A power control method, device and electric equipment based on multi-gear adjustment

Abstract

The present invention relates to the field of power control, and in particular to a power control method, device, and electric equipment based on multi-gear adjustment. The method comprises: determining a target speed according to the gear selected by the user and starting the motor; if the starting time of the motor reaches a preset time, determining whether the real-time speed of the motor reaches the target speed, and if so, obtaining the target torque and determining the fluctuation range of the target torque; if not, adjusting the target speed and determining the fluctuation range of the target torque based on the adjusted target speed; calculating the electromagnetic torque based on the real-time current of the motor; determining whether the electromagnetic torque is within the fluctuation range of the target torque, and if so, if the rate of change of the electromagnetic torque is greater than a preset value, adjusting the real-time current according to the target torque; if not, adjusting the real-time current according to the change of the real-time current. The present invention solves the problem of electric equipment being damaged due to a sharp increase in power.

Description

Technical Field

[0001] The present invention relates to the field of power control, and in particular to a power control method, device and electric equipment based on multi-gear regulation. Background Art

[0002] Electric devices with multiple gears are common. By adjusting the gears, the speed corresponding to each gear is switched. For example, a hair clipper is an electric device with multiple gears. Electric hair clippers (also known as electric hair clippers or electric clippers) are electric devices that use a motor to drive the blades to perform a reciprocating cutting motion.

[0003] For electric devices with multiple gear adjustments, such as electric hair clippers, a user usually selects a gear, and the electric device switches to the corresponding speed according to the gear selected by the user and then controls the motor of the electric device.

[0004] Taking electric hair clippers as an example, currently, after the gear of an electric hair clipper is adjusted, the speed of the electric hair clipper's motor will switch according to the gear adjustment, and will gradually approach the speed corresponding to the adjusted gear. However, if the blade of the electric hair clipper becomes blunt, deformed, or contains foreign matter, it will cause the blade to jam, and the resistance to the rotor of the electric hair clipper's motor will increase, that is, the load torque will increase, which will cause the motor speed to decrease. In order to maintain the speed corresponding to the gear selected by the user, the motor needs to generate a larger electromagnetic torque to counteract the load torque. In this way, the electric power will increase sharply and even exceed the rated power. The sharp increase in power may lead to the risk of motor overheating and burning. Therefore, there is a problem of damage to electric equipment due to the sharp increase in power. Summary of the Invention

[0005] Based on this, it is necessary to provide a power control method, device and electric equipment based on multi-gear adjustment to address the above problems.

[0006] The embodiment of the present invention is implemented as follows: a power control method based on multi-gear adjustment, the power control method based on multi-gear adjustment comprising:

[0007] S101, determining a target speed according to the gear selected by the user and starting the motor according to the target speed;

[0008] S102, determining whether the motor startup time reaches a preset time; if so, determining whether the real-time speed of the motor reaches a target speed; if so, obtaining a target torque and determining a fluctuation range of the target torque;

[0009] S103, if the real-time speed of the motor does not reach the target speed, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed;

[0010] S104, monitoring the real-time current of the motor and calculating the electromagnetic torque according to the real-time current of the motor;

[0011] S105, determining whether the electromagnetic torque is within the fluctuation range of the target torque; if so, determining whether the rate of change of the electromagnetic torque is greater than a preset value; if so, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0012] S106: If the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change of the real-time current to control the power of the motor and thus limit the power.

[0013] In one embodiment, the present invention provides a power control device based on multi-gear adjustment, the power control device based on multi-gear adjustment comprising:

[0014] A target speed determination module is used to determine the target speed according to the gear selected by the user and start the motor according to the target speed;

[0015] The target torque calculation module is used to determine whether the motor startup time reaches the preset time. If so, it determines whether the real-time speed of the motor reaches the target speed. If so, it obtains the target torque and determines the fluctuation range of the target torque.

[0016] A target speed adjustment module is used to adjust the target speed if the real-time speed of the motor does not reach the target speed and determine the fluctuation range of the target torque based on the adjusted target speed;

[0017] The electromagnetic torque calculation module is used to monitor the real-time current of the motor and calculate the electromagnetic torque based on the real-time current of the motor;

[0018] a first power control module, configured to determine whether the electromagnetic torque is within the fluctuation range of the target torque; if so, to determine whether the rate of change of the electromagnetic torque is greater than a preset value; and if so, to adjust the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0019] The second power control module is used to adjust the real-time current according to the change of the real-time current to control the power of the motor and thus limit the power if the electromagnetic torque is not within the fluctuation range of the target torque.

[0020] In one embodiment, the present invention provides an electric device, comprising a power module, a function module, a motor module, and a control module;

[0021] The power supply module is electrically connected to the motor module and the control module, and is used to provide power to the motor module and the control module;

[0022] The functional module is used to execute actions to complete the functions of the electric device;

[0023] The motor module is electrically connected to the control module, and the rotating shaft of the motor module is connected to the functional module, so as to drive the functional module to move so as to perform the function of the electric device;

[0024] The control module is used to execute the steps of the above-mentioned power control method based on multi-gear adjustment.

[0025] An embodiment of the present invention provides a power control method based on multi-gear adjustment. The method first determines the target torque corresponding to the gear selected by the user; then calculates the electromagnetic torque using the real-time current of the motor; if the electromagnetic torque is within the fluctuation range of the target torque but the rate of change of the electromagnetic torque is greater than a preset value, the real-time current is adjusted according to the target torque to control the power of the motor, thereby avoiding a sharp increase in power. This is power control from the perspective of the rate of change of the electromagnetic torque; if the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change in the real-time current to control the power of the motor and thereby limit the power. This is power control from the perspective of exceeding the fluctuation range of the target torque. This method controls the power from the perspective of the rate of change of the electromagnetic torque and the fluctuation range of the target torque to avoid a sharp increase in power, thereby solving the problem of damage to electric equipment due to a sharp increase in power. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a power control method based on multi-gear adjustment in one embodiment;

[0027] Figure 2 is a logic diagram of a power control method based on multi-gear adjustment in one embodiment;

[0028] Figure 3 is a structural block diagram of a power control device based on multi-gear adjustment in one embodiment;

[0029] Figure 4 is a structural block diagram of an electric device in one embodiment;

[0030] Figure 5 FIG. 4 is a block diagram of the internal structure of a control module in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of the present invention.

[0033] like Figure 1 、 Figure 2 As shown, in one embodiment, a power control method based on multi-gear adjustment is proposed, which may specifically include the following steps:

[0034] S101, determining a target speed according to the gear selected by the user and starting the motor according to the target speed;

[0035] S102, determining whether the motor startup time reaches a preset time; if so, determining whether the real-time speed of the motor reaches a target speed; if so, obtaining a target torque and determining a fluctuation range of the target torque;

[0036] S103, if the real-time speed of the motor does not reach the target speed, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed;

[0037] S104, monitoring the real-time current of the motor and calculating the electromagnetic torque according to the real-time current of the motor;

[0038] S105, determining whether the electromagnetic torque is within the fluctuation range of the target torque; if so, determining whether the rate of change of the electromagnetic torque is greater than a preset value; if so, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0039] S106: If the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change of the real-time current to control the power of the motor and thus limit the power.

[0040] In this embodiment, the gear selection of the electric device with multiple gear adjustments is generally performed by the user through a gear-adjustable component such as a paddle switch.

[0041] In this embodiment, each gear position corresponds to a target speed, which is preset.

[0042] In this embodiment, a multi-speed electric device generally operates at no-load when it is started. For example, when a hair clipper is started but has not yet cut hair, the motor speed starts from 0 and reaches the target speed and runs smoothly. The time required for this process is the preset duration, which is generally 0.5-1s. Therefore, the preset duration can be set to 0.5-1s. Of course, the motor does not necessarily start from 0, but may start at the target speed of a low gear. However, it also runs at no-load when switching gears, so the preset duration of 0.5-1s is also applicable.

[0043] In this embodiment, the startup time of the motor refers to the time it takes for the motor to change according to the gear selected by the user, and is not necessarily the time when the motor speed is 0. For example, if the electric clipper is initially in gear 1 and the user reselects gear 2, the startup time of the motor is recorded from the moment the user selects gear 2.

[0044] In this embodiment, if the starting time of the motor reaches the preset time and the real-time speed of the motor reaches the target speed, it indicates that the operating structure of the multi-speed electric equipment has not been stuck. Taking the electric clipper as an example, if the blade of the electric clipper has not been stuck, then the real-time speed of the motor of the electric clipper will reach the target speed and maintain the target speed. If the real-time speed of the motor does not reach the target speed, it indicates that the blade may be blunt, deformed, or mixed with foreign matter, resulting in blade jamming. The resistance to the rotor of the motor of the electric clipper increases, so that the real-time speed of the electric clipper cannot reach the target speed when the starting time of the motor reaches the preset time. Therefore, a target speed is reset at this time. This step is equivalent to initialization.

[0045] In this embodiment, in S102, , N1 is the target speed, p is the real-time power corresponding to the real-time speed of the motor reaching the target speed. Of course, since the startup time of the motor reaches the preset time, the real-time speed of the motor reaches the target speed, that is, the operation structure of the multi-speed electric equipment is not stuck, then the target speed N1 and the real-time power p corresponding to the real-time speed of the motor reaching the target speed are both measurement values ​​that must be reached. Therefore, the target torque at this time is also a measurement value that can be known in advance, so the target torque can be directly obtained.

[0046] In this embodiment, using an electric hair clipper as an example, the target torque is the load torque of the motor before the clipper begins cutting hair, and is also the electromagnetic torque of the motor at that moment. Once the clipper begins cutting hair, it encounters resistance, causing the motor's real-time speed to decrease. The load torque then increases, exceeding the target torque. To counteract the load torque and bring the motor's real-time torque to the target, the electromagnetic torque gradually increases until it matches the load torque. Only then does the motor's real-time speed reach the target speed. However, this increase in electromagnetic torque means an increase in real-time current, and thus a simultaneous increase in power. If the blade becomes slightly blunt, deformed, or contains foreign matter during this process, the power will increase further, necessitating power control (i.e., S105).

[0047] In this embodiment, load torque can only be calculated during steady-state operation, when the load torque is equal to the electromagnetic torque. Safe operation refers to the motor operating normally and achieving the target speed within a preset timeframe. If resistance is encountered, the load torque cannot be calculated. In this case, the load torque's sudden change rate is much faster than the current response, i.e., the electromagnetic torque's change rate. Since the gear setting is the target speed, the motor's real-time current must be increased to maintain the target speed. Therefore, the electromagnetic torque approaches the load torque until the two reach equilibrium again.

[0048] In this embodiment, the fluctuation range can be set to 10%. Due to the setting of the target speed, the real-time speed of the motor will not exceed the target speed. Only when a jam occurs, the real-time speed of the motor drops sharply and is lower than the target speed. At this time, the real-time current of the motor can only increase in order to make the electromagnetic torque equal to the load torque, that is, the electromagnetic torque increases, so the fluctuation range has only positive values.

[0049] In this embodiment, the preset value can be set based on historical data. Historical data of the change in electromagnetic torque and the time difference corresponding to that change after the hair clipper begins cutting hair is obtained. The preset value is calculated by dividing the change in electromagnetic torque by the time difference corresponding to that change. The preset value represents the degree of change in electromagnetic torque during normal operation of the hair clipper, which is acceptable and does not require adjustment of the real-time current.

[0050] In this embodiment, when the electromagnetic torque is greater than the target rotational speed and is increasing, it can be considered that the load torque is increasing, because only in this case will the electromagnetic torque increase.

[0051] In this embodiment, determining whether the electromagnetic torque is within the fluctuation range of the target torque in S105 can be considered as determining whether the electromagnetic torque is greater than or equal to the target torque and less than or equal to 110% of the target torque.

[0052] In this embodiment, in S106, when the electromagnetic torque is not within the fluctuation range of the target torque, since the electromagnetic torque gradually increases, the electromagnetic torque is greater than the target torque at this time. Taking the electric hair clipper as an example, it means that the load torque is greater. Then, it may be that the blade is seriously blunted, deformed, or foreign matter is included, which causes the load torque to further increase. At this time, the power needs to be further controlled. S106 will be triggered in two situations. One is that the electromagnetic torque still rises after the real-time current is adjusted according to the target torque in S105 to control the power of the motor to avoid a sharp increase in power. The other is that the real-time current rises too quickly, which directly causes the electromagnetic torque to be out of the fluctuation range of the target torque.

[0053] In this embodiment, since the input voltage of the multi-speed electric equipment is a fixed and stable value, the voltage is generally considered to be stable, and the voltage is changed between multiple gears only according to the difference in PWM. Each gear has a corresponding voltage value. Taking the electric clipper as an example, the input voltage of the electric clipper's motor is determined by the energy storage power supply inside the electric clipper and generally cannot be changed, so the purpose of power control can be achieved by adjusting the real-time current of the electrode.

[0054] In this embodiment, if the load torque is extremely large, if the power is not controlled, the real-time current of the motor will increase sharply to ensure that the electromagnetic torque is equal to the load torque, which will cause damage to the electric equipment.

[0055] An embodiment of the present invention provides a power control method based on multi-gear adjustment. The method first determines the target torque corresponding to the gear selected by the user; then calculates the electromagnetic torque using the real-time current of the motor; if the electromagnetic torque is within the fluctuation range of the target torque but the rate of change of the electromagnetic torque is greater than a preset value, the real-time current is adjusted according to the target torque to control the power of the motor, thereby avoiding a sharp increase in power. This is power control from the perspective of the rate of change of the electromagnetic torque; if the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change in the real-time current to control the power of the motor and thereby limit the power. This is power control from the perspective of exceeding the fluctuation range of the target torque. This method controls the power from the perspective of the rate of change of the electromagnetic torque and the fluctuation range of the target torque to avoid a sharp increase in power, thereby solving the problem of damage to electric equipment due to a sharp increase in power.

[0056] In one embodiment, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed includes:

[0057] Get the real-time speed and power of the motor;

[0058] Depend on Obtaining a first adjustment value a;

[0059] Depend on Adjusting the target speed to obtain an adjusted target speed;

[0060] Control the real-time speed of the motor to approach the adjusted target speed;

[0061] Determine whether the real-time speed of the motor reaches the adjusted target speed, and if so, determine the fluctuation range of the target torque according to the adjusted target speed;

[0062] Among them, k1 is the speed coefficient, k2 is the power coefficient, N1 is the target speed, n is the real-time speed, P is the rated power corresponding to the gear selected by the user, and p is the real-time power of the motor.

[0063] In this embodiment, there are multiple methods for acquiring the real-time rotation speed of the motor, such as detection through a Hall sensor, detection through back electromotive force, detection through FOC (Field-Oriented Control), etc.

[0064] In this embodiment, the real-time power of the motor can be obtained according to the voltage corresponding to the gear selected by the user and the real-time current of the motor.

[0065] In this embodiment, the sum of k1 and k2 is 1. Generally, k1 and k2 are set to 0.6 and 0.4 respectively. This is because some power is wasted and the speed can better reflect the changes, so the speed coefficient is set higher than the power coefficient.

[0066] In this embodiment, the rated power corresponding to the gear selected by the user is essentially the power that the motor should reach under normal circumstances according to the gear selected by the user. Since the value that the real-time current of the motor should reach at this time is determined, and the voltage corresponding to the gear is also determined, the rated power corresponding to the gear selected by the user is also determined.

[0067] In this embodiment, if the real-time rotational speed of the motor has not reached the adjusted target rotational speed, the determination is continued until the real-time rotational speed of the motor reaches the adjusted target rotational speed.

[0068] In one embodiment, obtaining the target torque and determining the fluctuation range of the target torque includes:

[0069] Determining the fluctuation range of the target torque according to the adjusted target speed includes:

[0070] Depend on Get the target torque;

[0071] determining a fluctuation range of the target torque according to the target torque;

[0072] Among them, p is the real-time power of the motor, and N2 is the adjusted target speed.

[0073] In this embodiment, p at this time is the real-time power corresponding to the real-time speed of the motor reaching the adjusted target speed.

[0074] In this embodiment, It can only be used when steady state is reached, that is, the real-time speed reaches the adjusted target speed.

[0075] In this embodiment, if the fluctuation range is set to 10%, then after the target torque is determined, the fluctuation range of the target torque can be known.

[0076] In one embodiment, calculating the electromagnetic torque according to the real-time current of the motor includes:

[0077] Depend on Get the electromagnetic torque;

[0078] Among them, K t is the torque constant of the motor, I a is the real-time current of the motor.

[0079] In this embodiment, the torque constant of the motor is a fixed value, so the electromagnetic torque is only related to the real-time current of the motor.

[0080] In one embodiment, the determining whether the rate of change of the electromagnetic torque is greater than a preset value includes:

[0081] Obtaining several electromagnetic torques;

[0082] Determine whether the electromagnetic torque obtained is greater than the target torque. If so, determine whether the electromagnetic torque obtained is gradually increasing. If so, Get the rate of change of electromagnetic torque;

[0083] If the obtained electromagnetic torque does not gradually increase, the rate of change of the electromagnetic torque is set to 0;

[0084] If the obtained electromagnetic torque is not greater than the target torque, the change rate of the electromagnetic torque is set to 0;

[0085] Where m is the number of electromagnetic torques obtained, i is the serial number of the electromagnetic torques obtained, i starts counting from 2, T ei is the i-th electromagnetic torque, t i is the time when the real-time current corresponding to the i-th electromagnetic torque is monitored.

[0086] In this embodiment, several electromagnetic torques are obtained, typically 10. The obtained electromagnetic torques are used to determine the rate of change, and do not require too many values. However, a single value may be accidental, so an average value is a more appropriate approach, so 10 is more appropriate.

[0087] In this embodiment, the change rate of the electromagnetic torque is essentially an average value of each acquired change rate of the electromagnetic torque, excluding the latest change rate of the electromagnetic torque.

[0088] In this embodiment, gradually increasing means that the electromagnetic torque obtained is increased in a time sequence.

[0089] In one embodiment, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power includes:

[0090] Depend on Get the added value D1;

[0091] Depend on Get the reduction value D2;

[0092] Depend on Get the torque adjustment ratio b;

[0093] Depend on obtaining a first target current;

[0094] Adjusting the real-time current according to the first target current to control the power of the motor to avoid a sharp increase in power;

[0095] Among them, T max is the upper limit of the fluctuation range of the target torque, T e is the electromagnetic torque, T is the target torque, K t is the torque constant of the motor.

[0096] In this embodiment, The torque obtained is greater than T e , but will not exceed T max By using this torque as the limit value of the motor's electromagnetic torque, the motor's real-time current can be controlled to effectively control power. It is worth noting that due to the control of the motor's real-time current, the motor's speed cannot reach the original target speed.

[0097] In this embodiment, the real-time current is adjusted according to the first target current, that is, the operating current of the motor is set to the first target current so that the real-time current of the motor approaches the first target current.

[0098] In this embodiment, the real-time speed of the motor will definitely not reach the target speed at this time, but since the real-time current is adjusted to the first target current, it will correspond to an adjusted speed. If the real-time speed of the motor can be maintained near the adjusted speed at this time, a stable situation is achieved and no further changes are required. If the real-time speed of the motor continues to decrease and exceeds the fluctuation range of the adjusted speed, the operating current of the motor will no longer be set to the first target current, and the real-time current of the motor will further increase.

[0099] In one embodiment, adjusting the real-time current according to the change of the real-time current to control the power of the motor and thereby limit the power includes:

[0100] S701, by Get the current I1 to be changed;

[0101] S702, obtaining the electromagnetic torque before the current electromagnetic torque, and recording it as the torque to be determined;

[0102] S703, determine whether the torque to be determined is greater than the target torque. If not, record the time point t corresponding to the torque to be determined. x And the corresponding real-time current I2;

[0103] S704: If the torque to be determined is greater than the target torque, the previous electromagnetic torque of the torque to be determined is updated as the torque to be determined, and S703 is executed;

[0104] S705, according to time point t x The real-time current is then fitted using a nonlinear fitting method to obtain a fitting curve to obtain the change of the real-time current;

[0105] S706, estimate the maximum value of the real-time current I according to the fitting curve max ;

[0106] S707, determine the maximum value of the real-time current I max Is it greater than the current to be changed I1? If so, Get the second target current; if not, obtaining a second target current;

[0107] S708, determine whether the second target current is greater than the preset current, if so, according to adjusting the second target current;

[0108] S709, adjusting the real-time current according to the second target current to control the power of the motor and thereby limit the power;

[0109] Among them, T is the target torque, N1 is the target speed, K tis the torque constant of the motor, n is the real-time speed, I x is the second target current, and I0 is the preset current.

[0110] In this embodiment, the real-time speed n is also abrupt due to the sudden change in load torque. That is, if the load torque suddenly increases, the real-time speed n will suddenly decrease. Therefore, n in S701 is suddenly decreasing, and the resulting current I1 is a large value. The current I1 is an estimate, not the real-time motor current. The real-time motor current cannot change suddenly but only increases gradually.

[0111] In this embodiment, S703 - S705 are current change curves after the electromagnetic torque exceeds the target torque.

[0112] In this embodiment, the maximum value of the real-time current estimated in S706 is I max It may be the value that appears in the current change curve after the electromagnetic torque exceeds the target torque, or it may be the value that is expected to be achieved estimated by a fitting curve.

[0113] In this embodiment, the preset current is the protection current of the motor and is also the maximum allowable current of the motor in actual operation. Exceeding the preset current may cause the motor to activate the overheat protection function. Therefore, the real-time current of the motor is not allowed to exceed the preset current.

[0114] In this embodiment, the real-time current is adjusted based on the second target current to control the motor power. Specifically, the motor's operating current is set to the second target current so that the motor's real-time current approaches the second target current. Unlike adjusting the real-time current based on the first target current, adjusting the real-time current based on the second target current corresponds to an adjusted speed because the real-time current is adjusted to the second target current. If the motor's real-time speed cannot be maintained near the adjusted speed, the motor's operating current will not increase further.

[0115] In this embodiment, the power has already risen sharply at this time, so it is more important to limit the power to prevent the power from rising again and damaging the electric device.

[0116] In one embodiment, the power control method based on multi-gear adjustment further includes:

[0117] Determine whether the real-time current is adjusted. If so, record the real-time speed of the motor as the adjusted speed, and determine the oscillation range of the adjusted speed.

[0118] At every preset time, determine whether the real-time speed of the motor is within the oscillation range of the adjusted speed; if not, determine whether the real-time speed of the motor is greater than the adjusted speed;

[0119] If the real-time speed of the motor is greater than the adjusted speed, execute S101-S106;

[0120] If the real-time speed of the motor is less than the adjusted speed, the adjusted torque is determined according to the adjusted speed, and the adjusted torque is determined as the target torque, and steps S104 to S106 are executed.

[0121] In this embodiment, the step of determining whether the real-time current has been adjusted is performed after the real-time current has been adjusted according to the first target current, and is also performed after the real-time current has been adjusted according to the second target current. If the real-time current is equal to the first target current / the second target current, the adjustment is determined to be complete.

[0122] In this embodiment, the preset time can be set to any value between 1 and 5 seconds.

[0123] In this embodiment, the oscillation range can be set to plus or minus 10%. Whether the real-time speed of the motor is within the oscillation range of the adjusted speed can be expressed as: whether the real-time speed of the motor is within 90%-110% of the value of the adjusted speed.

[0124] In this embodiment, if the real-time speed of the motor is greater than the adjusted speed, it may be that the cause of the jam has disappeared, for example, the foreign matter has detached when it is entrained. At this time, the target speed can be reset according to the gear selected by the user.

[0125] In this embodiment, if the real-time speed of the motor is less than the adjusted speed, for adjusting the real-time current according to the first target current, it indicates that the adjustment force of the real-time current according to the first target current is insufficient. At this time, the working current of the motor is no longer set to the first target current, and the real-time current of the motor will further increase; for adjusting the real-time current according to the second target current, the second target current can only be re-determined, and the real-time current of the motor may not necessarily increase further, and the second target current is regarded as the maximum value.

[0126] In this embodiment, the step of determining the adjusted torque according to the adjusted rotational speed is the same as the step of obtaining the target torque and determining the fluctuation range of the target torque.

[0127] like Figure 3 As shown, in one embodiment, a power control device based on multi-gear adjustment is provided, which may specifically include:

[0128] A target speed determination module is used to determine the target speed according to the gear selected by the user and start the motor according to the target speed;

[0129] The target torque calculation module is used to determine whether the motor startup time reaches the preset time. If so, it determines whether the real-time speed of the motor reaches the target speed. If so, it obtains the target torque and determines the fluctuation range of the target torque.

[0130] A target speed adjustment module is used to adjust the target speed if the real-time speed of the motor does not reach the target speed and determine the fluctuation range of the target torque based on the adjusted target speed;

[0131] The electromagnetic torque calculation module is used to monitor the real-time current of the motor and calculate the electromagnetic torque based on the real-time current of the motor;

[0132] a first power control module, configured to determine whether the electromagnetic torque is within the fluctuation range of the target torque; if so, to determine whether the rate of change of the electromagnetic torque is greater than a preset value; and if so, to adjust the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0133] The second power control module is used to adjust the real-time current according to the change of the real-time current to control the power of the motor and thus limit the power if the electromagnetic torque is not within the fluctuation range of the target torque.

[0134] In this embodiment, the modules of the power control device based on multi-gear adjustment are modularized parts of the method of the present invention. For the detailed explanation of each module, please refer to the corresponding content of the method of the present invention. The embodiment of the present invention will not be repeated here.

[0135] like Figure 4 As shown, in one embodiment, an electric device is provided, which may specifically include: a power module, a function module, a motor module, and a control module;

[0136] The power supply module is electrically connected to the motor module and the control module, and is used to provide power to the motor module and the control module;

[0137] The functional module is used to execute actions to complete the functions of the electric device;

[0138] The motor module is electrically connected to the control module, and the rotating shaft of the motor module is connected to the functional module, so as to drive the functional module to move so as to perform the function of the electric device;

[0139] The control module is used to execute the steps of the above-mentioned power control method based on multi-gear adjustment.

[0140] In this embodiment, taking the electric hair clipper as an example, the functional module is the blade module, and the blade module includes a movable blade assembly and a fixed blade assembly. The action of performing the function of the electric device is to complete the cutting function of the electric hair clipper.

[0141] In this embodiment, taking the electric hair clipper as an example, the rotating shaft of the motor module is connected to the functional module, that is, the rotating shaft of the motor module is connected to the movable blade assembly of the blade module. When the rotating shaft of the motor module rotates, it pushes the movable blade assembly to perform linear reciprocating motion. The movable blade assembly is tightly fitted on the fixed fixed blade assembly. When the movable blade assembly performs linear reciprocating motion, the tooth edges of the fixed blade assembly and the tooth edges of the movable blade assembly cross each other to complete the cutting function of the electric hair clipper.

[0142] An electric device provided by an embodiment of the present invention first determines the target torque corresponding to the gear selected by the user; then calculates the electromagnetic torque using the real-time current of the motor; if the electromagnetic torque is within the fluctuation range of the target torque but the rate of change of the electromagnetic torque is greater than a preset value, the real-time current is adjusted according to the target torque to control the power of the motor to avoid a sharp increase in power. This is power control from the perspective of the rate of change of the electromagnetic torque; if the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change in the real-time current to control the power of the motor and thus limit the power. This is power control from the perspective of exceeding the fluctuation range of the target torque. In this way, the power is controlled from the perspective of the rate of change of the electromagnetic torque and the fluctuation range of the target torque to avoid a sharp increase in power, thereby solving the problem of damage to the electric device due to a sharp increase in power.

[0143] Figure 5 FIG. 1 shows an internal structure diagram of a control module in an embodiment. Figure 5 As shown, the control module includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium of the control module stores an operating system and may also store a computer program. When executed by the processor, the computer program enables the processor to implement a power control method based on multi-gear adjustment according to an embodiment of the present invention. The internal memory may also store a computer program. When executed by the processor, the computer program enables the processor to implement a power control method based on multi-gear adjustment according to an embodiment of the present invention.

[0144] Those skilled in the art will understand that Figure 5The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the control module to which the solution of the present invention is applied. The specific control module may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0145] In one embodiment, a power control device based on multi-gear adjustment provided by an embodiment of the present invention can be implemented in the form of a computer program. The computer program can be used in Figure 5 The control module is operated on the control module shown. The memory of the control module can store various program modules that constitute the power control device based on multi-gear adjustment, such as, Figure 3 The target speed determination module, target torque calculation module, target speed adjustment module, electromagnetic torque calculation module, first control power module, and second control power module are shown. The computer program composed of each program module enables the processor to execute the steps of the power control method based on multi-gear adjustment according to various embodiments of the present invention described in this specification.

[0146] For example, Figure 5 The control module shown can be Figure 3 In the power control device based on multi-gear adjustment shown, the target speed determination module executes step S101; the control module can execute step S102 through the target torque calculation module; the control module can execute step S103 through the target speed adjustment module; the control module can execute step S104 through the electromagnetic torque calculation module; the control module can execute step S105 through the first control power module; and the control module can execute step S106 through the second control power module.

[0147] In one embodiment, a control module is provided. The control module includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0148] S101, determining a target speed according to the gear selected by the user and starting the motor according to the target speed;

[0149] S102, determining whether the motor startup time reaches a preset time; if so, determining whether the real-time speed of the motor reaches a target speed; if so, obtaining a target torque and determining a fluctuation range of the target torque;

[0150] S103, if the real-time speed of the motor does not reach the target speed, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed;

[0151] S104, monitoring the real-time current of the motor and calculating the electromagnetic torque according to the real-time current of the motor;

[0152] S105, determining whether the electromagnetic torque is within the fluctuation range of the target torque; if so, determining whether the rate of change of the electromagnetic torque is greater than a preset value; if so, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0153] S106: If the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change of the real-time current to control the power of the motor and thus limit the power.

[0154] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor performs the following steps:

[0155] S101, determining a target speed according to the gear selected by the user and starting the motor according to the target speed;

[0156] S102, determining whether the motor startup time reaches a preset time; if so, determining whether the real-time speed of the motor reaches a target speed; if so, obtaining a target torque and determining a fluctuation range of the target torque;

[0157] S103, if the real-time speed of the motor does not reach the target speed, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed;

[0158] S104, monitoring the real-time current of the motor and calculating the electromagnetic torque according to the real-time current of the motor;

[0159] S105, determining whether the electromagnetic torque is within the fluctuation range of the target torque; if so, determining whether the rate of change of the electromagnetic torque is greater than a preset value; if so, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power;

[0160] S106: If the electromagnetic torque is not within the fluctuation range of the target torque, the real-time current is adjusted according to the change of the real-time current to control the power of the motor and thus limit the power.

[0161] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0162] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0163] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A power control method based on multi-gear adjustment, characterized in that: The power control method based on multi-gear adjustment includes: S101, determining a target speed according to the gear selected by the user and starting the motor according to the target speed; S102, determining whether the motor startup time reaches a preset time; if so, determining whether the real-time speed of the motor reaches a target speed; if so, obtaining a target torque and determining a fluctuation range of the target torque; S103, if the real-time speed of the motor does not reach the target speed, adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed; S104, monitoring the real-time current of the motor and calculating the electromagnetic torque according to the real-time current of the motor; S105, determining whether the electromagnetic torque is within the fluctuation range of the target torque; if so, determining whether the rate of change of the electromagnetic torque is greater than a preset value; if so, adjusting the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power; S106 , if the electromagnetic torque is not within the fluctuation range of the target torque, adjusting the real-time current according to the change of the real-time current to control the power of the motor and thereby limit the power; The step of adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed includes: Get the real-time speed and power of the motor; Depend on Obtaining a first adjustment value a; Depend on Adjusting the target speed to obtain an adjusted target speed; Control the real-time speed of the motor to approach the adjusted target speed; Determine whether the real-time speed of the motor reaches the adjusted target speed, and if so, determine the fluctuation range of the target torque according to the adjusted target speed; Where k1 is the speed coefficient, k2 is the power coefficient, N1 is the target speed, n is the real-time speed, P is the rated power corresponding to the gear selected by the user, and p is the real-time power of the motor; Determining the fluctuation range of the target torque according to the adjusted target speed includes: Depend on Get the target torque; determining a fluctuation range of the target torque according to the target torque; Where p is the real-time power of the motor, and N2 is the adjusted target speed; The adjusting of the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power includes: Depend on Get the added value D1; Depend on Get the reduction value D2; Depend on Get the torque adjustment ratio b; Depend on obtaining a first target current; Adjusting the real-time current according to the first target current to control the power of the motor to avoid a sharp increase in power; Among them, T max is the upper limit of the fluctuation range of the target torque, T e is the electromagnetic torque, T is the target torque, K t is the torque constant of the motor.

2. The power control method based on multi-gear adjustment according to claim 1, characterized in that: The method of calculating the electromagnetic torque according to the real-time current of the motor includes: Depend on Get the electromagnetic torque; Among them, K t is the torque constant of the motor, I a is the real-time current of the motor.

3. The power control method based on multi-gear adjustment according to claim 1, characterized in that: The determination of whether the rate of change of the electromagnetic torque is greater than a preset value includes: Obtaining several electromagnetic torques; Determine whether the electromagnetic torque obtained is greater than the target torque. If so, determine whether the electromagnetic torque obtained is gradually increasing. If so, Get the rate of change of electromagnetic torque; If the obtained electromagnetic torque does not gradually increase, the rate of change of the electromagnetic torque is set to 0; If the obtained electromagnetic torque is not greater than the target torque, the change rate of the electromagnetic torque is set to 0; Where m is the number of electromagnetic torques obtained, i is the serial number of the electromagnetic torques obtained, i starts counting from 2, T ei is the i-th electromagnetic torque, t i is the time when the real-time current corresponding to the i-th electromagnetic torque is monitored.

4. The power control method based on multi-gear adjustment according to claim 1, characterized in that: The adjusting the real-time current according to the change of the real-time current to control the power of the motor and thus limit the power includes: S701, by Get the current I1 to be changed; S702, obtaining the electromagnetic torque before the current electromagnetic torque, and recording it as the torque to be determined; S703, determine whether the torque to be determined is greater than the target torque. If not, record the time point t corresponding to the torque to be determined. x And the corresponding real-time current I2; S704: If the torque to be determined is greater than the target torque, the previous electromagnetic torque of the torque to be determined is updated as the torque to be determined, and S703 is executed; S705, according to time point t x The real-time current is then fitted using a nonlinear fitting method to obtain a fitting curve to obtain the change of the real-time current; S706, estimate the maximum value of the real-time current I according to the fitting curve max ; S707, determine the maximum value of the real-time current I max Is it greater than the current to be changed I1? If so, Get the second target current; if not, obtaining a second target current; S708, determine whether the second target current is greater than the preset current, if so, according to adjusting the second target current; S709, adjusting the real-time current according to the second target current to control the power of the motor and thereby limit the power; Among them, T is the target torque, N1 is the target speed, K t is the torque constant of the motor, n is the real-time speed, I x is the second target current, and I0 is the preset current.

5. The power control method based on multi-gear adjustment according to claim 1, characterized in that: The power control method based on multi-gear adjustment further includes: Determine whether the real-time current is adjusted. If so, record the real-time speed of the motor as the adjusted speed, and determine the oscillation range of the adjusted speed. At every preset time, determine whether the real-time speed of the motor is within the oscillation range of the adjusted speed; if not, determine whether the real-time speed of the motor is greater than the adjusted speed; If the real-time speed of the motor is greater than the adjusted speed, execute S101-S106; If the real-time speed of the motor is less than the adjusted speed, the adjusted torque is determined according to the adjusted speed, and the adjusted torque is determined as the target torque, and steps S104 to S106 are executed.

6. A power control device based on multi-gear adjustment, characterized in that: The power control device based on multi-gear adjustment includes: A target speed determination module is used to determine the target speed according to the gear selected by the user and start the motor according to the target speed; The target torque calculation module is used to determine whether the motor startup time reaches the preset time. If so, it determines whether the real-time speed of the motor reaches the target speed. If so, it obtains the target torque and determines the fluctuation range of the target torque. A target speed adjustment module is used to adjust the target speed if the real-time speed of the motor does not reach the target speed and determine the fluctuation range of the target torque based on the adjusted target speed; The electromagnetic torque calculation module is used to monitor the real-time current of the motor and calculate the electromagnetic torque based on the real-time current of the motor; a first power control module, configured to determine whether the electromagnetic torque is within the fluctuation range of the target torque; if so, to determine whether the rate of change of the electromagnetic torque is greater than a preset value; and if so, to adjust the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power; A second power control module is configured to adjust the real-time current according to the change of the real-time current to control the power of the motor and thus limit the power if the electromagnetic torque is not within the fluctuation range of the target torque; The step of adjusting the target speed and determining the fluctuation range of the target torque according to the adjusted target speed includes: Get the real-time speed and power of the motor; Depend on Obtaining a first adjustment value a; Depend on Adjusting the target speed to obtain an adjusted target speed; Control the real-time speed of the motor to approach the adjusted target speed; Determine whether the real-time speed of the motor reaches the adjusted target speed, and if so, determine the fluctuation range of the target torque according to the adjusted target speed; Where k1 is the speed coefficient, k2 is the power coefficient, N1 is the target speed, n is the real-time speed, P is the rated power corresponding to the gear selected by the user, and p is the real-time power of the motor; Determining the fluctuation range of the target torque according to the adjusted target speed includes: Depend on Get the target torque; determining a fluctuation range of the target torque according to the target torque; Where p is the real-time power of the motor, and N2 is the adjusted target speed; The adjusting of the real-time current according to the target torque to control the power of the motor to avoid a sharp increase in power includes: Depend on Get the added value D1; Depend on Get the reduction value D2; Depend on Get the torque adjustment ratio b; Depend on obtaining a first target current; Adjusting the real-time current according to the first target current to control the power of the motor to avoid a sharp increase in power; Among them, T max is the upper limit of the fluctuation range of the target torque, T e is the electromagnetic torque, T is the target torque, K t is the torque constant of the motor.

7. An electric device, characterized in that: The electric device includes a power module, a function module, a motor module and a control module; The power supply module is electrically connected to the motor module and the control module, and is used to provide power to the motor module and the control module; The functional module is used to execute actions to complete the functions of the electric device; The motor module is electrically connected to the control module, and the rotating shaft of the motor module is connected to the functional module, so as to drive the functional module to move so as to perform the function of the electric device; The control module is used to execute the steps of the power control method based on multi-gear adjustment as described in any one of claims 1 to 5.

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