal is a signal of the current, and the triangular wave signal is a pre-constructed isosceles triangle waveform.

[0119] Furthermore, first, by comparing the triangular wave signal with the fundamental sinusoidal signal, the part of the fundamental sinusoidal signal that is greater than the triangular wave signal is configured as a high level, and the part of the fundamental sinusoidal signal that is less than or equal to the triangular wave signal is configured as a low level. The on and off of the switching devices in the sinusoidal pulse width modulation inverter are controlled by the high and low levels to generate a pulse sequence whose width changes according to the sinusoidal law. These pulse sequences simulate the form of a sine wave to obtain a sinusoidal modulated electrical signal.

[0120] The motor is then controlled through a sinusoidal modulation signal to improve motor efficiency.

[0121] When the load change rate is greater than or equal to the mutation threshold, S5, using the sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load, and performing harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics.

[0122] In an embodiment of the present invention, when the load change rate is greater than or equal to the mutation threshold, it indicates that a huge change has occurred in the load, such as during start-stop and gear shifting. To ensure the smooth operation of the motor, the sinusoidal pulse width modulation inverter needs to generate a sinusoidal modulated electrical signal containing a relatively high amount of high-order harmonics. To avoid interference of the sinusoidal modulated electrical signal with the motor noise, filtering processing is required to obtain high-order harmonics.

[0123] In detail, in the embodiment of the present invention, the harmonic filtering process is performed on the sinusoidal modulated electrical signal to obtain higher harmonics, including:

[0124] According to a pre-built Fourier transform algorithm, the sinusoidal modulated electrical signal is transformed into a frequency domain signal spectrum, wherein the frequency domain signal spectrum includes the amplitude and frequency of each signal;

[0125] A peak feature recognition operation is performed on the frequency domain signal spectrum to obtain a harmonic characteristic peak, and based on the harmonic characteristic peak, the sinusoidal modulated electrical signal is filtered to obtain higher-order harmonics.

[0126] The Fourier transform algorithm is used to transform the time domain signal into the frequency domain signal. The Fourier transform algorithm is expressed as:

[0127]

[0128] Where f(t) represents the sinusoidal modulated electrical signal, F(ω) represents the frequency domain signal spectrum, and e -jωt represents the complex exponential function.

[0129] Furthermore, the filtering process refers to a method of intercepting the frequency domain signal spectrum of the high-order harmonics according to the peak characteristics, and then converting the frequency domain signal into a time domain signal through the inverse transformation of the Fourier transform algorithm.

[0130] In an embodiment of the present invention, the frequency domain signal spectrum can display the amplitude and phase of each frequency component in the signal. For a signal containing higher harmonics, these harmonics will appear as specific peaks in the spectrum. The present invention identifies the characteristics of each peak through a neural network, queries the harmonic characteristic peaks, and extracts them, and transforms the extraction results through an inverse transform of Fourier transform to obtain higher harmonics in the sinusoidal modulated electrical signal.

[0131] S6. Update the air gap magnetomotive force according to the high-order harmonics to obtain the harmonic interference magnetomotive force, multiply the harmonic interference magnetomotive force and the air gap magnetic permeability to obtain the radial magnetic flux density, and calculate the radial magnetic flux density according to the pre-constructed radial electromagnetic force algorithm to obtain the radial electromagnetic force wave.

[0132] In the embodiment of the present invention, the air gap magnetomotive force refers to the initial air gap permeability of the motor itself, the stator slot air gap permeability and the rotor slot air gap permeability. When the current signal passes through the sine pulse width modulation inverter, the high-order harmonics generated will also affect the air gap permeability.

[0133] In detail, in an embodiment of the present invention, the updating of the air gap magnetomotive force according to the high-order harmonics to obtain the harmonic interference magnetomotive force includes:

[0134] The adjusted harmonic value of the high-order harmonic is obtained, and the high-order harmonic magnetomotive force amplitude of the high-order harmonic is obtained according to the adjusted harmonic value, and the high-order harmonic magnetomotive force of the high-order harmonic is constructed according to the high-order harmonic magnetomotive force amplitude, wherein the high-order harmonic magnetomotive force is expressed as:

[0135] ∑f k (θ,t)=∑F k cos(kθ-kωt)

[0136] In the formula, ∑f k (θ, t) represents the high-order harmonic magnetomotive force, k represents the harmonic order in the high-order harmonic, F k represents the amplitude of the high-order harmonic magnetomotive force, and corresponds to the amplitude of the kth high-order harmonic in the frequency domain signal spectrum;

[0137] According to the high-order harmonic magnetomotive force, the air gap magnetomotive force is weighted to obtain the harmonic interference magnetomotive force, wherein the harmonic interference magnetomotive force is expressed as:

[0138]

[0139] Where f′(θ,t) represents the harmonic interference magnetomotive force.

[0140] Specifically, in the embodiment of the present invention, the order of the high-order harmonic is configured to adjust the harmonic value k, and then, according to the definition of magnetomotive force, the high-order harmonic magnetomotive force ∑f is constructed. k (θ, t), wherein the amplitude of the high-order harmonic magnetomotive force in the high-order harmonic magnetomotive force can be directly viewed according to the frequency domain signal spectrum to avoid repeated calculations.

[0141] Finally, the high-order harmonic magnetomotive force is added to the air gap magnetomotive force to obtain the harmonic interference magnetomotive force.

[0142] Furthermore, in an embodiment of the present invention, after obtaining the harmonic interference magnetomotive force and the air gap permeability, the radial magnetic flux density can be obtained by multiplying them.

[0143] The radial electromagnetic force wave can be calculated based on the radial magnetic flux density.

[0144] In detail, in the embodiment of the present invention, the radial electromagnetic force wave is expressed as:

[0145]

[0146] b(θ,t)=f′(θ,t)·λ(θ,t)

[0147] Wherein, p(θ, t) represents the radial electromagnetic force wave, b(θ, t) represents the radial magnetic flux density, λ(θ, t) represents the air gap permeability, and μ0 represents the vacuum permeability.

[0148] S7. Using a pre-trained vibration noise reduction recognition model, perform a signal shape feature extraction operation on the radial electromagnetic force wave to obtain a radial vibration signal feature set, perform a principal component analysis operation based on vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and perform a noise principal component harmonic extraction operation on the high-order harmonics based on the radial vibration principal component feature set to obtain noise harmonics.

[0149] In an embodiment of the present invention, the vibration noise reduction identification model is a classification model based on a neural network, which is used to perform a binary classification judgment on the high-order harmonics based on noise harmonics and normal harmonics according to the radial vibration signal feature with the greatest interference to the vibration intensity in the radial vibration signal feature set.

[0150] In the embodiment of the present invention, although the higher harmonics in the sinusoidal modulated electrical signal contain relatively high noise, if all the higher harmonics are directly deleted, the motor performance will be seriously affected. Therefore, it is not possible to directly filter all the higher harmonics, and only the noise harmonics in the higher filtering can be extracted.

[0151] In detail, in an embodiment of the present invention, the principal component analysis operation based on vibration intensity is performed on the radial vibration signal feature set to obtain the radial vibration principal component feature set, including:

[0152] Using a pre-built principal component analysis algorithm, performing a random replacement operation based on vibration intensity on each radial vibration signal feature in the radial vibration signal feature set, and obtaining a vibration intensity variation coefficient of each radial vibration signal feature;

[0153] The radial vibration signal features whose vibration intensity variation coefficients in the radial vibration signal feature set are greater than a preset principal component threshold are screened to obtain a radial vibration principal component feature set.

[0154] In the embodiment of the present invention, the principal component analysis method refers to identifying the target result (vibration intensity) according to the radial vibration signal feature, recording the recognition accuracy of the target result, and then randomly replacing the radial vibration signal feature, checking the recognition accuracy of the target result again, and the difference between the two recognition accuracy rates represents the vibration intensity variation coefficient. The larger the vibration intensity variation coefficient, the more important the radial vibration signal feature is for the analysis of vibration intensity.

[0155] Specifically, in the embodiment of the present invention, the radial vibration principal component feature set can be obtained by ranking the principal component analysis. In addition, by analyzing the radial vibration principal component feature set, it can also be known that the force wave with a lower vibration order and a larger amplitude in the radial electromagnetic force has the greatest impact on the vibration intensity.

[0156] S8. Perform noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain a noise-reduced modulated electrical signal, and perform power control on the motor according to the noise-reduced modulated electrical signal.

[0157] In detail, in an embodiment of the present invention, performing noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain the noise-reduced modulated electrical signal includes:

[0158] Acquire the frequency and amplitude of the noise harmonic, and generate a compensating harmonic of the noise harmonic according to the frequency and amplitude of the noise harmonic, wherein the compensating harmonic has the same frequency as the noise harmonic and an opposite phase;

[0159] According to a preset offset strategy, the amplitude of the compensation harmonic is adjusted to obtain an updated compensation harmonic;

[0160] The updated compensation harmonic is used to superimpose the sinusoidal modulated electrical signal to obtain a noise reduction modulated electrical signal.

[0161] The cancellation strategy means that the waveform of the original sinusoidal modulated electrical signal can be maintained after the noise harmonics are cancelled. Therefore, the amplitude of the compensation harmonic needs to be adjusted appropriately to ensure that the fundamental and harmonic components of the signal will not be affected after the noise wave is cancelled, thereby obtaining an updated compensation harmonic.

[0162] Furthermore, the superposition refers to an operation of summing up the updated compensation harmonic frequency and the amplitude corresponding to the signal in the sinusoidal modulated electrical signal.

[0163] In the embodiment of the present invention, the updated compensation harmonic corresponding to the noise harmonic is injected into the sinusoidal modulated electrical signal to achieve the lowest impact noise reduction operation and obtain the noise reduction modulated electrical signal. Then, the motor power control is achieved through the noise reduction modulated electrical signal.

[0164] In detail, in the embodiment of the present invention, after obtaining the noise reduction modulated electrical signal, the method further includes:

[0165] Acquire historical noise harmonics of the vibration noise reduction identification model within a preset time period, cluster the vibration orders and vibration frequencies of the historical noise harmonics, and obtain vibration order intervals and vibration frequency intervals;

[0166] According to the historical noise harmonics, vibration order intervals and vibration frequency intervals, a model for determining whether noise reduction is needed is trained;

[0167] When subsequent high-order harmonics are received, the noise order interval and noise frequency interval corresponding to the subsequent high-order harmonics are identified according to the noise reduction judgment model, and the subsequent high-order harmonics are screened according to the noise order interval and noise frequency interval to obtain noise harmonics in the subsequent high-order harmonics.

[0168] In the embodiment of the present invention, the signal characteristics of some noise harmonics can be obtained according to the vibration noise reduction identification model, such as the vibration order and vibration frequency of the historical noise harmonics, which can be used to train whether a noise reduction judgment model is needed. The noise reduction judgment model can judge whether it is a noise harmonic, and then directly jump to S8 to automatically eliminate the corresponding noise harmonic without performing the process of S6 to S7, thereby achieving efficient noise reduction.

[0169] The present invention is to solve the problem described in the background technology. The present invention first collects the motor data in the vacuum cleaner, such as current and voltage, real-time load, air gap magnetomotive force and air gap permeance; by monitoring the real-time load, the change of the motor power can be known, and the radial electromagnetic force of the motor can be known by the air gap magnetomotive force and air gap permeance, wherein the radial electromagnetic force is related to the vibration noise of the motor; then, the present invention monitors the load change rate. When the motor is not in the start-stop, gear shifting and working scene switching, the load change is small and no noise reduction is required; when the motor starts to start and stop, a huge load change rate will occur, and at this time, the sinusoidal pulse width modulation inverter generates a sinusoidal modulated electrical signal to ensure that the motor works more smoothly, wherein the sinusoidal modulated electrical signal has more high-order harmonics, and these high-order harmonics have a huge impact on the vibration of the motor; the present invention realizes noise reduction before the sinusoidal modulated electrical signal reaches the motor by querying the noise harmonics that generate vibration to the motor in the high-order harmonics, thereby realizing noise reduction power control of the motor. Therefore, the present invention can reduce the vibration noise of the vacuum cleaner motor.

[0170] like Figure 2 , which is a functional module diagram of a vacuum cleaner motor vibration noise reduction system provided by an embodiment of the present invention.

[0171] The vacuum cleaner motor vibration noise reduction system 100 of the present invention can be installed in an electronic device. According to the functions to be implemented, the vacuum cleaner motor vibration noise reduction system 100 can include a motor data acquisition module 101, a noise reduction trigger control module 102, a harmonic filtering module 103, a noise harmonic identification module 104 and a noise reduction control module 105. The module of the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0172] The motor data acquisition module 101 is used to collect electrical signals from the motor in the pre-built vacuum cleaner to obtain current and voltage, calculate the real-time load of the motor according to the current and voltage, monitor the real-time load, obtain the load change rate, and obtain the gas-electric parameters of the motor, and obtain the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and current;

[0173] The noise reduction trigger control module 102 is used to determine whether the load change rate is less than a preset mutation threshold, and when the load change rate is less than the mutation threshold, use a pre-built sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load, and perform power control on the motor according to the sinusoidal modulated electrical signal;

[0174] The harmonic filtering module 103 is used to generate a sinusoidal modulated electrical signal adapted to the real-time load by using the sinusoidal pulse width modulation inverter when the load change rate is greater than or equal to the mutation threshold, and perform harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics;

[0175] The noise harmonic identification module 104 is used to update the air gap magnetomotive force according to the high-order harmonics to obtain the harmonic interference magnetomotive force, multiply the harmonic interference magnetomotive force and the air gap permeability to obtain the radial magnetic flux density, and calculate the radial magnetic flux density according to the pre-constructed radial electromagnetic force algorithm to obtain the radial electromagnetic force wave, and use the pre-trained vibration noise reduction identification model to perform a signal shape feature extraction operation on the radial electromagnetic force wave to obtain a radial vibration signal feature set, perform a principal component analysis operation based on the vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and perform a noise principal component harmonic extraction operation on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics;

[0176] The noise reduction control module 105 is used to perform noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain a noise reduction modulated electrical signal, and perform power control on the motor according to the noise reduction modulated electrical signal.

[0177] In detail, the modules in the vacuum cleaner motor vibration noise reduction system 100 in the embodiment of the present invention are used in the same manner as described above. Figure 1 The technical means are the same as the vacuum cleaner motor vibration noise reduction method described in, and can produce the same technical effects, which will not be repeated here.

[0178] like Figure 3 , which is a schematic diagram of the structure of an electronic device for implementing a method for reducing vibration noise of a vacuum cleaner motor provided by an embodiment of the present invention.

[0179] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a method program for reducing vibration noise of a vacuum cleaner motor.

[0180] Wherein, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a mobile hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the vacuum cleaner motor vibration noise reduction method program, etc., but also can be used to temporarily store data that has been output or is to be output.

[0181] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules stored in the memory 11 (such as a vacuum cleaner motor vibration noise reduction method program, etc.), and calls data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0182] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0183] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0184] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to each component. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, etc. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0185] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0186] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0187] The vacuum cleaner motor vibration noise reduction method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve:

[0188] Collecting electrical signals from a motor in a pre-built vacuum cleaner to obtain current and voltage, calculating a real-time load of the motor based on the current and voltage, and monitoring the real-time load to obtain a load change rate;

[0189] Acquire the gas-electric parameters of the motor, and acquire the air-gap magnetomotive force and air-gap permeance of the motor according to the gas-electric parameters and the current;

[0190] Determining whether the load change rate is less than a preset mutation threshold;

[0191] When the load change rate is less than the mutation threshold, a pre-built sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and power control of the motor is performed according to the sinusoidal modulated electrical signal;

[0192] When the load change rate is greater than or equal to the mutation threshold, the sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and the sinusoidal modulated electrical signal is subjected to harmonic filtering to obtain higher harmonics;

[0193] The air gap magnetomotive force is updated according to the high-order harmonics to obtain a harmonic interference magnetomotive force, the harmonic interference magnetomotive force and the air gap permeance are multiplied to obtain a radial magnetic flux density, and the radial magnetic flux density is calculated according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave;

[0194] Using a pre-trained vibration noise reduction recognition model, a signal shape feature extraction operation is performed on the radial electromagnetic force wave to obtain a radial vibration signal feature set, a principal component analysis operation based on vibration intensity is performed on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and a noise principal component harmonic extraction operation is performed on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics;

[0195] According to the noise harmonics, the sinusoidal modulated electrical signal is subjected to noise reduction calculation to obtain a noise-reduced modulated electrical signal, and the motor is power-controlled according to the noise-reduced modulated electrical signal.

[0196] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0197] Furthermore, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0198] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement:

[0199] Collecting electrical signals from a motor in a pre-built vacuum cleaner to obtain current and voltage, calculating a real-time load of the motor based on the current and voltage, and monitoring the real-time load to obtain a load change rate;

[0200] Acquire the gas-electric parameters of the motor, and acquire the air-gap magnetomotive force and air-gap permeance of the motor according to the gas-electric parameters and the current;

[0201] Determining whether the load change rate is less than a preset mutation threshold;

[0202] When the load change rate is less than the mutation threshold, a pre-built sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and power control of the motor is performed according to the sinusoidal modulated electrical signal;

[0203] When the load change rate is greater than or equal to the mutation threshold, the sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and the sinusoidal modulated electrical signal is subjected to harmonic filtering to obtain higher harmonics;

[0204] The air gap magnetomotive force is updated according to the high-order harmonics to obtain a harmonic interference magnetomotive force, the harmonic interference magnetomotive force and the air gap permeance are multiplied to obtain a radial magnetic flux density, and the radial magnetic flux density is calculated according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave;

[0205] Using a pre-trained vibration noise reduction recognition model, a signal shape feature extraction operation is performed on the radial electromagnetic force wave to obtain a radial vibration signal feature set, a principal component analysis operation based on vibration intensity is performed on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and a noise principal component harmonic extraction operation is performed on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics;

[0206] According to the noise harmonics, the sinusoidal modulated electrical signal is subjected to noise reduction calculation to obtain a noise-reduced modulated electrical signal, and the motor is power-controlled according to the noise-reduced modulated electrical signal.

[0207] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0208] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0210] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for reducing vibration noise of a vacuum cleaner motor, characterized in that: The method comprises: Collecting electrical signals from a motor in a pre-built vacuum cleaner to obtain current and voltage, calculating a real-time load of the motor based on the current and voltage, and monitoring the real-time load to obtain a load change rate; Acquire the gas-electric parameters of the motor, and acquire the air-gap magnetomotive force and air-gap permeance of the motor according to the gas-electric parameters and the current; Determining whether the load change rate is less than a preset mutation threshold; When the load change rate is less than the mutation threshold, a pre-built sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and power control of the motor is performed according to the sinusoidal modulated electrical signal; When the load change rate is greater than or equal to the mutation threshold, the sinusoidal pulse width modulation inverter is used to generate a sinusoidal modulated electrical signal adapted to the real-time load, and the sinusoidal modulated electrical signal is subjected to harmonic filtering to obtain higher harmonics; The air gap magnetomotive force is updated according to the high-order harmonics to obtain a harmonic interference magnetomotive force, the harmonic interference magnetomotive force and the air gap permeance are multiplied to obtain a radial magnetic flux density, and the radial magnetic flux density is calculated according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave; Using a pre-trained vibration noise reduction recognition model, a signal shape feature extraction operation is performed on the radial electromagnetic force wave to obtain a radial vibration signal feature set, a principal component analysis operation based on vibration intensity is performed on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and a noise principal component harmonic extraction operation is performed on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics; According to the noise harmonics, the sinusoidal modulated electrical signal is subjected to noise reduction calculation to obtain a noise-reduced modulated electrical signal, and the motor is power-controlled according to the noise-reduced modulated electrical signal.

2. The method for reducing vibration noise of a vacuum cleaner motor according to claim 1, characterized in that: The step of obtaining the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and the current includes: According to the gas-electric parameters and current, the three-phase winding magnetomotive force amplitude of the motor at zero load is obtained, wherein the three-phase winding magnetomotive force amplitude includes the fundamental magnetomotive force amplitude, the stator harmonic magnetomotive force amplitude and the rotor harmonic magnetomotive force amplitude, wherein the three-phase winding magnetomotive force amplitude is expressed as: Where F0 is the fundamental magnetomotive force amplitude, F v is the stator harmonic magnetomotive force amplitude, F μ is the amplitude of the rotor harmonic magnetomotive force, W represents the number of series turns of each phase of the stator winding, K dpv represents the winding coefficient, p represents the number of pole pairs of the motor, v represents the harmonic order of the stator winding, μ represents the harmonic order of the rotor winding, I0 represents the excitation current, I1 represents the load current, I2 represents the rotor current, and I0, I1 and I2 are included in the current, D 2v Indicates the damping coefficient, W, K dpv , p and D 2v Included in the gas and electricity parameters; According to the three-phase winding magnetomotive force amplitude, the three-phase winding magnetomotive force is calculated, wherein the three-phase winding magnetomotive force includes fundamental magnetomotive force, stator winding harmonic magnetomotive force and rotor winding harmonic magnetomotive force, wherein the three-phase winding magnetomotive force is expressed as: f0(θ, t) = F0cos(pθ-ωt) f v (θ, t)=F v cos(vθ-ωt) f μ (θ, t)=F μ cos(μθ-ω) μ t) Where, f0(θ, t) represents the fundamental magnetomotive force, f v (θ, t) represents the stator winding harmonic magnetomotive force, f μ (θ, t) represents the harmonic magnetomotive force of the rotor winding, θ represents the mechanical angular displacement, ω represents the fundamental rotation angular velocity, ω μ represents the angular velocity of the rotor winding harmonic magnetomotive force relative to the stator, and t represents time; The weighted sum of each magnetomotive force in the three-phase winding magnetomotive force is performed to obtain the air gap magnetomotive force of the motor, wherein the air gap magnetomotive force is expressed as: Where, f(θ, t) represents the air gap magnetomotive force; The initial air gap permeability, stator slot air gap permeability, rotor slot air gap permeability and air gap length in the gas-electric parameters are obtained, and the initial air gap permeability is weightedly calculated by interaction force according to the stator slot air gap permeability, rotor slot air gap permeability and air gap length to obtain the air gap permeability.

3. The method for reducing vibration noise of a vacuum cleaner motor according to claim 2, characterized in that: The method of using a pre-built sinusoidal pulse width modulation frequency converter to generate a sinusoidal modulated electrical signal adapted to the real-time load comprises: Acquire a fundamental sinusoidal signal in the current and acquire a triangular wave signal; Comparing the fundamental sinusoidal signal with the triangular wave signal to obtain a comparison result, configuring a high level for a time period in which the fundamental sinusoidal signal is greater than the triangular wave signal in the comparison result to obtain a high level signal distribution, and configuring a low level for a time period in which the fundamental sinusoidal signal is less than or equal to the triangular wave signal in the comparison result to obtain a low level signal distribution; According to the high level signal distribution and the low level signal distribution, the fast switch in the pre-built sinusoidal pulse width modulation inverter is controlled to obtain a sinusoidal modulated electrical signal.

4. The method for reducing vibration noise of a vacuum cleaner motor according to claim 3, characterized in that: The step of performing harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics includes: According to a pre-built Fourier transform algorithm, the sinusoidal modulated electrical signal is transformed into a frequency domain signal spectrum, wherein the frequency domain signal spectrum includes the amplitude and frequency of each signal; A peak feature recognition operation is performed on the frequency domain signal spectrum to obtain a harmonic characteristic peak, and based on the harmonic characteristic peak, the sinusoidal modulated electrical signal is filtered to obtain higher-order harmonics.

5. The method for reducing vibration noise of a vacuum cleaner motor according to claim 4, characterized in that: The updating of the air gap magnetomotive force according to the high-order harmonics to obtain the harmonic interference magnetomotive force includes: The adjusted harmonic value of the high-order harmonic is obtained, and the high-order harmonic magnetomotive force amplitude of the high-order harmonic is obtained according to the adjusted harmonic value, and the high-order harmonic magnetomotive force of the high-order harmonic is constructed according to the high-order harmonic magnetomotive force amplitude, wherein the high-order harmonic magnetomotive force is expressed as: ∑f k (θ,t)=∑F k cos(kθ-kωt) In the formula, ∑f k (θ, t) represents the high-order harmonic magnetomotive force, k represents the adjusted harmonic value, representing the harmonic order in the high-order harmonic, F k represents the amplitude of the high-order harmonic magnetomotive force, and corresponds to the amplitude of the kth high-order harmonic in the frequency domain signal spectrum; According to the high-order harmonic magnetomotive force, the air gap magnetomotive force is weighted to obtain the harmonic interference magnetomotive force, wherein the harmonic interference magnetomotive force is expressed as: Where f′(θ,t) represents the harmonic interference magnetomotive force.

6. The method for reducing vibration noise of a vacuum cleaner motor according to claim 5, characterized in that: The radial electromagnetic force wave is expressed as: b(θ,t)=f′(θ,t)·λ(θ,t) Wherein, p(θ, t) represents the radial electromagnetic force wave, b(θ, t) represents the radial magnetic flux density, λ(θ, t) represents the air gap permeability, and μ0 represents the vacuum permeability.

7. The method for reducing vibration noise of a vacuum cleaner motor according to claim 6, characterized in that: The performing a principal component analysis operation based on vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set includes: Using a pre-built principal component analysis algorithm, performing a random replacement operation based on vibration intensity on each radial vibration signal feature in the radial vibration signal feature set, and obtaining a vibration intensity variation coefficient of each radial vibration signal feature; The radial vibration signal features whose vibration intensity variation coefficients in the radial vibration signal feature set are greater than a preset principal component threshold are screened to obtain a radial vibration principal component feature set.

8. The method for reducing vibration noise of a vacuum cleaner motor according to claim 7, characterized in that: The step of performing noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain the noise-reduced modulated electrical signal comprises: Acquire the frequency and amplitude of the noise harmonic, and generate a compensating harmonic of the noise harmonic according to the frequency and amplitude of the noise harmonic, wherein the compensating harmonic has the same frequency as the noise harmonic and an opposite phase; According to a preset offset strategy, the amplitude of the compensation harmonic is adjusted to obtain an updated compensation harmonic; The updated compensation harmonic is used to superimpose the sinusoidal modulated electrical signal to obtain a noise reduction modulated electrical signal.

9. The method for reducing vibration noise of a vacuum cleaner motor according to claim 8, characterized in that: After obtaining the noise reduction modulated electrical signal, the method further includes: Acquire historical noise harmonics of the vibration noise reduction identification model within a preset time period, cluster the vibration orders and vibration frequencies of the historical noise harmonics, and obtain vibration order intervals and vibration frequency intervals; According to the historical noise harmonics, vibration order intervals and vibration frequency intervals, a model for determining whether noise reduction is needed is trained; When subsequent high-order harmonics are received, the noise order interval and noise frequency interval corresponding to the subsequent high-order harmonics are identified according to the noise reduction judgment model, and the subsequent high-order harmonics are screened according to the noise order interval and noise frequency interval to obtain noise harmonics in the subsequent high-order harmonics.

10. A vacuum cleaner motor vibration noise reduction system, characterized in that: The system comprises: A motor data acquisition module, for collecting electrical signals from the motor in the pre-built vacuum cleaner to obtain current and voltage, and calculating the real-time load of the motor according to the current and voltage, and monitoring the real-time load to obtain the load change rate, and obtaining the gas-electric parameters of the motor, and obtaining the air gap magnetomotive force and air gap permeance of the motor according to the gas-electric parameters and current; A noise reduction trigger control module, used to determine whether the load change rate is less than a preset mutation threshold, and when the load change rate is less than the mutation threshold, use a pre-built sinusoidal pulse width modulation inverter to generate a sinusoidal modulated electrical signal adapted to the real-time load, and perform power control on the motor according to the sinusoidal modulated electrical signal; A harmonic filtering module, used for generating a sinusoidal modulated electrical signal adapted to the real-time load by using the sinusoidal pulse width modulation inverter when the load change rate is greater than or equal to the mutation threshold, and performing harmonic filtering on the sinusoidal modulated electrical signal to obtain higher harmonics; A noise harmonic identification module is used to update the air gap magnetomotive force according to the high-order harmonics to obtain a harmonic interference magnetomotive force, multiply the harmonic interference magnetomotive force and the air gap permeability to obtain a radial magnetic flux density, and calculate the radial magnetic flux density according to a pre-constructed radial electromagnetic force algorithm to obtain a radial electromagnetic force wave, and use a pre-trained vibration noise reduction identification model to perform a signal shape feature extraction operation on the radial electromagnetic force wave to obtain a radial vibration signal feature set, perform a principal component analysis operation based on vibration intensity on the radial vibration signal feature set to obtain a radial vibration principal component feature set, and perform a noise principal component harmonic extraction operation on the high-order harmonics according to the radial vibration principal component feature set to obtain noise harmonics; The noise reduction control module is used to perform noise reduction calculation on the sinusoidal modulated electrical signal according to the noise harmonics to obtain a noise reduction modulated electrical signal, and perform power control on the motor according to the noise reduction modulated electrical signal.

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