Motor control method and air conditioner

Abstract

The invention discloses a motor control method and an air conditioner, and the method comprises the steps: calculating the current voltage utilization rate of a motor according to the preset device parameters of the motor and the current working parameters of the motor; acquiring a historical voltage utilization rate of the motor, wherein the historical voltage utilization rate is calculated through preset device parameters and historical working parameters of the motor; calculating a first ratio according to the current voltage utilization rate and the historical voltage utilization rate; adjusting the amplitude of the working parameter of the motor according to the first ratio so as to correct the current voltage utilization rate; according to the technical scheme, the situation that the motor stalls due to power grid fluctuation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of air conditioning, and in particular to a motor control method and an air conditioner. Background Art

[0002] At present, due to the low power in the power grid caused by traditional passive multi-pulse rectification technology, the transmission grid will have voltage mutations. In order to improve user comfort, the air conditioning industry standard requires that the product can operate normally when the high and low voltages fluctuate rapidly. However, for some products with passive rectification solutions, due to the fluctuation of AC voltage output by the power grid, the bus voltage parameter VDC will also fluctuate, causing the motor to stall. Summary of the invention

[0003] The main purpose of the present invention is to provide a motor control method and an air conditioner, aiming to reduce the situation where the motor stalls due to power grid fluctuations.

[0004] To achieve the above object, the present invention provides a method for controlling a motor. In some embodiments, the method for controlling a motor includes:

[0005] Calculating a current voltage utilization rate of the motor according to preset device parameters of the motor and current operating parameters of the motor;

[0006] Acquire a historical voltage utilization rate of the motor, where the historical voltage utilization rate is calculated by using the preset device parameters and the historical operating parameters of the motor;

[0007] Calculating a first ratio according to the current voltage utilization and the historical voltage utilization;

[0008] According to the first ratio, the amplitude of the working parameter of the motor is adjusted to correct the current voltage utilization rate.

[0009] In some embodiments, the operating parameters include bus voltage parameters, current operating voltage and current parameters, and speed parameters. The calculation of the current voltage utilization rate of the motor according to the preset device parameters of the motor and the current operating parameters of the motor includes:

[0010] When the bus voltage parameter satisfies a first preset condition, calculating the current working voltage of the motor according to the preset device parameter, the current parameter and the speed parameter;

[0011] The current voltage utilization rate is calculated according to the maximum operating voltage parameter and the current operating voltage.

[0012] In some embodiments, the bus voltage parameter satisfies the first preset condition including:

[0013] When the second ratio of the bus voltage parameter to the maximum operating voltage parameter reaches a preset first reference value, it is considered that the first preset condition is met.

[0014] In some embodiments, the operating parameter includes a current parameter, the current parameter includes a quadrature axis current, and adjusting the amplitude of the operating parameter of the motor according to the first ratio includes:

[0015] Comparing the first ratio with a preset second reference value to obtain a comparison result;

[0016] The amplitude of the quadrature-axis current is adjusted according to the comparison result and the current current mode of the motor.

[0017] In some embodiments, adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor includes:

[0018] When the comparison result is that the first ratio is smaller than the second reference value, the amplitude of the quadrature-axis current is limited to a preset first amplitude range.

[0019] In some embodiments, limiting the amplitude of the quadrature-axis current to a preset first amplitude range includes:

[0020] The current current mode is updated to a limiting mode, and the amplitude of the quadrature-axis current is limited to a preset first amplitude range through the limiting mode.

[0021] In some embodiments, adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor further comprises:

[0022] When the comparison result is that the first ratio is greater than the second reference value, obtaining a current current mode of the motor;

[0023] If the current current mode includes an amplitude limiting mode, positive feedback regulation is performed on the first amplitude range to gradually exit the amplitude limiting mode.

[0024] In some embodiments, the performing positive feedback regulation on the first amplitude range includes:

[0025] Get the preset rated current;

[0026] Controlling the first amplitude range to gradually increase with a preset first correction value, and obtaining the maximum critical value of the first amplitude range in real time;

[0027] When the maximum critical value reaches the current value of the rated current, the motor is controlled to exit the limiting mode.

[0028] In some embodiments, when the comparison result is that the first ratio is less than the second reference value, after obtaining the current current mode of the motor, the method further includes:

[0029] If the current current mode does not include the amplitude limiting mode, the motor is controlled to operate normally.

[0030] The present invention further provides an air conditioner, comprising a motor and a controller, wherein the motor is electrically connected to the controller, wherein the controller is used to execute the above-mentioned motor control method.

[0031] The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned motor control method are implemented.

[0032] The technical solution of the present invention calculates a first ratio based on the current voltage utilization rate and the historical voltage utilization rate, so as to reflect the voltage fluctuation of the power grid according to the magnitude of the first ratio. Therefore, when the voltage fluctuation of the power grid is detected to increase according to the first ratio, the amplitude of the working parameter of the motor is adjusted to correct the voltage utilization rate, so that when the voltage of the power grid fluctuates, the motor can be controlled to work stably to avoid the situation where the motor stalls due to the fluctuation of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for controlling a motor of the present invention;

[0035] Figure 2 This is a flow chart of an embodiment of step S100 in the present invention;

[0036] Figure 3 This is a flow chart of an embodiment of step S400 in the present invention;

[0037] Figure 4 It is a structural diagram of an embodiment of step S420 in the present invention;

[0038] Figure 5 is a flow chart of another embodiment of step S420 in the present invention;

[0039] Figure 6It is a structural schematic diagram of an embodiment of a feedback loop of a motor of the present invention;

[0040] Figure 7 It is a structural schematic diagram of the motor control topology in the prior art.

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] 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.

[0043] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The invention provides a control method for a motor.

[0045] Reference Figure 1 In one embodiment, the motor control method includes:

[0046] S100, calculating a current voltage utilization rate of the motor according to preset device parameters of the motor and current operating parameters of the motor;

[0047] In this embodiment, voltage utilization refers to the ability of an electrical appliance or motor to effectively utilize input voltage under specific working conditions, and indicates the efficiency of the electrical appliance or motor in converting input voltage into useful power. When the voltage of the power grid fluctuates, the equipment in the power system, such as motors, cannot operate under a stable voltage and will not be able to effectively convert input electrical energy into mechanical energy, thereby reducing the efficiency of the system. Therefore, when the voltage fluctuates, the voltage utilization will decrease. Specifically, the calculation formula is: voltage utilization = actual voltage / maximum operating voltage parameter, wherein the actual voltage refers to the voltage consumed by the actual operation of the motor, and the maximum operating voltage parameter refers to the maximum voltage value in the motor system.

[0048] It can be understood that, according to the conversion of the motor in the feedback loop, the actual voltage U s According to the formula U q 2 +U d 2 =U s 2 , by the motor's quadrature axis voltage U q With direct axis voltage U d Furthermore, the calculation formula of the quadrature axis voltage is U s 2 =(ωI q L q ) 2 , where ω is the motor speed, I q is the quadrature axis current, L q is the quadrature-axis inductance, and the calculation formula of the direct-axis voltage is U d 2 =(ωI d L d +ωψ f ) 2 , where ω is the motor speed, I d is the direct axis current, L d is the direct axis inductance, ψ f is the back electromotive force.

[0049] Considering that the inductance value of the inductor and the back electromotive force of the motor can be set in advance by the R&D personnel according to actual needs during the design, the preset device parameters of the motor may include inductance parameters (such as quadrature-axis inductance, direct-axis inductance), back electromotive force parameters, etc. The motor speed can be determined by Figure 6 The speed observer of the feedback loop shown in the figure observes, and the quadrature-axis current and the direct-axis current can be obtained by sampling the output of the current loop in the feedback loop. Therefore, according to the above calculation formula, the current operating parameters of the motor may include speed parameters (such as motor speed), current parameters (such as direct-axis current, quadrature-axis current), etc. The controller of the motor can calculate the current voltage utilization rate of the motor in real time by observing the current operating parameters output by the feedback loop and combining the preset device parameters of the motor for calculation.

[0050] S200, obtaining a historical voltage utilization rate of the motor, where the historical voltage utilization rate is calculated by using the preset device parameters and the historical operating parameters of the motor;

[0051] In this embodiment, when calculating the voltage utilization of the motor, specific calculation conditions or specific calculation cycles are usually set. The historical voltage utilization is a historical calculation result adjacent to the current voltage utilization. The calculation method of the historical voltage utilization is the same as the calculation method of the current voltage utilization, except that the working parameters used are the historical working parameters at the corresponding moment.

[0052] S300, calculating a first ratio according to the current voltage utilization and the historical voltage utilization;

[0053] As you can understand, voltage utilization is used to measure the stability and fluctuation of the voltage output by the power grid. Voltage fluctuation refers to the instantaneous or periodic change of the voltage in the power grid. When the voltage fluctuation is small and stable, the voltage utilization tends to be stable, indicating that the voltage supply of the power grid is stable and the equipment can work normally. On the contrary, when the voltage fluctuation is large, the voltage utilization decreases rapidly, indicating that the voltage supply of the power grid is unstable and the equipment may not work properly or be damaged.

[0054] In this embodiment, the first ratio can characterize the magnitude relationship between the current voltage utilization and the historical voltage utilization according to its calculation conditions. Therefore, according to the above definition of voltage utilization, the current voltage stability of the motor can be determined by measuring the magnitude of the first ratio to determine whether the voltage stability at the last calculation moment has changed. For example, if the current voltage utilization is 1 times, 1.5 times, etc. of the historical voltage utilization, it can be characterized that at the current moment, the voltage of the power grid to which the motor is connected is relatively stable, and even the working efficiency of the motor is improved; if the current voltage utilization is 0.5 times, 0.2 times, etc. of the historical voltage utilization, it can be characterized that at the current moment, the voltage fluctuation of the power grid to which the motor is connected is very intense.

[0055] Therefore, by calculating the first ratio, the change of the current voltage utilization rate can be monitored and evaluated, and the voltage fluctuation in the power grid can be determined. Therefore, when the voltage fluctuation increases, the first ratio can be used to reflect the decrease in the current voltage utilization rate, so that measures can be taken to stabilize the voltage, increase the voltage utilization rate calculated at the next calculation moment, and ensure the normal operation of the equipment.

[0056] S400. According to the first ratio, adjust the amplitude of the working parameter of the motor to correct the current voltage utilization rate.

[0057] Since the first ratio reflects the change in the current voltage utilization, when the current voltage utilization is detected to be lower than the historical voltage utilization at the previous moment according to the first ratio, it is determined that the voltage fluctuation in the power grid increases. At this time, the bus voltage parameters of the motor will fluctuate due to the voltage fluctuation output by the power grid. Figure 7As shown in the figure, the existing stabilization measures usually only sample the grid voltage and bus voltage parameters to make the motor feedback loop automatically adjust according to the bus voltage parameters. However, there will be loop delay. When the grid fluctuation is too large (such as when the voltage fluctuates back and forth between 265V<->165V), the motor control will not be able to respond in time, causing the motor to lose step due to the bus voltage parameter fluctuation affecting the motor's torque, speed and flux.

[0058] Therefore, in this embodiment, the voltage fluctuation of the power grid is determined based on the first ratio. When it is detected that the voltage fluctuation of the power grid is large according to the first ratio, the amplitude of the working parameter of the motor is adjusted according to the above formula. Since the working parameter can affect the actual operating voltage of the motor, the voltage utilization rate is adjusted, thereby providing sufficient torque, maintaining a stable speed and appropriate magnetic flux by correcting the voltage utilization rate, and helping to reduce motor stall.

[0059] When it is detected according to the first ratio that the voltage fluctuation of the power grid is reduced, the amplitude of the working parameter is gradually released from adjustment according to the above formula, or when the amplitude of the working parameter is not adjusted, the amplitude of the working parameter of the motor is maintained, thereby controlling the normal operation of the motor.

[0060] The technical solution of the present invention calculates a first ratio based on the current voltage utilization rate and the historical voltage utilization rate, so as to reflect the voltage fluctuation of the power grid according to the magnitude of the first ratio. Therefore, when the voltage fluctuation of the power grid is detected to increase according to the first ratio, the amplitude of the working parameter of the motor is adjusted to correct the voltage utilization rate, so that when the voltage of the power grid fluctuates, the motor can be controlled to work stably to avoid the situation where the motor stalls due to the fluctuation of the power grid.

[0061] Reference Figure 2 In one embodiment, the operating parameters include voltage parameters, current parameters and speed parameters, the voltage parameters include current operating voltage and maximum operating voltage parameters, and the current voltage utilization rate of the motor is calculated based on the preset device parameters of the motor and the current operating parameters of the motor, including:

[0062] S110, when the bus voltage parameter meets a first preset condition, calculating the current working voltage of the motor according to the preset device parameter, the current parameter and the speed parameter;

[0063] S120. Calculate the current voltage utilization rate according to the maximum operating voltage parameter and the current operating voltage.

[0064] In this embodiment, in order to reasonably set the acquisition node, the current parameter and speed parameter of the motor can be collected when the bus voltage parameter meets the first preset condition, wherein the maximum working voltage parameter can be the maximum phase voltage, and the purpose of making the maximum phase voltage meet the first preset condition is to achieve the maximum voltage utilization rate that the motor can achieve under the current grid voltage. Thus, by calculating the current working voltage of the motor and combining it with the voltage utilization formula, the current voltage utilization rate is obtained.

[0065] Specifically, the voltage parameter further includes a bus voltage parameter, and the bus voltage parameter satisfies the first preset condition including:

[0066] S111. When the second ratio of the maximum operating voltage parameter to the bus voltage parameter reaches a preset first reference value, it is considered that the first preset condition is met.

[0067] In this embodiment, in the control system of the three-phase inverter inside the motor, the first reference value is set by the R&D personnel according to the control system of the three-phase inverter in the motor. For example, when the motor adopts SPWM inverter control, the first reference value can be 1 / 2, and when the motor adopts SVPWM inverter control, the first reference value can be √3 / 2.

[0068] Reference Figure 3 In one embodiment, the operating parameter includes a current parameter, the current parameter includes a quadrature axis current, and adjusting the amplitude of the operating parameter of the motor according to the first ratio includes:

[0069] S410, comparing the first ratio with a preset second reference value to obtain a comparison result;

[0070] S420: Adjust the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor.

[0071] In this embodiment, the second reference value is used to measure whether the change between the current voltage utilization and the historical voltage utilization is controllable. Since the second reference value represents a critical value of voltage fluctuation, it can be set to 1, 0.95, 0.9, etc. When the first ratio is less than the second ratio, it is considered that the current voltage utilization is too reduced compared to the historical voltage utilization, and the voltage fluctuation is large at this time, and stabilization measures need to be taken immediately. When the first ratio is less than the second ratio, it is considered that the current voltage utilization is not excessively reduced compared to the historical voltage utilization, or is increased compared to the historical voltage utilization. At this time, the voltage fluctuation is small, and even the stability is improved, so it is no longer necessary to take stabilization measures.

[0072] Based on this, after comparing the first ratio with the second ratio and obtaining the comparison result, since the voltage utilization is related to the speed and current parameters of the motor, the controller can correct the voltage utilization by adjusting the speed or current parameters. In addition, since in some working stages, the direct-axis current of the motor always maintains 0 input and only the cross-axis current is subject to feedback control, the present application can adjust the amplitude of the cross-axis current to provide sufficient torque, maintain a stable speed and appropriate magnetic flux, and help reduce motor stall.

[0073] When it is detected according to the first ratio that the voltage fluctuation of the power grid is reduced, the amplitude of the cross-axis current is gradually released from regulation according to the above formula, or when the amplitude of the cross-axis current is not adjusted, the amplitude of the working parameter of the motor is maintained, thereby controlling the normal operation of the motor.

[0074] In one embodiment, adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor includes:

[0075] S421. When the comparison result is that the first ratio is smaller than the second reference value, limit the amplitude of the quadrature-axis current to a preset first amplitude range.

[0076] In this embodiment, when the first ratio is less than the second reference value, it indicates that the voltage fluctuation in the power grid is large. In order to avoid motor stall, the controller limits the amplitude of the cross-axis current to prevent the motor from exceeding its rated operating range, keeps the motor operating within a safe range, and avoids the motor from operating in a low-efficiency area, thereby improving the energy utilization efficiency of the motor and further improving the voltage utilization rate.

[0077] When limiting the amplitude of the cross-axis current, the controller limits the cross-axis current to a pre-stored first amplitude range, and the first amplitude range is set according to the amplitude corresponding to the minimum rated speed of the motor. When the power grid fluctuates, the voltage may change, resulting in fluctuations in the motor input voltage. If the current of the motor exceeds the rated value, it may cause the motor to overload or overheat, thereby affecting the stability and life of the motor. By limiting the cross-axis current of the motor to the current value corresponding to the minimum rated speed, it can be ensured that the motor operates near the rated operating point, reducing the risk of overload.

[0078] In addition, limiting the motor's quadrature-axis current can also help balance the grid load. When the grid load fluctuates, the motor load will also change accordingly. By limiting the motor current, the motor's load on the grid can be reduced, thus helping to maintain grid stability.

[0079] In summary, limiting the quadrature-axis current of the motor to the current value corresponding to the minimum rated speed can improve the stability of the motor, reduce the risk of overload, and help maintain the stability of the power grid.

[0080] Furthermore, for the controller of the motor, the amplitude of the cross-axis current needs to be limited only when the first ratio is smaller than the second reference value. When the first ratio is larger than the second reference value, the motor needs to be controlled to work normally so that the device in which the motor is located can achieve the best operating effect.

[0081] However, the current is quickly limited because the motor speed is proportional to the current. By limiting the current, it is possible to ensure that the motor obtains appropriate current to maintain the required speed and avoid motor stalling. If the motor is directly controlled to operate at a normal speed when the first ratio is greater than the second reference value, it is likely that the motor will not be able to provide enough torque to cope with the sudden increase in speed, so that the motor cannot maintain the required speed, thereby causing stalling.

[0082] Therefore, after limiting the amplitude of the quadrature-axis current to a preset first amplitude range, it is necessary to mark this processing so that the amplitude limiting processing is combined as a prerequisite for processing when comparing the first ratio next time. Specifically, limiting the amplitude of the quadrature-axis current to a preset first amplitude range includes:

[0083] S422: Update the current current mode to a limiting mode, and limit the amplitude of the quadrature-axis current to a preset first amplitude range through the limiting mode.

[0084] Reference Figure 4 In one embodiment, adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor further comprises:

[0085] S423, when the comparison result is that the first ratio is greater than the second reference value, obtaining a current current mode of the motor;

[0086] S424: If the current current mode includes an amplitude limiting mode, perform positive feedback regulation on the first amplitude range to gradually exit the amplitude limiting mode.

[0087] In this embodiment, when it is detected that the first ratio is greater than the second reference value, it is determined that the current voltage fluctuation of the motor is small, or the voltage tends to be stable, and the motor no longer needs to be limited. If the current current mode includes a limiting mode, in order to control the normal operation of the motor, it is necessary to control the motor to exit the limiting mode, so the first amplitude range is gradually expanded in both directions to widen the amplitude range of the quadrature axis current, and the motor is released from the limiting process to achieve the normal operation of the motor.

[0088] Specifically, Figure 5 As shown, the positive feedback regulation of the first amplitude range includes:

[0089] S425, obtaining a preset rated current;

[0090] S426, controlling the first amplitude range to gradually increase with a preset first correction value, and obtaining a maximum critical value of the first amplitude range in real time;

[0091] S427: When the maximum critical value reaches the current value of the rated current, control the motor to exit the limiting mode.

[0092] In one embodiment, when the comparison result is that the first ratio is greater than the second reference value, after obtaining the current current mode of the motor, the method further includes:

[0093] S428: If the current current mode does not include a limiting mode, control the motor to operate normally.

[0094] It is understandable that each time the current voltage utilization is calculated, it will be calculated with the adjacent historical voltage utilization, and it is not always detected that the first ratio is greater than the second reference value, that is, it is possible that in the last comparison, because the voltage fluctuation is not detected to be large, the limiting process is not performed, and the motor is not in the limiting mode. Based on this, in this embodiment, when it is detected that the first ratio is greater than the second reference value and the current current mode does not include the limiting mode, the controller determines that there is no need to release the limiting process for the motor, and thus continues to control the motor to work normally.

[0095] The present invention also proposes an air conditioner, which includes a motor and a controller, wherein the motor is electrically connected to the controller, wherein the controller is used to execute the above-mentioned motor control method, and the specific structure of the motor control method refers to the above-mentioned embodiment. Since this air conditioner adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0096] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A method for controlling a motor, characterized in that: The control method of the motor comprises: Calculating a current voltage utilization rate of the motor according to preset device parameters of the motor and current operating parameters of the motor; Acquire a historical voltage utilization rate of the motor, wherein the historical voltage utilization rate is calculated by using the preset device parameters and the historical operating parameters of the motor; Calculating a first ratio according to the current voltage utilization and the historical voltage utilization; According to the first ratio, the amplitude of the working parameter of the motor is adjusted to correct the current voltage utilization rate.

2. The motor control method according to claim 1, characterized in that: The current operating parameters include bus voltage parameters, maximum operating voltage parameters, current parameters and speed parameters. The current voltage utilization rate of the motor is calculated based on the preset device parameters of the motor and the current operating parameters of the motor, including: When the bus voltage parameter satisfies a first preset condition, calculating the current working voltage of the motor according to the preset device parameter, the current parameter and the speed parameter; The current voltage utilization rate is calculated according to the maximum operating voltage parameter and the current operating voltage.

3. The motor control method according to claim 2, characterized in that: The bus voltage parameter satisfies the first preset condition including: When the second ratio of the bus voltage parameter to the maximum operating voltage parameter reaches a preset first reference value, it is considered that the first preset condition is met.

4. The motor control method according to claim 1, characterized in that: The operating parameter includes a current parameter, and adjusting the amplitude of the operating parameter of the motor according to the first ratio includes: Comparing the first ratio with a preset second reference value to obtain a comparison result; The amplitude of the quadrature-axis current of the current parameter is adjusted according to the comparison result and the current mode of the motor.

5. The motor control method according to claim 4, characterized in that: The adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor comprises: When the comparison result is that the first ratio is smaller than the second reference value, the amplitude of the quadrature-axis current is limited to a preset first amplitude range.

6. The motor control method according to claim 5, characterized in that: The step of limiting the amplitude of the quadrature-axis current to a preset first amplitude range includes: The current current mode is updated to a limiting mode, and the amplitude of the quadrature-axis current is limited to a preset first amplitude range through the limiting mode.

7. The motor control method according to claim 4, characterized in that: The adjusting the amplitude of the quadrature-axis current according to the comparison result and the current current mode of the motor further comprises: When the comparison result is that the first ratio is greater than the second reference value, obtaining a current current mode of the motor; If the current current mode includes an amplitude limiting mode, positive feedback regulation is performed on the first amplitude range to gradually exit the amplitude limiting mode.

8. The motor control method according to claim 7, characterized in that: The positive feedback regulation of the first amplitude range comprises: Get the preset rated current; Controlling the first amplitude range to gradually increase with a preset first correction value, and obtaining the maximum critical value of the first amplitude range in real time; When the maximum critical value reaches the current value of the rated current, the motor is controlled to exit the amplitude limiting mode.

9. The motor control method according to claim 4, characterized in that: When the comparison result is that the first ratio is less than the second reference value, after obtaining the current current mode of the motor, the method further includes: If the current current mode does not include the amplitude limiting mode, the motor is controlled to operate normally.

10. An air conditioner, characterized in that: It comprises a motor and a controller, wherein the motor is electrically connected to the controller, wherein the controller is used to execute the motor control method according to any one of claims 1 to 9.

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