Household appliance and control method thereof

Abstract

The invention discloses a household appliance and a control method thereof.The household appliance comprises a shell, a permanent magnet synchronous motor and a controller, the permanent magnet synchronous motor is arranged in the shell and used for controlling the rotating speed of the permanent magnet synchronous motor according to direct-current input voltage, and the controller is used for controlling the rotating speed of the permanent magnet synchronous motor; the controller is configured to obtain an actual phase current amplitude, an excitation current and an excitation instruction current of the permanent magnet synchronous motor; according to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation instruction current, restrictive compensation control is carried out on an integral proportional controller or an integral controller for field weakening control, so that the permanent magnet synchronous motor or an electric control device is prevented from being damaged, distortion during field weakening resetting is avoided, and the reliability of field weakening control is improved. And the permanent magnet synchronous motor can play an optimal role in a limit state under weak magnetic control.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliance control, and in particular to a household appliance and a control method thereof. Background Art

[0002] When the permanent magnet synchronous motor is driven at high speed, when the drive output voltage exceeds the limit of the bus voltage, it is necessary to increase the reluctance torque through weak magnetic control to reduce the output voltage, so that the motor speed can be further increased. In the prior art, weak magnetic control is generally implemented based on phase current, that is, by setting the limit value of the phase current, the weak magnetic depth is controlled, and when the phase current reaches the limit value, the weak magnetic control stops. However, this method will lead to excessive weak magnetic in some cases where the margin of the electric control design is large, which has a counter-effect. At the same time, directly stopping the weak magnetic will cause distortion during the weak magnetic recovery, affecting the safety and stability of the permanent magnet synchronous motor during operation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a household appliance and a control method thereof.

[0004] The present invention proposes a household appliance, which includes: a shell; a permanent magnet synchronous motor, which is arranged in the shell and is used to control the speed of the permanent magnet synchronous motor according to a DC input voltage; a controller, which is configured to: obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor; and perform restrictive compensation control on an integral proportional controller or an integral controller of weak magnetic control according to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation command current.

[0005] In addition, the household appliance according to the embodiment of the present invention may also have the following additional technical features:

[0006] Furthermore, when the integral proportional controller or the integral controller of the weak magnetic control is subjected to restrictive compensation control according to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation command current, the controller is configured to: calculate a first difference between a first preset current limit and the actual phase current amplitude, and a second difference between the excitation current or the excitation command current and a second preset current limit; and perform restrictive compensation control on the integral proportional controller or the integral controller according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current.

[0007] Further, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: when the first difference is less than the second difference, and the first difference is less than zero, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude; when the first difference is not less than the second difference, and the second difference is less than zero, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current.

[0008] Further, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is configured to execute the following formula:

[0009]

[0010] Wherein, Intg is the integral term of the integral proportion controller or the integral controller after restrictive compensation, Ki is the integral term of the integral proportion controller or the integral controller before restrictive compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

[0011] Further, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is further configured to execute the following formula:

[0012]

[0013] Wherein, Pptn is the proportional term of the integral proportional controller or the integral controller after limiting compensation, Kp is the proportional term of the integral proportional controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude

[0014] Further, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is configured to execute the following formula:

[0015]

[0016] Wherein, Intg1 is the integral term of the integral proportion controller or the integral controller after limiting compensation, Ki1 is the integral term of the integral proportion controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d is the excitation current or the excitation command current.

[0017] Further, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is further configured to execute the following formula:

[0018]

[0019] Wherein, Pptn1 is the proportional term of the integral proportional controller or the integral controller after limiting compensation, Kp1 is the proportional term of the integral proportional controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d is the excitation current or the excitation command current.

[0020] Furthermore, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: when the first difference is less than the second difference, and the first difference is less than zero; or, when the first difference is not less than the second difference, and the second difference is less than zero, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the input quantity of the integral proportional controller or the integral controller.

[0021] Further, when limiting compensation control is performed on the integral proportional controller or the integral controller according to the input of the integral proportional controller or the integral controller, the controller is configured to: when the input of the integral proportional controller or the integral controller is less than zero, control the increment of the integral term of the integral proportional controller or the integral controller to zero.

[0022] Further, when restrictive compensation control is performed on the integral proportion controller or the integral controller according to the input of the integral proportion controller or the integral controller, the controller is also configured to: control the proportional term of the integral proportion controller to be zero.

[0023] According to the household appliance of the embodiment of the present invention, the household appliance includes: a housing, a permanent magnet synchronous motor and a controller. The housing is used to wrap and protect the internal components of the household appliance, including the permanent magnet synchronous motor and the controller; the permanent magnet synchronous motor is arranged in the housing, and is used to control the speed of the permanent magnet synchronous motor according to the DC input voltage; the controller is configured to: obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor; and perform restrictive compensation control on the integral proportional controller or integral controller of the weak magnetic control according to the actual phase current amplitude, excitation current or excitation command current of the permanent magnet synchronous motor, thereby avoiding damage to the permanent magnet synchronous motor or the electronic control device, avoiding distortion during weak magnetic restoration, and enabling the permanent magnet synchronous motor to play the best role under the limit state under weak magnetic control.

[0024] In response to the above-mentioned problems, the present invention also proposes a control method for household appliances, including: obtaining the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor; performing restrictive compensation control on the integral proportional controller or the integral controller of the weak magnetic control according to the actual phase current amplitude, the excitation current or the excitation command current of the permanent magnet synchronous motor.

[0025] According to the control method of household appliances in an embodiment of the present invention, by obtaining the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor, restrictive compensation control is performed on the integral proportional controller or the integral controller of the weak magnetic field control according to the actual phase current amplitude, excitation current or excitation command current of the permanent magnet synchronous motor, thereby avoiding damage to the permanent magnet synchronous motor or electronic control components and avoiding distortion during weak magnetic field restoration, so that the permanent magnet synchronous motor can play an optimal role under extreme conditions under weak magnetic field control.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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:

[0028] Figure 1 is a schematic structural diagram of a household appliance according to an embodiment of the present invention;

[0029] Figure 2 is a structural block diagram of a permanent magnet synchronous motor current-weakening limit control according to an embodiment of the present invention;

[0030] Figure 3 It is a flow chart of performing restrictive compensation control on an integral proportional controller or an integral controller of a weak magnetic field control according to an actual phase current amplitude, an excitation current or an excitation command current of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0031] Figure 4 is a flow chart of performing restrictive compensation control on an integral proportional controller or an integral controller according to a first difference, an actual phase current amplitude, a second difference, an excitation current or an excitation command current according to an embodiment of the present invention;

[0032] Figure 5 is a flow chart of performing restrictive compensation control on an integral proportional controller or an integral controller according to a first difference, an actual phase current amplitude, a second difference, an excitation current or an excitation command current according to another embodiment of the present invention;

[0033] Figure 6 is a flow chart of a method for controlling a household appliance according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Reference below Figure 1-Figure 6 A home appliance and a control method thereof according to an embodiment of the present invention are described.

[0039] Figure 1 Schematic diagram of the structure of a household appliance according to an embodiment of the present invention. Figure 1 As shown, a household appliance comprises: a housing 11, a permanent magnet synchronous motor 12 and a controller 13; wherein the permanent magnet synchronous motor 12 is arranged in the housing 11, and is used to control the speed of the permanent magnet synchronous motor 12 according to a DC input voltage; the controller 13 is configured to: obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor 12, and perform restrictive compensation control on the integral proportional controller or the integral controller of the weak magnetic control according to the actual phase current amplitude, excitation current or excitation command current of the permanent magnet synchronous motor 12.

[0040] First combine Figure 2 The weakening magnetic field control of the permanent magnet synchronous motor 12 according to the embodiment of the present invention is described. Figure 2 As shown, taking voltage loop magnetic weakening as an example, when the controller controls the permanent magnet synchronous motor 12 to switch to shallow magnetic weakening control or maintain shallow magnetic weakening control, the voltage vector amplitude V is calculated. s The voltage difference ΔV from the target voltage value is adjusted according to the voltage difference ΔV, wherein the direct axis voltage is, for example, V d * , and the quadrature axis voltage is denoted as V q * , and calculate the direct axis voltage V d * and the quadrature axis voltage V d * The root mean square of the voltage is taken as the voltage vector magnitude V s , that is, the voltage vector amplitude Vs The calculation formula is as follows:

[0041]

[0042] In a specific embodiment, the voltage vector magnitude V is determined s Then, calculate the voltage vector magnitude V s The voltage difference ΔV with the target voltage value is used to adjust the excitation current value I of the permanent magnet synchronous motor 12 through a PI (proportional-integral) controller or an integral controller according to the voltage difference ΔV. d * , thereby controlling the voltage vector amplitude V s The normal operation of the permanent magnet synchronous motor 12 is ensured within the tolerable limit of the bus voltage.

[0043] In a specific embodiment, before the controller 13 determines that the permanent magnet synchronous motor 12 meets the weak magnetic control condition, it obtains the weak magnetic control parameter, for example, K fw , and the bus voltage value is recorded as V dc , so that according to the weak magnetic control parameter K fw And bus voltage value V dc Determine the target voltage value. The controller 13 obtains the weak magnetic control parameter K fw And bus voltage value V dc After that, calculate the bus voltage value V dc and the field weakening control parameter K fw The target voltage is calculated by multiplying the product by V and taking half of the product as the target voltage. The target voltage is calculated as follows: dc ×K fw / 2, in order to determine the bus voltage can withstand modulation limit range.

[0044] Specifically, the embodiment of the present invention performs limit control of weak magnetic field on the basis of the weak magnetic field control of the above-mentioned permanent magnet synchronous motor 12, and is also applicable to any other weak magnetic field control with an integral controller. Specifically, when the permanent magnet synchronous motor 12 is driven at high speed, when the driving output voltage exceeds the bus voltage limit, it is necessary to increase the reluctance torque through weak magnetic field control to reduce the output voltage, so that the speed of the permanent magnet synchronous motor 12 can be further improved. However, under weak magnetic field control, the efficiency of the permanent magnet synchronous motor 12 decreases, and the current will continue to increase. Limited by the characteristics of the electronic control device and the permanent magnet synchronous motor 12, it is easy to cause damage to the permanent magnet synchronous motor 12 or the electronic control device, so it is necessary to limit the weak magnetic field limit. The embodiment of the present invention configures the integral proportional controller or the integral controller through the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor 12 to perform restrictive compensation control, thereby avoiding damage to the permanent magnet synchronous motor 12 or the electronic control device, avoiding distortion during weak magnetic field restoration, and enabling the permanent magnet synchronous motor 12 to play the best role under the limit state under weak magnetic field control. In a specific embodiment, the household electrical appliances include but are not limited to air conditioners, washing machines, and refrigerators.

[0045] In one embodiment of the present invention, Figure 3 As shown, when the integral proportional controller or the integral controller of the weak magnetic control is subjected to restrictive compensation control according to the actual phase current amplitude, the excitation current or the excitation command current of the permanent magnet synchronous motor, the controller is configured to: calculate a first difference between a first preset current limit and the actual phase current amplitude, and a second difference between the excitation current or the excitation command current and the second preset current limit; and perform restrictive compensation control on the integral proportional controller or the integral controller according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current.

[0046] Specifically, the first preset current limit is the smaller current value of the demagnetization current limit of the permanent magnet synchronous motor, for example, recorded as Is_demag, and the electrically controlled current limit, for example, recorded as Is_ipm, wherein the demagnetization current limit value Is_demagnetization current limit value of the permanent magnet synchronous motor is evaluated and set according to the demagnetization current of the permanent magnet synchronous motor, and the electrically controlled current limit value Is_ipm is evaluated and set according to the current carrying capacity of the electrically controlled power device, etc.; the second preset current limit is the excitation current limit value, for example, recorded as Id_lim, which is evaluated and set according to the characteristics of the permanent magnet synchronous motor or calculated according to the principle of the permanent magnet synchronous motor.

[0047] In a specific embodiment, the demagnetization current limit value Is_demag, the electric control current limit value Is_ipm and the excitation current limit value Id_lim of the permanent magnet synchronous motor can be preset in advance and stored in the controller. Figure 2 As shown, the actual phase current amplitude i sis the root mean square of the excitation current id and the torque current iq. It should be noted that the actual phase current amplitude i s The calculation method can also be replaced by the excitation current command Id * and torque current command Iq * This is because the excitation current i d and torque current i q Corresponding to the excitation current command Id * and torque current command Iq * The first preset current limit value and the actual phase current amplitude i s For example, the first difference between is , excitation current i d Or excitation command current Id * The second difference between the current limit value Id_lim and the second preset current limit value Id_lim is, for example, denoted as D id , then according to the first difference D is , actual phase current amplitude i s , the second difference D id , excitation current i d Or excitation command current Id * Perform limiting compensation control on the integral proportional controller or integral controller.

[0048] In one embodiment of the present invention, Figure 4 As shown, when the integral proportion controller or the integral controller is subjected to restrictive compensation control according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: when the first difference is less than the second difference, and the first difference is less than zero, the integral proportion controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude; when the first difference is not less than the second difference, and the second difference is less than zero, the integral proportion controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current.

[0049] Specifically, if Figure 2 As shown, when the first difference D is and the second difference D id When both are greater than zero, the integral proportional controller or the integral controller does not perform restrictive compensation control. is and the second difference D id are all less than zero, or the first difference D is and the second difference D id When one of is less than zero, the first difference D is and the second difference D idThe smaller the value, the larger the absolute value, and the absolute value represents the corresponding actual phase current amplitude, the magnitude of the excitation current or the excitation command current exceeding the preset current limit value, so the first difference D is and the second difference D id Compare and according to the first difference D is and the second difference D id The smaller value in performs limiting compensation on the integral proportional controller or the integral controller, that is, when the first difference is less than the second difference, and the first difference is less than zero, the integral proportional controller or the integral controller is subjected to limiting compensation control according to the first difference and the actual phase current amplitude; when the first difference is not less than the second difference, and the second difference is less than zero, the integral proportional controller or the integral controller is subjected to limiting compensation control according to the second difference, the excitation current or the excitation command current, so as to realize the anti-saturation control (limiting compensation control) of weak magnetic field, avoid the damage of the permanent magnet synchronous motor or the electronic control device, avoid the distortion during weak magnetic field restoration, and enable the permanent magnet synchronous motor to play the best role under the limit state under weak magnetic field control.

[0050] In one embodiment of the present invention, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is configured to execute the following formula:

[0051]

[0052] Among them, Intg is the integral term of the integral proportional controller or integral controller after limiting compensation, Ki is the integral term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

[0053] Specifically, when the first difference is less than the second difference, and the first difference is less than zero, that is, the actual phase current amplitude exceeds the preset current limit (that is, the first preset current limit) by a large amount, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude. In a specific embodiment, since the integral term of the integral proportional controller or the integral controller has a greater influence on the restrictive compensation control and plays a major control role, while the proportional term of the integral proportional controller has a smaller influence on the restrictive compensation control and plays a minor control role, the embodiment of the present invention mainly performs restrictive compensation control on the integral term of the integral proportional controller or the integral controller to reduce the amount of calculation of the controller and improve the control efficiency.

[0054] In one embodiment of the present invention, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is further configured to execute the following formula:

[0055]

[0056] Among them, Pptn is the proportional term of the integral proportional controller or integral controller after limiting compensation, Kp is the proportional term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

[0057] Specifically, the embodiment of the present invention performs restrictive compensation control on the proportional term of the integral proportional controller based on the restrictive compensation control on the integral proportional controller or the integral term of the integral controller in the previous embodiment, so as to further improve the control accuracy of the restrictive compensation control.

[0058] In one embodiment of the present invention, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is configured to execute the following formula:

[0059]

[0060] Among them, Intg1 is the integral term of the integral proportional controller or integral controller after limiting compensation, Ki1 is the integral term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d It is the excitation current or excitation command current.

[0061] Specifically, when the first difference is not less than the second difference, and the second difference is less than zero, that is, the excitation current or the excitation command current exceeds the preset current limit (i.e., the second preset current limit) by a large amount, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current. In a specific embodiment, since the integral term of the integral proportional controller or the integral controller has a greater influence on the restrictive compensation control and plays a major control role, and the proportional term of the integral proportional controller has a smaller influence on the restrictive compensation control and plays a minor control role, the embodiment of the present invention mainly performs restrictive compensation control on the integral term of the integral proportional controller or the integral controller to reduce the amount of calculation of the controller and improve the control efficiency.

[0062] In one embodiment of the present invention, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is further configured to execute the following formula:

[0063]

[0064] Among them, Pptn1 is the proportional term of the integral proportional controller or integral controller after limiting compensation, Kp1 is the proportional term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d It is the excitation current or excitation command current.

[0065] Specifically, the embodiment of the present invention performs restrictive compensation control on the proportional term of the integral proportional controller based on the restrictive compensation control on the integral proportional controller or the integral term of the integral controller in the previous embodiment, so as to further improve the control accuracy of the restrictive compensation control.

[0066] In one embodiment of the present invention, Figure 5 As shown, when the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: when the first difference is less than the second difference, and the first difference is less than zero; or, when the first difference is not less than the second difference, and the second difference is less than zero, the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the input quantity of the integral proportional controller or the integral controller.

[0067] Specifically, as mentioned above, when the first difference is less than the second difference, and the first difference is less than zero; or, when the first difference is not less than the second difference, and the second difference is less than zero, it is considered necessary to perform restrictive compensation control on the integral proportional controller or the integral controller to avoid damage to the permanent magnet synchronous motor or the electronic control device, avoid distortion during weak magnetic field restoration, and enable the permanent magnet synchronous motor to play the best role under weak magnetic field control in extreme conditions. That is, the embodiment of the present invention is another way to perform restrictive compensation control on the integral proportional controller or the integral controller. Specifically, as Figure 2 As shown, limiting compensation control is performed on the integral proportional controller or the integral controller according to the input quantity ΔV of the integral proportional controller or the integral controller.

[0068] In one embodiment of the present invention, when limiting compensation control is performed on an integral proportional controller or an integral controller according to the input quantity of the integral proportional controller or the integral controller, the controller is configured to: when the input quantity of the integral proportional controller or the integral controller is less than zero, the increment of the integral term of the integral proportional controller or the integral controller is controlled to be zero.

[0069] Specifically, if Figure 2 As shown, when the input ΔV of the integral proportional controller or integral controller is less than zero, that is, When it is less than zero, the permanent magnet synchronous motor is working in a weak magnetic state, and it is necessary to perform weak magnetic anti-saturation control on it, that is, to control the increment of the integral term of the integral proportional controller or the integral controller to zero, so as to effectively suppress the integral saturation phenomenon, maintain the stability of the operation of the permanent magnet synchronous motor, and enable the permanent magnet synchronous motor to play the best role under the limit state under weak magnetic control. It should be noted that since the integral term of the integral proportional controller or the integral controller has a greater influence on the restrictive compensation control and plays a major control role, while the proportional term of the integral proportional controller has a smaller influence on the restrictive compensation control and plays a minor control role, therefore, the embodiment of the present invention mainly performs restrictive compensation control on the integral term of the integral proportional controller or the integral controller to reduce the calculation amount of the controller and improve the control efficiency.

[0070] In one embodiment of the present invention, when the integral proportion controller or the integral controller is subjected to limiting compensation control according to the input of the integral proportion controller or the integral controller, the controller is further configured to: control the proportional term of the integral proportion controller to zero.

[0071] Specifically, the embodiment of the present invention performs restrictive compensation control on the proportional term of the integral proportional controller based on the restrictive compensation control on the integral proportional controller or the integral term of the integral controller in the previous embodiment, so as to further improve the control accuracy of the restrictive compensation control.

[0072] According to the household appliance of an embodiment of the present invention, the household appliance includes: a housing, a permanent magnet synchronous motor and a controller. The housing is used to wrap and protect the internal components of the household appliance, including the permanent magnet synchronous motor and the controller. The permanent magnet synchronous motor is arranged in the housing and is used to control the speed of the permanent magnet synchronous motor according to the DC input voltage; the controller is configured to obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor, and perform restrictive compensation control on the integral proportional controller or integral controller of the weak magnetic control according to the actual phase current amplitude, excitation current or excitation command current of the permanent magnet synchronous motor, thereby avoiding damage to the permanent magnet synchronous motor or the electronic control device, avoiding distortion during weak magnetic restoration, and enabling the permanent magnet synchronous motor to play the best role under the limit state under weak magnetic control.

[0073] A further embodiment of the present invention also discloses a control method for household electrical appliances, such as Figure 6 As shown, the method comprises the following steps:

[0074] Step S1: Obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor.

[0075] Step S2: performing restrictive compensation control on the integral proportional controller or the integral controller of the weak magnetic field control according to the actual phase current amplitude, the excitation current or the excitation command current of the permanent magnet synchronous motor.

[0076] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller of magnetic field weakening control according to the actual phase current amplitude, the excitation current or the excitation command current of the permanent magnet synchronous motor, including: calculating a first difference between a first preset current limit and the actual phase current amplitude, and a second difference between the excitation current or the excitation command current and a second preset current limit; and limiting compensation control is performed on the integral proportional controller or the integral controller according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current.

[0077] In one embodiment of the present invention, restrictive compensation control is performed on an integral proportional controller or an integral controller according to a first difference, an actual phase current amplitude, a second difference, an excitation current or an excitation command current, including: when the first difference is less than the second difference, and the first difference is less than zero, restrictive compensation control is performed on the integral proportional controller or the integral controller according to the first difference and the actual phase current amplitude; when the first difference is not less than the second difference, and the second difference is less than zero, restrictive compensation control is performed on the integral proportional controller or the integral controller according to the second difference, the excitation current or the excitation command current.

[0078] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller according to the first difference and the actual phase current amplitude, including:

[0079]

[0080] Among them, Intg is the integral term of the integral proportional controller or integral controller after limiting compensation, Ki is the integral term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

[0081] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller according to the first difference and the actual phase current amplitude, including:

[0082]

[0083] Among them, Pptn is the proportional term of the integral proportional controller or integral controller after limiting compensation, Kp is the proportional term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

[0084] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller according to the second difference, the excitation current or the excitation command current, including:

[0085]

[0086] Among them, Intg1 is the integral term of the integral proportional controller or integral controller after limiting compensation, Ki1 is the integral term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d It is the excitation current or excitation command current.

[0087] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller according to the second difference, the excitation current or the excitation command current, including:

[0088]

[0089] Among them, Pptn1 is the proportional term of the integral proportional controller or integral controller after limiting compensation, Kp1 is the proportional term of the integral proportional controller or integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d It is the excitation current or excitation command current.

[0090] In one embodiment of the present invention, limiting compensation control is performed on an integral proportional controller or an integral controller according to a first difference, an actual phase current amplitude, a second difference, an excitation current or an excitation command current, including: when the first difference is less than the second difference, and the first difference is less than zero; or, when the first difference is not less than the second difference, and the second difference is less than zero, limiting compensation control is performed on the integral proportional controller or the integral controller according to the input quantity of the integral proportional controller or the integral controller.

[0091] In one embodiment of the present invention, limiting compensation control is performed on the integral proportional controller or the integral controller according to the input of the integral proportional controller or the integral controller, including: when the input of the integral proportional controller or the integral controller is less than zero, controlling the increment of the integral term of the integral proportional controller or the integral controller to be zero.

[0092] In one embodiment of the present invention, limiting compensation control is performed on the integral proportion controller or the integral controller according to the input of the integral proportion controller or the integral controller, including: controlling the proportional term of the integral proportion controller to be zero.

[0093] It should be noted that when the control method of the household appliance in the embodiment of the present invention controls the household appliance, its specific implementation method is similar to the specific implementation method of the household appliance in the embodiment of the present invention. Please refer to the description of the system part for details. In order to reduce redundancy, it will not be repeated here.

[0094] According to the control method of household appliances in an embodiment of the present invention, by obtaining the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor, restrictive compensation control is performed on the integral proportional controller or the integral controller of the weak magnetic field control according to the actual phase current amplitude, excitation current or excitation command current of the permanent magnet synchronous motor, thereby avoiding damage to the permanent magnet synchronous motor or electronic control components and avoiding distortion during weak magnetic field restoration, so that the permanent magnet synchronous motor can play an optimal role under extreme conditions under weak magnetic field control.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" 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.

[0096] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A household appliance, characterized in that: include: case; A permanent magnet synchronous motor is arranged in the housing and is used to control the speed of the permanent magnet synchronous motor according to a DC input voltage; A controller is configured to: obtain an actual phase current amplitude, an excitation current and an excitation command current of the permanent magnet synchronous motor; According to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation command current, the integral proportional controller or the integral controller of the weak magnetic control is subjected to restrictive compensation control.

2. The household appliance according to claim 1, characterized in that: When restrictive compensation control is performed on the integral proportional controller or the integral controller of the weak magnetic control according to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation command current, the controller is configured as follows: Calculating a first difference between a first preset current limit and the actual phase current amplitude, and a second difference between the excitation current or the excitation command current and a second preset current limit; The integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current.

3. The household appliance according to claim 2, characterized in that: When restrictive compensation control is performed on the integral proportional controller or the integral controller according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: When the first difference is less than the second difference, and the first difference is less than zero, performing restrictive compensation control on the integral proportional controller or the integral controller according to the first difference and the actual phase current amplitude; When the first difference is not less than the second difference, and the second difference is less than zero, restrictive compensation control is performed on the integral proportional controller or the integral controller according to the second difference, the excitation current or the excitation command current.

4. The household appliance according to claim 3, characterized in that: When the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is configured to execute the following formula: Wherein, Intg is the integral term of the integral proportion controller or the integral controller after restrictive compensation, Ki is the integral term of the integral proportion controller or the integral controller before restrictive compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

5. The household appliance according to claim 4, characterized in that: When the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the first difference and the actual phase current amplitude, the controller is further configured to execute the following formula: Wherein, Pptn is the proportional term of the integral proportional controller or the integral controller after limiting compensation, Kp is the proportional term of the integral proportional controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D is is the first difference, i s is the actual phase current amplitude.

6. The household appliance according to claim 3, characterized in that: When the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is configured to execute the following formula: Wherein, Intg1 is the integral term of the integral proportion controller or the integral controller after limiting compensation, Ki1 is the integral term of the integral proportion controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d is the excitation current or the excitation command current.

7. The household appliance according to claim 6, characterized in that: When the integral proportional controller or the integral controller is subjected to restrictive compensation control according to the second difference, the excitation current or the excitation command current, the controller is further configured to execute the following formula: Wherein, Pptn1 is the proportional term of the integral proportional controller or the integral controller after limiting compensation, Kp1 is the proportional term of the integral proportional controller or the integral controller before limiting compensation, V dc is the bus voltage, K FW is the weak magnetic modulation rate, V S is the voltage vector amplitude of the permanent magnet synchronous motor, D id is the second difference, i d is the excitation current or the excitation command current.

8. The household appliance according to claim 2, characterized in that: When restrictive compensation control is performed on the integral proportional controller or the integral controller according to the first difference, the actual phase current amplitude, the second difference, the excitation current or the excitation command current, the controller is configured as follows: When the first difference is less than the second difference, and the first difference is less than zero; or, When the first difference is not less than the second difference, and the second difference is less than zero, restrictive compensation control is performed on the integral proportional controller or the integral controller according to the input amount of the integral proportional controller or the integral controller.

9. The household appliance according to claim 8, characterized in that: When limiting compensation control is performed on the integral proportion controller or the integral controller according to the input amount of the integral proportion controller or the integral controller, the controller is configured as follows: When the input of the integral proportion controller or the integral controller is less than zero, the increment of the integral term of the integral proportion controller or the integral controller is controlled to be zero.

10. The household appliance according to claim 9, characterized in that: When limiting compensation control is performed on the integral proportion controller or the integral controller according to the input amount of the integral proportion controller or the integral controller, the controller is further configured as follows: The proportional term of the integral proportional controller is controlled to be zero.

11. A method for controlling a household appliance, characterized in that: include: Obtain the actual phase current amplitude, excitation current and excitation command current of the permanent magnet synchronous motor; According to the actual phase current amplitude of the permanent magnet synchronous motor, the excitation current or the excitation command current, the integral proportional controller or the integral controller of the weak magnetic control is subjected to restrictive compensation control.

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