Motor and control method and device thereof, storage medium and circulating pump

Abstract

The invention provides a motor and a control method and device thereof, a storage medium and a circulating pump, and the control method of the motor comprises the steps: controlling the motor to run for a preset time length based on a set current instruction under the condition that the motor is in a locked-rotor state; wherein the set current instruction is used for indicating that the direct-axis given current is a first current and indicating that the quadrature-axis given current is a second current in a first duration in the same preset period and is a third current in a second duration, the directions of the second current and the third current are different, and the preset duration comprises at least one preset period.

Description

Technical Field

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

[0002] At present, the circulation pump in the related technology is generally used in heating systems such as household hot water circulation systems and HVAC systems, especially in Europe, where it is more widely used.

[0003] In the heating system, the circulating pump is a component of the whole system and is usually installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easily frozen due to the moisture in the air, resulting in the motor being unable to start quickly, affecting the reliable operation of the circulating pump. Summary of the invention

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

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

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

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

[0008] A fourth aspect of the present invention is to provide a readable storage medium.

[0009] A fifth aspect of the present invention is to provide an electric motor.

[0010] A sixth aspect of the present invention is to provide a circulation pump.

[0011] In view of this, according to a first aspect of the present invention, a method for controlling a motor is proposed, and the method for controlling the motor comprises: when the motor is in a stalled state, controlling the motor to run for a preset time based on a set current command; wherein the set current command is used to indicate that the direct-axis given current is a first current, and to indicate that the quadrature-axis given current is a second current within a first time period and a third current within a second time period within the same preset cycle, the second current and the third current have different directions, and the preset time period includes at least one preset cycle.

[0012] The motor control method provided by the present invention starts the motor, that is, after the motor is powered on, first determines whether the motor is in a stalled state. If the motor is stalled, it means that the inside of the motor is likely to be in an ice state. Therefore, the motor needs to be thawed to ensure that the motor can be started smoothly. It can be understood that if the motor is not stalled, the motor can be started normally.

[0013] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0014] When it is determined that the motor is stalled, a set current command is output to make the motor run for a preset time under the set current command. Specifically, the set current command indicates that the direct axis given current is the first current, and within the same preset period, the quadrature axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant value.

[0015] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, a direct-axis current is given, and at the same time, in each preset cycle of at least one preset cycle, a cross-axis current is given alternately to heat and dither the motor. Thus, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0016] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0017] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to increase the heating and dithering effect on the motor.

[0018] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0019] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0020] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0021] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0022] In addition, the motor control method in the above technical solution provided by the present invention may also have the following additional technical features:

[0023] In some technical schemes, optionally, the setting current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes to a second current at a first speed within a first time period, and runs at the second current for a first set time period, and the cross-axis given current changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0024] In this technical solution, within the first time length of the same preset cycle, the cross-axis given current changes to the second current at a first speed. It can be understood that the cross-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the cross-axis current before the motor is controlled based on the set current command, and the initial current can be 0 or other currents.

[0025] That is to say, within the first time period, the quadrature axis given current is ramped to the second current, that is, during the process of the quadrature axis given current changing to the second current, the current change rate is a constant value, thereby improving the stability and reliability of the motor during the heating and shaking process of the motor.

[0026] In the second time period, the quadrature axis given current changes from the second current to the third current at the second speed, that is, in the second time period, the quadrature axis given current changes from the second current slope to the third current, that is, in the process of the quadrature axis given current changing from the second current to the third current, the current change rate is a constant value. Thus, in the process of heating and shaking the motor, the stability and reliability of the motor are improved.

[0027] It can be understood that, within the first time length of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0028] In some technical solutions, optionally, when the motor is running with a set current command, the A-phase current i of the motor is ais the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0029] In this technical solution, when the motor runs based on the set current command, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC current.

[0030] In the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0031] In some technical solutions, optionally, the first current I d The calculation formula is as follows: d =k 1 I max ; The second current I q The calculation formula is as follows: q =k 1 I max ; The third current is -I q ; where k 1 is the coefficient, I max is the maximum current of the motor.

[0032] In this technical solution, the calculation formula of the first current is I d =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0033] The calculation formula of the second current is I q =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. maxis the maximum current of the motor.

[0034] Wherein, the second current is I q When the third current is -I q That is to say, the second current is in the opposite direction to the third current, that is, when the motor is running with the set current instruction, the cross-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be started quickly in a short time when it is in a frozen state.

[0035] In some technical schemes, optionally, the control method also includes: after controlling the motor to run for a preset time based on a set current command, determining whether the motor is still in a stalled state; if the motor is still in a stalled state, controlling the motor to run for a preset time based on the set current command again; if the motor is not in a stalled state, controlling the motor to start normally.

[0036] In this technical solution, when the motor executes the set current command and continues to run for a preset time t 1 After that, re-judge whether the motor is still blocked, that is, whether the motor has been thawed.

[0037] If the motor has been thawed, the motor can be started normally. If the motor is still in a stalled state, the motor is controlled again based on the set current command to heat and shake the motor again until the motor is thawed. If the inside of the motor is frozen, the ice inside can be melted quickly, so that when the motor is frozen, it can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0038] In some technical solutions, optionally, the control method further includes: after controlling the motor to run a preset number of times based on the set current command, if the motor is still in a stalled state, determining that the motor is in a stalled state.

[0039] In this technical solution, when the motor still stalls after executing the set current instruction for a preset number of times N, it means that the motor may have other stall faults, and a stall fault is reported.

[0040] Optionally, the specific number of the preset number N can be set according to actual needs.

[0041] In some technical solutions, optionally, before controlling the motor to run for a preset time based on the set current command, it also includes: determining the maximum value of the back electromotive force of the motor; and determining whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0042] In this technical solution, before controlling the motor to run based on the set current command, it is first determined whether the motor is stalled based on the maximum value of the motor's back electromotive force. It is understandable that if the motor is stalled, it means that the inside of the motor is likely to be frozen, so the motor needs to be thawed to ensure that the motor can start smoothly. It is understandable that if the motor is not stalled, the motor can start normally.

[0043] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is blocked, and then the motor can be heated and shaken when the motor is frozen, ensuring that the motor can start quickly and reliably.

[0044] In some technical schemes, optionally, whether the motor is in a stalled state is determined based on the maximum value of the back electromotive force, specifically including: when the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; when the maximum value of the back electromotive force is greater than or equal to the preset threshold, determining that the motor is not in a stalled state.

[0045] In this technical solution, the determined maximum back electromotive force is compared with a set threshold (preset threshold). If the maximum back electromotive force is less than the set threshold, it means that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0046] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0047] Specifically, when it is determined that the motor is stalled, a set current instruction is output to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is the first current, and within the same preset period, the quadrature-axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant. In order to heat and shake the motor, when the motor is in a frozen state, the internal ice can melt quickly, so that the motor can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0048] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not blocked. At this time, the motor can be started normally.

[0049] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled, and then, if the motor is frozen, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0050] In some technical solutions, optionally, the preset threshold E 1 The calculation formula is as follows: 1 =2k 2 πf e ψ f ; where k 2 is the coefficient, f e The open-loop current frequency is given by f is the permanent magnet flux of the motor.

[0051] In this technical solution, the calculation formula of the preset threshold (set threshold) is E 1 =2k 2 πf e ψ f , where k 2 is the coefficient, specifically, k 2 The value range of is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0052] In some technical solutions, optionally, determining the maximum value of the back electromotive force of the motor specifically includes: determining the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value and a stator resistance.

[0053] In this technical solution, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is That is, obtaining a given voltage command can obtain a given voltage value

[0054] The maximum value of the motor back electromotive force is calculated based on the given voltage of the motor, the sampling value of the motor phase current and the stator resistance of the motor, and then the maximum value of the motor back electromotive force is used to quickly determine whether the motor is stuck, so that the motor can be quickly started when the motor is frozen.

[0055] In some technical solutions, optionally, the maximum value of the back electromotive force E 2 The calculation formula is as follows: in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0056] In this technical solution, the calculation formula for the maximum value of the back electromotive force is: in, is the given voltage of the motor. s is the sampled value of the motor phase current. s is the stator resistance of the motor. It is understandable that, within a preset time period after the motor is powered on, multiple sampling values ​​of given voltage and phase current are obtained, and after being respectively substituted into the formula, the maximum back electromotive force calculated is the maximum value of the back electromotive force, and then the maximum value of the back electromotive force of the motor is used to quickly determine whether the motor is stalled, and then a quick start can be achieved in the case of motor icing.

[0057] In some technical solutions, optionally, when the motor runs with a set current instruction, the motor can generate heat and vibrate.

[0058] In this technical solution, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0059] In some technical solutions, optionally, the control method further includes: when the motor is running with a set current instruction, the given angle of the motor rotor is a constant value.

[0060] In the technical solution, when the motor is running with a set current instruction, that is, during the thawing operation of the motor, the given angle value of the rotor of the motor is a fixed value. Specifically, the given angle of the rotor of the motor can be 0 degrees, 90 degrees or 180 degrees. It can be set according to actual needs.

[0061] By setting the given angle of the motor's rotor to a fixed value during the motor's thawing operation, the stability and reliability of the motor's thawing operation can be ensured.

[0062] According to a second aspect of the present invention, a control device for a motor is provided, the control device for the motor comprising a processing unit, the processing unit being used to control the motor to run for a preset time based on a set current instruction when the motor is in a stalled state; wherein the set current instruction is used to indicate that a given direct-axis current is a first current, and to indicate that a given quadrature-axis current is a second current within a first time period and a third current within a second time period within the same preset cycle, the second current and the third current have different directions, and the preset time period includes at least one preset cycle.

[0063] The technical solution of the present application proposes a motor control device, which includes a processing unit. Specifically, after starting the motor, that is, after the motor is powered on, it is first determined whether the motor is in a stalled state. If the motor is stalled, it means that the inside of the motor is likely to be frozen. Therefore, the motor needs to be thawed to ensure that the motor can be started smoothly. It can be understood that if the motor is not stalled, the motor can be started normally.

[0064] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0065] When it is determined that the motor is stalled, the processor outputs a set current instruction to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction indicates that the direct axis given current is the first current, and within the same preset cycle, the quadrature axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant value.

[0066] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, a direct-axis current is given, and at the same time, in each preset cycle of at least one preset cycle, a cross-axis current is given alternately to heat and dither the motor. Thus, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0067] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0068] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to increase the heating and dithering effect on the motor.

[0069] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0070] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0071] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0072] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0073] In addition, the motor control device in the above technical solution provided by the present invention may also have the following additional technical features:

[0074] In some technical schemes, optionally, the setting current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes to a second current at a first speed within a first time period, and runs at the second current for a first set time period, and the cross-axis given current changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0075] In this technical solution, within the first time length of the same preset cycle, the cross-axis given current changes to the second current at a first speed. It can be understood that the cross-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the cross-axis current before the motor is controlled based on the set current command, and the initial current can be 0 or other currents.

[0076] That is to say, within the first time period, the quadrature axis given current is ramped to the second current, that is, during the process of the quadrature axis given current changing to the second current, the current change rate is a constant value, thereby improving the stability and reliability of the motor during the heating and shaking process of the motor.

[0077] In the second time period, the quadrature axis given current changes from the second current to the third current at the second speed, that is, in the second time period, the quadrature axis given current changes from the second current slope to the third current, that is, in the process of the quadrature axis given current changing from the second current to the third current, the current change rate is a constant value. Thus, in the process of heating and shaking the motor, the stability and reliability of the motor are improved.

[0078] It can be understood that, within the first time length of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0079] In some technical solutions, optionally, when the motor is running with a set current command, the A-phase current i of the motor isa is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0080] In this technical solution, when the motor runs based on the set current command, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC current.

[0081] In the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0082] In some technical solutions, optionally, the first current I d The calculation formula is as follows: d =k 1 I max ; The second current I q The calculation formula is as follows: q =k 1 I max ; The third current is -I q ; where k 1 is the coefficient, I max is the maximum current of the motor.

[0083] In this technical solution, the calculation formula of the first current is I d =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0084] The calculation formula of the second current is I q =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs.max is the maximum current of the motor.

[0085] Wherein, the second current is I q When the third current is -I q That is to say, the second current is in the opposite direction to the third current, that is, when the motor is running with the set current instruction, the cross-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be started quickly in a short time when it is in a frozen state.

[0086] In some technical solutions, optionally, the processing unit is also used to determine whether the motor is still in a stalled state after controlling the motor to run for a preset time based on a set current command; the processing unit is also used to control the motor to run for a preset time based on the set current command again when the motor is still in a stalled state; the processing unit is also used to control the motor to start normally when the motor is not in a stalled state.

[0087] In this technical solution, when the motor executes the set current command and continues to run for a preset time t 1 After that, re-judge whether the motor is still blocked, that is, whether the motor has been thawed.

[0088] If the motor has been thawed, the motor can be started normally. If the motor is still in a stalled state, the motor is controlled again based on the set current command to make the motor heat up and vibrate until the motor thaws. If the inside of the motor is frozen, the ice inside can be melted quickly, so that when the motor is frozen, it can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0089] In some technical solutions, optionally, the processing unit is also used to determine that the motor is in a stalled state when the motor is still in a stalled state after the motor is controlled to run for a preset number of times based on a set current command.

[0090] In this technical solution, after the motor executes the set current instruction for a preset number of times N, if the motor is still stalled, it means that the motor may have other stall faults, and a stall fault is reported.

[0091] Optionally, the specific number of the preset number N can be set according to actual needs.

[0092] In some technical solutions, optionally, the processing unit is also used to determine the maximum value of the back electromotive force of the motor; the processing unit is also used to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0093] In this technical solution, before controlling the motor to run based on the set current command, it is first determined whether the motor is stalled based on the maximum value of the motor's back electromotive force. It is understandable that if the motor is stalled, it means that the inside of the motor is likely to be frozen, so the motor needs to be thawed to ensure that the motor can start smoothly. It is understandable that if the motor is not stalled, the motor can start normally.

[0094] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is blocked, and then the motor can be heated and shaken when the motor is frozen, ensuring that the motor can start quickly and reliably.

[0095] In some technical schemes, optionally, the processing unit is also specifically used to determine that the motor is in a stalled state when the maximum value of the back electromotive force is less than a preset threshold; the processing unit is also specifically used to determine that the motor is not in a stalled state when the maximum value of the back electromotive force is greater than or equal to a preset threshold.

[0096] In this technical solution, the determined maximum back electromotive force is compared with a set threshold (preset threshold). If the maximum back electromotive force is less than the set threshold, it means that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0097] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0098] Specifically, when it is determined that the motor is stalled, a set current instruction is output to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is the first current, and within the same preset period, the quadrature-axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant. In order to heat and shake the motor, when the motor is in a frozen state, the internal ice can melt quickly, so that the motor can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0099] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not blocked and can be started normally.

[0100] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled, and then, if the motor is frozen, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0101] In some technical solutions, optionally, the preset threshold E 1 The calculation formula is as follows: 1 =2k 2 πf e ψ f ; where k 2 is the coefficient, f e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0102] In this technical solution, the calculation formula of the preset threshold (set threshold) is E 1 =2k 2 πf e ψ f , where k 2 is the coefficient, specifically, k 2 The value range of is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0103] In some technical solutions, optionally, the processing unit is further used to determine the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value and a stator resistance.

[0104] In this technical solution, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is That is, obtaining a given voltage command can obtain a given voltage value

[0105] The maximum value of the motor back electromotive force is calculated based on the given voltage of the motor, the sampling value of the motor phase current and the stator resistance of the motor, and then the maximum value of the motor back electromotive force is used to quickly determine whether the motor is stuck, so that the motor can be quickly started when the motor is frozen.

[0106] In some technical solutions, optionally, the maximum value of the back electromotive force E 2 The calculation formula is as follows: in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0107] In this technical solution, the calculation formula for the maximum value of the back electromotive force is: in, is the given voltage of the motor. s is the sampled value of the motor phase current. s is the stator resistance of the motor. It is understandable that, within a preset time period after the motor is powered on, multiple sampling values ​​of given voltage and phase current are obtained, and after being respectively substituted into the formula, the maximum back electromotive force calculated is the maximum value of the back electromotive force, and then the maximum value of the back electromotive force of the motor is used to quickly determine whether the motor is stalled, and then a quick start can be achieved in the case of motor icing.

[0108] In some technical solutions, optionally, when the motor runs with a set current instruction, the motor can generate heat and vibrate.

[0109] In this technical solution, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0110] In some technical solutions, optionally, the processing unit is also used to set the given angle of the motor rotor to a constant value when the motor is running with a set current instruction.

[0111] In the technical solution, when the motor is running with a set current instruction, that is, during the thawing operation of the motor, the given angle value of the rotor of the motor is a fixed value. Specifically, the given angle of the rotor of the motor can be 0 degrees, 90 degrees or 180 degrees. It can be set according to actual needs.

[0112] By setting the given angle of the motor's rotor to a fixed value during the motor's thawing operation, the stability and reliability of the motor's thawing operation can be ensured.

[0113] According to a third aspect of the present invention, the present invention provides a motor control device, comprising: a controller and a memory, wherein the memory stores a program or instruction, and the controller implements the steps of any of the above methods when executing the program or instruction in the memory. Therefore, the motor control device has all the beneficial effects of any of the above motor control methods.

[0114] According to a fourth aspect of the present invention, the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of any of the above methods are implemented. Therefore, the readable storage medium has all the beneficial effects of any of the above motor control methods.

[0115] According to a fifth aspect of the present invention, the present invention provides a motor, comprising: a motor control device as described in any one of the above items; or a readable storage medium as described in the fourth aspect. Therefore, the motor has all the beneficial effects of the motor control device as described in any one of the above items or the readable storage medium as described in the fourth aspect.

[0116] According to a sixth aspect of the present invention, the present invention provides a circulation pump, comprising: the motor provided in the fifth aspect above. Therefore, the circulation pump has all the beneficial effects of the motor in the fifth aspect above.

[0117] 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

[0118] 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:

[0119] Figure 1 One of the flow charts of a method for controlling a motor according to an embodiment of the present invention is shown;

[0120] Figure 2 A second flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0121] Figure 3 A third flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0122] Figure 4 A fourth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0123] Figure 5 A fifth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0124] Figure 6 A schematic block diagram showing a control device for a motor according to an embodiment of the present invention is shown;

[0125] Figure 7 A schematic diagram showing a direct-axis current setting method of a motor control method according to an embodiment of the present invention is shown;

[0126] Figure 8 A schematic diagram showing a given quadrature-axis current of a motor control method according to an embodiment of the present invention is shown;

[0127] Fig. 9 A motor three-phase current waveform diagram of a motor control method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0128] 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 invention and the features in the embodiments can be combined with each other without conflict.

[0129] 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.

[0130] Refer to the following Figures 1 to 9 A method for controlling a motor, a device for controlling a motor, a readable storage medium, a motor, and a circulating pump according to some embodiments of the present invention are described.

[0131] In one embodiment according to the present invention, Figure 1 , Figure 7 and Figure 8 As shown, a motor control method is proposed, and the control method includes:

[0132] Step 102 : When the motor is in a stalled state, control the motor to run for a preset time based on a set current command.

[0133] The motor control method provided by the present invention starts the motor, that is, after the motor is powered on, first determines whether the motor is in a stalled state. If the motor is stalled, it means that the inside of the motor is likely to be in an ice state. Therefore, the motor needs to be thawed to ensure that the motor can be started smoothly. It can be understood that if the motor is not stalled, the motor can be started normally.

[0134] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0135] When it is determined that the motor is stalled, a set current command is output to make the motor run for a preset time under the set current command. Specifically, the set current command indicates that the direct axis given current is the first current, and within the same preset period, the quadrature axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant value.

[0136] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, a direct-axis current is given, and at the same time, in each preset cycle of at least one preset cycle, a cross-axis current is given alternately to heat and dither the motor. Thus, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0137] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0138] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to increase the heating and dithering effect on the motor.

[0139] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0140] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0141] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0142] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0143] In some embodiments, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes from the second current to the second current at a first speed within a first time period, and runs at the second current for a first set time period, and the cross-axis given current changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0144] In this embodiment, within the first time length of the same preset cycle, the cross-axis given current changes to the second current at a first speed. It can be understood that the cross-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the cross-axis current before the motor is controlled based on the set current command, and the initial current can be 0 or other currents.

[0145] That is to say, within the first time period, the quadrature axis given current is ramped to the second current, that is, during the process of the quadrature axis given current changing to the second current, the current change rate is a constant value, thereby improving the stability and reliability of the motor during the heating and shaking process of the motor.

[0146] In the second time period, the quadrature axis given current changes from the second current to the third current at the second speed, that is, in the second time period, the quadrature axis given current changes from the second current slope to the third current, that is, in the process of the quadrature axis given current changing from the second current to the third current, the current change rate is a constant value. Thus, in the process of heating and shaking the motor, the stability and reliability of the motor are improved.

[0147] It can be understood that, within the first time length of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0148] In some embodiments, optionally, when the motor is running with a set current command, the A-phase current i of the motor is a is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0149] In this embodiment, when the motor is running based on the set current command, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC current.

[0150] In the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0151] In a specific embodiment, optionally, when the motor executes the set current command, the three-phase stator current waveform of the motor changes, such as Fig. 9 As shown, specifically, the A phase current i a is a constant DC current (the fourth current); the B phase current i b In t 2 / 2 time (first duration) first ramps up to a positive value (fifth current), t 2 / 2 time (second duration) and then ramp down to a negative value (sixth current); C phase current i c In t 2 / 2 time (first duration) first slopes down to a negative value (seventh current), t 2 / 2 time (second duration) and then ramp up to a positive value (eighth current). 2 Time (preset cycle) is a cycle reciprocating, lasting t 1 Time (preset duration).

[0152] In some embodiments, optionally, the first current I d The calculation formula is as follows: d =k 1 I max ; The second current I q The calculation formula is as follows: q =k 1 I max ; The third current is -I q ; where k 1 is the coefficient, I max is the maximum current of the motor.

[0153] In this technical solution, the calculation formula of the first current is I d =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0154] The calculation formula of the second current is I q =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0155] Wherein, the second current is I qWhen the third current is -I q That is to say, the second current is in the opposite direction to the third current, that is, when the motor is running with the set current instruction, the cross-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be started quickly in a short time when it is in a frozen state.

[0156] In one embodiment according to the present invention, Figure 2 As shown, a motor control method is proposed, and the control method also includes:

[0157] Step 202, after controlling the motor to run for a preset time based on the set current command, determining whether the motor is still in a stalled state;

[0158] Step 204, when the motor is still in the stalled state, controlling the motor to run for a preset time based on the set current command again;

[0159] Step 206: When the motor is not in a stalled state, control the motor to start normally.

[0160] In this embodiment, when the motor executes the set current command and continues to run for a preset time t 1 After that, re-judge whether the motor is still blocked, that is, whether the motor has been thawed.

[0161] If the motor has been thawed, the motor can be started normally. If the motor is still in a stalled state, the motor is controlled again based on the set current command to heat and shake the motor again until the motor is thawed. If the inside of the motor is frozen, the ice inside can be melted quickly, so that when the motor is frozen, it can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0162] In one embodiment according to the present invention, Figure 3 As shown, a motor control method is proposed, and the control method also includes:

[0163] Step 302: after the motor is controlled to run for a preset number of times based on the set current command, if the motor is still in a stalled state, it is determined that the motor is in a stalled state.

[0164] In this embodiment, when the motor still stalls after executing the set current command for a preset number of times N, it means that the motor may have other stall faults, and a stall fault is reported.

[0165] Optionally, the specific number of the preset number N can be set according to actual needs.

[0166] In one embodiment according to the present invention, Figure 4 As shown, a motor control method is proposed, and before step 102, it also includes:

[0167] Step 402, determining the maximum value of the back electromotive force of the motor;

[0168] Step 404: determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0169] In this embodiment, before controlling the motor to run based on the set current command, it is first determined whether the motor is stalled based on the maximum value of the motor's back electromotive force. It is understandable that if the motor is stalled, it means that the inside of the motor is likely to be frozen, so the motor needs to be thawed to ensure that the motor can start smoothly. It is understandable that if the motor is not stalled, the motor can start normally.

[0170] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is blocked, and then the motor can be heated and shaken when the motor is frozen, ensuring that the motor can start quickly and reliably.

[0171] In some embodiments, optionally, whether the motor is in a stalled state is determined based on the maximum value of the back electromotive force, specifically including: when the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; when the maximum value of the back electromotive force is greater than or equal to the preset threshold, determining that the motor is not in a stalled state.

[0172] In this embodiment, the determined maximum back electromotive force is compared with a set threshold value (preset threshold value). If the maximum back electromotive force is less than the set threshold value, it indicates that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0173] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0174] Specifically, when it is determined that the motor is stalled, a set current instruction is output to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is the first current, and within the same preset period, the quadrature-axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant. In order to heat and shake the motor, when the motor is in a frozen state, the internal ice can melt quickly, so that the motor can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0175] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not blocked. At this time, the motor can be started normally.

[0176] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled, and then, if the motor is frozen, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0177] In some embodiments, optionally, the preset threshold E 1 The calculation formula is as follows: 1 =2k 2 πf e ψ f ; where k 2 is the coefficient, f e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0178] In this embodiment, the calculation formula of the preset threshold (set threshold) is E 1 =2k 2 πf e ψ f , where k 2 is the coefficient, specifically, k 2 The value range of is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0179] In some embodiments, optionally, determining the maximum value of the back electromotive force of the motor specifically includes: determining the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0180] In this embodiment, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is That is, obtaining a given voltage command can obtain a given voltage value

[0181] The maximum value of the motor back electromotive force is calculated based on the given voltage of the motor, the sampling value of the motor phase current and the stator resistance of the motor, and then the maximum value of the motor back electromotive force is used to quickly determine whether the motor is stuck, so that the motor can be quickly started when the motor is frozen.

[0182] In some embodiments, optionally, the maximum value of the back electromotive force E 2 The calculation formula is as follows: in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0183] In this embodiment, the calculation formula of the maximum value of the back electromotive force is: in, is the given voltage of the motor. s is the sampled value of the motor phase current. s is the stator resistance of the motor. It is understandable that, within a preset time period after the motor is powered on, multiple sampling values ​​of given voltage and phase current are obtained, and after being respectively substituted into the formula, the maximum back electromotive force calculated is the maximum value of the back electromotive force, and then the maximum value of the back electromotive force of the motor is used to quickly determine whether the motor is stalled, and then a quick start can be achieved in the case of motor icing.

[0184] In some embodiments, optionally, when the motor is running at a set current command, the motor can generate heat and vibrate.

[0185] In this embodiment, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in a frozen state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0186] In some embodiments, optionally, the control method further includes: when the motor is running with a set current instruction, setting a given angle of the rotor of the motor to a fixed value.

[0187] In this embodiment, when the motor is running with a set current instruction, that is, during the thawing operation of the motor, the given angle value of the rotor of the motor is a fixed value. Specifically, the given angle of the rotor of the motor can be 0 degrees, 90 degrees or 180 degrees. It can be set according to actual needs.

[0188] By setting the given angle of the motor's rotor to a fixed value during the motor's thawing operation, the stability and reliability of the motor's thawing operation can be ensured.

[0189] In one embodiment according to the present invention, Figure 5 As shown, a motor control method is proposed, and the control method also includes:

[0190] Step 502, calculating the maximum value of the motor back electromotive force;

[0191] Step 504, comparing the maximum back electromotive force with a set threshold;

[0192] Step 506, when the maximum value of the back electromotive force is less than the set threshold, it is determined that the motor is in a stalled state;

[0193] Step 508, enter the thawing control program and continue to run t 1 time;

[0194] Step 510, t 1 After a certain time, re-judge whether it is blocked. If it is thawed, it will start normally. If it is blocked, it will re-enter the thawing control program.

[0195] Step 512, after executing the defrost control program N times, if the motor is still blocked, a blocking fault is reported.

[0196] In this embodiment, the maximum value of the motor back electromotive force is calculated by giving a voltage command and a motor phase current sampling value, and the calculated maximum value of the back electromotive force is compared with a set threshold value (preset threshold value) to determine whether the motor is stalled. After determining that the motor is stalled, the thawing control program (execution of the set current command) is entered and continuously runs t 1 The defrosting control program mainly realizes the motor shaking and heating functions, the purpose is to quickly melt the ice inside the motor. 1 After a certain time, the motor is re-judged to determine whether it is blocked. If it is thawed, the circulation pump starts normally. If it is blocked, the thawing control program is re-entered. After executing the thawing control program N times (preset number of times), if the motor is still blocked, a blocking fault is reported. This method can quickly determine whether the motor is blocked by calculating the maximum value of the back electromotive force. Combined with the designed thawing control program (setting current command), it solves the problem of rapid start-up when the motor is frozen, which is of great significance to improving the performance of the liquid circulation system.

[0197] The defrosting control program (setting current command) specifically includes that the direct axis given current is the first current, and within the same preset period, the quadrature axis given current is the second current within the first time length and the third current within the second time length, and the second current and the third current have different directions. The first current is a constant value.

[0198] According to a second aspect of the present invention, the present invention provides a control device for a motor, the control device for the motor includes a processing unit, the processing unit is used to determine the maximum value of the back electromotive force of the motor; the processing unit is also used to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force; the processing unit is also used to control the thawing of the motor when the motor is in a stalled state.

[0199] According to a second aspect of the present invention, a control device for a motor is provided, the control device for the motor comprising a processing unit, the processing unit being used to control the motor to run for a preset time based on a set current instruction when the motor is in a stalled state; wherein the set current instruction is used to indicate that a given direct-axis current is a first current, and to indicate that a given quadrature-axis current is a second current within a first time period and a third current within a second time period within the same preset cycle, the second current and the third current have different directions, and the preset time period includes at least one preset cycle.

[0200] The technical solution of the present application proposes a motor control device, which includes a processing unit. Specifically, after starting the motor, that is, after the motor is powered on, it is first determined whether the motor is in a stalled state. If the motor is stalled, it means that the inside of the motor is likely to be frozen. Therefore, the motor needs to be thawed to ensure that the motor can be started smoothly. It can be understood that if the motor is not stalled, the motor can be started normally.

[0201] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0202] When it is determined that the motor is stalled, the processor outputs a set current instruction to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction indicates that the direct axis given current is the first current, and within the same preset cycle, the quadrature axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant value.

[0203] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, a direct-axis current is given, and at the same time, in each preset cycle of at least one preset cycle, a cross-axis current is given alternately to heat and dither the motor. Thus, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0204] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0205] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to increase the heating and dithering effect on the motor.

[0206] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0207] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0208] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0209] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0210] In some embodiments, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes from the second current to the second current at a first speed within a first time period, and runs at the second current for a first set time period, and the cross-axis given current changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0211] In this embodiment, within the first time length of the same preset cycle, the cross-axis given current changes to the second current at a first speed. It can be understood that the cross-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the cross-axis current before the motor is controlled based on the set current command, and the initial current can be 0 or other currents.

[0212] That is to say, within the first time period, the quadrature axis given current is ramped to the second current, that is, during the process of the quadrature axis given current changing to the second current, the current change rate is a constant value, thereby improving the stability and reliability of the motor during the heating and shaking process of the motor.

[0213] In the second time period, the quadrature axis given current changes from the second current to the third current at the second speed, that is, in the second time period, the quadrature axis given current changes from the second current slope to the third current, that is, in the process of the quadrature axis given current changing from the second current to the third current, the current change rate is a constant value. Thus, in the process of heating and shaking the motor, the stability and reliability of the motor are improved.

[0214] It can be understood that, within the first time length of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0215] In some embodiments, optionally, when the motor is running with a set current command, the A-phase current i of the motor is a is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0216] In this embodiment, when the motor is running based on the set current command, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC current.

[0217] In the same preset cycle, the motor's B phase current i b The fifth current in the first time period and the sixth current in the second time period, the C-phase current i of the motor c The seventh current is applied during the first time period and the eighth current is applied during the second time period; wherein the fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

[0218] In some embodiments, optionally, the first current I d The calculation formula is as follows: d =k 1 I max ; The second current I q The calculation formula is as follows: q =k 1 I max ; The third current is -I q ; where k 1 is the coefficient, I max is the maximum current of the motor.

[0219] In this embodiment, the calculation formula of the first current is Id =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0220] The calculation formula of the second current is I q =k 1 I max , where k 1 is the coefficient, specifically, k 1 The value range is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0221] Wherein, the second current is I q When the third current is -I q That is to say, the second current is in the opposite direction to the third current, that is, when the motor is running with the set current instruction, the cross-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be started quickly in a short time when it is in a frozen state.

[0222] In some embodiments, optionally, the processing unit is also used to determine whether the motor is still in a stalled state after controlling the motor to run for a preset time based on a set current command; the processing unit is also used to control the motor to run for a preset time based on the set current command again when the motor is still in a stalled state; the processing unit is also used to control the motor to start normally when the motor is not in a stalled state.

[0223] In this embodiment, when the motor executes the set current command and continues to run for a preset time t 1 After that, re-judge whether the motor is still blocked, that is, whether the motor has been thawed.

[0224] If the motor has been thawed, the motor can be started normally. If the motor is still in a stalled state, the motor is controlled again based on the set current command to make the motor heat up and vibrate until the motor thaws. If the inside of the motor is frozen, the ice inside can be melted quickly, so that when the motor is frozen, it can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0225] In some embodiments, optionally, the processing unit is further configured to determine that the motor is in a stalled state if the motor is still in a stalled state after the motor is controlled to run for a preset number of times based on a set current command.

[0226] In this embodiment, after the motor executes the set current instruction for a preset number of times N, if the motor is still stalled, it means that the motor may have other stall faults, and a stall fault is reported.

[0227] Optionally, the specific number of the preset number N can be set according to actual needs.

[0228] In some embodiments, optionally, the processing unit is further used to determine the maximum value of the back electromotive force of the motor; the processing unit is further used to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0229] In this embodiment, before controlling the motor to run based on the set current command, it is first determined whether the motor is stalled based on the maximum value of the motor's back electromotive force. It is understandable that if the motor is stalled, it means that the inside of the motor is likely to be frozen, so the motor needs to be thawed to ensure that the motor can start smoothly. It is understandable that if the motor is not stalled, the motor can start normally.

[0230] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is blocked, and then the motor can be heated and shaken when the motor is frozen, ensuring that the motor can start quickly and reliably.

[0231] In some embodiments, optionally, the processing unit is further used to determine that the motor is in a stalled state when the maximum value of the back electromotive force is less than a preset threshold value; the processing unit is further used to determine that the motor is not in a stalled state when the maximum value of the back electromotive force is greater than or equal to a preset threshold value.

[0232] In this embodiment, the determined maximum back electromotive force is compared with a set threshold value (preset threshold value). If the maximum back electromotive force is less than the set threshold value, it indicates that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0233] It is understandable that in the heating system, the circulating pump is a component of the whole system and is generally installed outdoors with the whole machine. In many regions such as Europe and northern China, the temperature is low in winter. Even if the antifreeze is transported in the pipe, the motor of the circulating pump is easy to freeze due to the moisture in the air, resulting in the motor being unable to start quickly, which in turn affects the reliable operation of the circulating pump.

[0234] Specifically, when it is determined that the motor is stalled, a set current instruction is output to make the motor run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is the first current, and within the same preset period, the quadrature-axis given current is the second current within the first time length, and the third current within the second time length, and the second current and the third current have different directions. Among them, the first current is a constant. In order to heat and shake the motor, when the motor is in a frozen state, the internal ice can melt quickly, so that the motor can be started quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0235] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not blocked and can be started normally.

[0236] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled, and then, if the motor is frozen, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0237] In some embodiments, optionally, the preset threshold E 1 The calculation formula is as follows: 1 =2k 2 πf e ψ f ; where k 2 is the coefficient, f e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0238] In this embodiment, the calculation formula of the preset threshold (set threshold) is E 1 =2k 2 πf e ψ f , where k 2 is the coefficient, specifically, k 2 The value range of is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

[0239] In some embodiments, optionally, the processing unit is further configured to determine a maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0240] In this embodiment, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is That is, obtaining a given voltage command can obtain a given voltage value

[0241] The maximum value of the motor back electromotive force is calculated based on the given voltage of the motor, the sampling value of the motor phase current and the stator resistance of the motor, and then the maximum value of the motor back electromotive force is used to quickly determine whether the motor is stuck, so that the motor can be quickly started when the motor is frozen.

[0242] In some embodiments, optionally, the maximum value of the back electromotive force E 2 The calculation formula is as follows: in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0243] In this embodiment, the calculation formula of the maximum value of the back electromotive force is: in, is the given voltage of the motor. s is the sampled value of the motor phase current. s is the stator resistance of the motor. It is understandable that, within a preset time period after the motor is powered on, multiple sampling values ​​of given voltage and phase current are obtained, and after being respectively substituted into the formula, the maximum back electromotive force calculated is the maximum value of the back electromotive force, and then the maximum value of the back electromotive force of the motor is used to quickly determine whether the motor is stalled, and then a quick start can be achieved in the case of motor icing.

[0244] In some embodiments, optionally, when the motor is running at a set current command, the motor can generate heat and vibrate.

[0245] In this embodiment, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in a frozen state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of liquid circulation in the heating system.

[0246] In some embodiments, optionally, the processing unit is also used to set the given angle of the motor rotor to a constant value when the motor is running with a set current command.

[0247] In this embodiment, when the motor is running with a set current instruction, that is, during the thawing operation of the motor, the given angle value of the rotor of the motor is a fixed value. Specifically, the given angle of the rotor of the motor can be 0 degrees, 90 degrees or 180 degrees. It can be set according to actual needs.

[0248] By setting the given angle of the motor's rotor to a fixed value during the motor's thawing operation, the stability and reliability of the motor's thawing operation can be ensured.

[0249] like Figure 6 As shown, according to the third aspect of the present invention, the present invention provides a motor control device 600, comprising: a controller 602 and a memory 604, wherein the memory 604 stores a program or instruction, and the controller 602 implements the steps of any of the above methods when executing the program or instruction in the memory 604. Therefore, the motor control device 600 has all the beneficial effects of any of the above motor control methods.

[0250] According to a fourth aspect of the present invention, the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of any of the above methods are implemented. Therefore, the readable storage medium has all the beneficial effects of any of the above motor control methods.

[0251] According to a fifth aspect of the present invention, the present invention provides a motor, comprising: a motor control device as described in any one of the above items; or a readable storage medium as described in the fourth aspect. Therefore, the motor has all the beneficial effects of the motor control device as described in any one of the above items or the readable storage medium as described in the fourth aspect.

[0252] According to a sixth aspect of the present invention, the present invention provides a circulation pump, comprising: the motor provided in the fifth aspect above. Therefore, the circulation pump has all the beneficial effects of the motor in the fifth aspect above.

[0253] In the description of this specification, all quantities involving temperature, including expressions, are in degrees Celsius. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance unless otherwise clearly specified and limited; the terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected 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 specific circumstances.

[0254] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. 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 this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0255] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a motor, characterized in that: The control method comprises: When the motor is in a stalled state, controlling the motor to run for a preset time based on a set current command; Among them, the set current instruction is used to indicate that the direct-axis given current is the first current, and is used to indicate that the quadrature-axis given current is the second current within a first time length within the same preset cycle and is the third current within a second time length, the second current and the third current have different directions, and the preset time length includes at least one of the preset cycles.

2. The motor control method according to claim 1, characterized in that: The set current instruction is specifically used to indicate that within the same preset cycle, the quadrature-axis given current changes to the second current at a first speed within the first time period, and runs at the second current for a first set time period, and the quadrature-axis given current changes from the second current to the third current at a second speed within the second time period, and runs at the third current for a second set time period; The first set duration is shorter than the first duration, and the second set duration is shorter than the second duration.

3. The motor control method according to claim 1, characterized in that: When the motor is running the set current command, the A-phase current i a is the fourth current; within the same preset cycle, the B-phase current i of the motor b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i of the motor c A seventh current is applied during the first time period and an eighth current is applied during the second time period; The fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

4. The motor control method according to claim 1, characterized in that: The first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

5. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: The control method further comprises: After controlling the motor to run for the preset time period based on the set current command, determining whether the motor is still in a stalled state; When the motor is still in a stalled state, controlling the motor to run for the preset time period again based on the set current command; When the motor is not in a stalled state, the motor is controlled to start normally.

6. The motor control method according to claim 5, characterized in that: The control method further comprises: After the motor is controlled to run a preset number of times based on the set current command, if the motor is still in a stalled state, it is determined that the motor is in a stalled state.

7. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: Before controlling the motor to run for a preset time based on the set current command, the method further includes: determining a maximum value of a back electromotive force of the motor; Whether the motor is in a stalled state is determined according to the maximum value of the back electromotive force.

8. The motor control method according to claim 7, characterized in that: The step of determining whether the motor is in a stalled state according to the maximum value of the back electromotive force specifically includes: When the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; When the maximum value of the back electromotive force is greater than or equal to the preset threshold, it is determined that the motor is not in a stalled state.

9. The motor control method according to claim 8, characterized in that: The calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

10. The motor control method according to claim 7, characterized in that: Determining the maximum value of the back electromotive force of the motor specifically includes: The maximum value of the back electromotive force of the motor is determined according to the given voltage, the phase current sampling value and the stator resistance.

11. The motor control method according to claim 10, characterized in that: The maximum value E2 of the back electromotive force is calculated as follows: in, For the given voltage, I s is the phase current sampling value, R s is the stator resistance.

12. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: When the motor runs with the set current command, the motor may generate heat and vibrate.

13. The method for controlling a motor according to any one of claims 1 to 4, characterized in that: The control method further comprises: When the motor is running with the set current command, the given angle of the motor rotor is a fixed value.

14. A control device for a motor, characterized in that: include: a processing unit, configured to control the motor to run for a preset time period based on a set current command when the motor is in a stalled state; Among them, the set current instruction is used to indicate that the direct-axis given current is the first current, and is used to indicate that the quadrature-axis given current is the second current within a first time length within the same preset cycle and is the third current within a second time length, the second current and the third current have different directions, and the preset time length includes at least one of the preset cycles.

15. A control device for a motor, characterized in that: include: A controller and a memory, wherein the memory stores a program or instruction, and the controller implements the steps of the method according to any one of claims 1 to 13 when executing the program or instruction in the memory.

16. 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 method according to any one of claims 1 to 13 are implemented.

17. A motor, characterized in that: include: A control device for a motor as claimed in claim 14 or 15; or The readable storage medium of claim 16.

18. A circulation pump, characterized in that: Comprising the motor as claimed in claim 17.

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