Control method and control device of clothes treatment equipment and clothes treatment equipment

Abstract

The invention relates to a control method and device of clothes processing equipment and the clothes processing equipment. The control method of the clothes processing equipment comprises the steps that current values of preset operation parameters are obtained, and the preset operation parameters comprise motor phase current, direct-current bus side voltage, motor power and / or motor load weight; and according to the current value of the preset operation parameter, the parameter value of the preset control parameter is updated so as to update the variable frequency motor controller, and the preset control parameter comprises a proportionality coefficient of a speed loop, an integral coefficient of the speed loop, a proportionality coefficient of a current loop and / or an integral coefficient of the current loop. According to the embodiment of the invention, the operation efficiency of the motor can be improved, the motor always operates efficiently, and the energy efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of clothes treatment, and in particular to a control method and control device of a clothes treatment apparatus and the clothes treatment apparatus. BACKGROUND

[0002] At present, with the development of frequency conversion technology, frequency conversion clothes treatment apparatuses are increasingly favored by users. The core of the frequency conversion clothes treatment apparatus is a frequency conversion motor controller, which can control and adjust the operation of the motor to enable the motor to operate efficiently. Existing frequency conversion clothes treatment apparatus manufacturers install the motor and the frequency conversion motor controller, perform experimental verification according to the frequency conversion requirements, obtain motor control parameter values that enable the motor to operate efficiently, and take the values as factory values. However, in the daily use of the clothes treatment apparatus by users, system deviations may be caused due to factors such as the degree of running-in of the whole machine and the migration of device characteristics, and the motor control parameter values at the factory may not be able to ensure efficient operation of the motor, resulting in a decrease in energy efficiency. SUMMARY

[0003] To solve the above technical problems, the present disclosure provides a control method and control device of a clothes treatment apparatus and the clothes treatment apparatus.

[0004] In a first aspect, the present disclosure provides a control method of a clothes treatment apparatus, the clothes treatment apparatus comprising a frequency conversion motor controller and a motor, the frequency conversion motor controller comprising a speed loop and a current loop, the method comprising:

[0005] obtaining a current value of a preset operating parameter, wherein the preset operating parameter comprises a motor phase current, a DC bus side voltage, a motor power and / or a motor load weight;

[0006] updating a parameter value of a preset control parameter according to the current value of the preset operating parameter to update the frequency conversion motor controller, wherein the preset control parameter comprises a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop.

[0007] Optionally, updating the parameter value of the preset control parameter according to the current value of the preset operating parameter comprises:

[0008] sending the current value of the preset operating parameter to a cloud platform, so that the cloud platform determines a target value of the preset control parameter according to the current value of the preset operating parameter;

[0009] updating the current value of the preset control parameter to the target value.

[0010] Optionally, the target value of the preset control parameter is generated by a first neural network model trained in advance according to the current value of the preset operating parameter.

[0011] Optionally, updating the parameter value of the preset control parameter according to the current value of the preset operating parameter comprises:

[0012] querying the preset association relationship to determine a target value of the preset control parameter that matches the current value of the preset operating parameter;

[0013] updating the current value of the preset control parameter to the target value.

[0014] Optionally, the method further comprises:

[0015] obtaining a current value of an alternating current input side electrical parameter, a current value of a direct current bus side voltage, and a current value of a motor phase current;

[0016] controlling the motor to operate by using the updated variable frequency motor controller according to the current value of the alternating current input side electrical parameter, the current value of the direct current bus side voltage, and the current value of the motor phase current.

[0017] Optionally, the variable frequency motor controller comprises a trained second neural network model and a drive signal generation module, and the drive signal generation module comprises a speed loop and a current loop;

[0018] controlling the motor to operate by using the updated variable frequency motor controller according to the current value of the alternating current input side electrical parameter, the current value of the direct current bus side voltage, and the current value of the motor phase current, comprises:

[0019] inputting the current value of the alternating current input side electrical parameter, the current value of the direct current bus side voltage, and the current value of the motor phase current into the second neural network model, and obtaining a current value of an actual field current, a current value of an actual quadrature axis current, a current value of a given field current, a current value of an actual speed, and a current value of a rotor position output by the second neural network model;

[0020] generating a current drive signal by using the updated drive signal generation module according to the current value of the actual field current, the current value of the actual quadrature axis current, the current value of the given field current, the current value of the actual speed, and the current value of the rotor position, and controlling the motor to operate.

[0021] Optionally, the method further comprises:

[0022] updating the second neural network model.

[0023] Optionally, updating the second neural network model comprises:

[0024] obtaining a current version number of the second neural network model;

[0025] sending the current version number to a cloud platform, so that the cloud platform feeds back update data corresponding to a latest version number when the current version number is not the latest version number;

[0026] The second neural network model is updated according to the update data.

[0027] Optionally, the current version number of the second neural network model is acquired, including:

[0028] The current version number of the second neural network model is acquired in response to receiving the update notification sent by the cloud platform.

[0029] In a second aspect, the embodiments of the present disclosure further provide a control device of a clothes processing apparatus, the clothes processing apparatus comprising a variable frequency motor controller and a motor, the variable frequency motor controller comprising a speed loop and a current loop, the device comprising:

[0030] The first acquisition module is configured to acquire a current value of a preset operating parameter, wherein the preset operating parameter comprises a motor phase current, a DC bus side voltage, a motor power and / or a motor load weight.

[0031] The first update module is configured to update a parameter value of a preset control parameter according to the current value of the preset operating parameter, so as to update the variable frequency motor controller, wherein the preset control parameter comprises a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop.

[0032] In a third aspect, the embodiments of the present disclosure further provide a clothes processing apparatus, comprising:

[0033] The motor and the variable frequency motor controller;

[0034] The processor updates the parameter value of the preset control parameter according to the current value of the preset operating parameter, so as to update the variable frequency motor controller, wherein the preset control parameter comprises a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop.

[0035] Compared with the prior art, the technical solutions provided by the present disclosure have the following advantages:

[0036] The disclosure provides a control method of a clothes processing device, the clothes processing device comprising a variable frequency motor controller and a motor, the variable frequency motor controller comprising a speed loop and a current loop, the method comprising: obtaining a current value of a preset operating parameter, wherein the preset operating parameter comprises a motor phase current, a DC bus side voltage, a motor power and / or a motor load weight; updating a parameter value of a preset control parameter according to the current value of the preset operating parameter to update the variable frequency motor controller, wherein the preset control parameter comprises a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop. It can be seen that according to the technical scheme of the disclosure, the parameter value of the preset control parameter is not fixed, but can be updated according to the current value of the preset operating parameter, thereby at least partially eliminating system deviation caused by factors such as the degree of machine running-in and the migration of device characteristics, improving the operating efficiency of the motor, and being conducive to the efficient operation of the motor, thereby improving energy efficiency. Moreover, since the motor phase current, the DC bus side voltage, the motor power and / or the motor load weight have a relatively high correlation with the system deviation, updating the parameter value of the preset control parameter according to the same can better weaken or even eliminate the system deviation, thereby better improving the operating efficiency of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the disclosure.

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, brief introductions will be given to the drawings needed to be used in the embodiments or prior art descriptions. Obviously, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

[0039] Figure 1 A flowchart of a control method of a clothes processing device according to an embodiment of the present disclosure is shown in the figure;

[0040] Figure 2 A specific flowchart of a variable frequency controller according to an embodiment of the present disclosure is shown in the figure;

[0041] Figure 3 A flowchart of a control method of a clothes processing device according to an embodiment of the present disclosure is shown in the figure;

[0042] Figure 4 A structural diagram of a control device of a clothes processing device according to an embodiment of the present disclosure is shown in the figure;

[0043] Figure 5 A structural diagram of a clothes processing device according to an embodiment of the present disclosure is shown in the figure. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present disclosure, but the present disclosure can also be implemented in other different manners from those described herein; obviously, the embodiments described in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0046] In order to solve the problems described in the background art, the embodiments of the present disclosure provide a control method of a clothes processing apparatus. Figure 1 A flowchart of a control method of a clothes processing apparatus provided by the embodiments of the present disclosure. The control method of the clothes processing apparatus can be applied to an application scenario in which a preset control parameter needs to be updated, and the method can be executed by a control device of a clothes processing apparatus provided by the embodiments of the present disclosure. The control device of the clothes processing apparatus can be implemented in the form of software and / or hardware. As shown in the figure, the method comprises the following steps: Figure 1

[0047] S101, obtaining a current value of a preset operating parameter, wherein the preset operating parameter comprises motor phase current, DC bus side voltage, motor power and / or motor load weight.

[0048] Specifically, the motor phase current can be collected by using a Hall current sensor, a Rogowski ring sensor or an integrated current transformer, and thus the control device can receive the collected motor phase current, but is not limited thereto. If the motor is an N-phase motor (N is a positive integer), the collected motor phase current can include N-phase phase currents, or can include N-1-phase phase currents, and the phase current of the last phase is calculated based on the N-1-phase phase currents, which is not limited by the present disclosure.

[0049] Specifically, the DC bus side voltage can be collected by using a high-precision voltage sensor or by directly connecting a voltage dividing resistor in parallel to the DC bus, and thus the control device can receive the collected DC bus side voltage, but is not limited thereto.

[0050] Specifically, the motor power can be calculated according to the motor phase current, the motor phase voltage, the power factor and the number of phases of the motor, but is not limited thereto. It should be noted that the motor power can be calculated by the control device, or can be calculated by other devices and sent to the control device, which is not limited by the present disclosure.

[0051] ​Specifically, the motor load weight can be collected using pressure sensors, load sensors, or weighing sensors, so that the control device can receive the collected motor load weight, but it is not limited to these.

[0052] Understandably, the applicant considered that factors such as the overall machine break-in period and the migration of component characteristics could lead to system deviations. After research, it was found that the motor phase current, DC bus voltage, motor power and / or motor load weight are highly correlated with system deviations. Therefore, by updating the preset control parameters, the applicant can better reduce or even eliminate system deviations, thereby improving the operating efficiency of the motor.

[0053] S102. Update the parameter values ​​of the preset control parameters according to the current values ​​of the preset operating parameters to update the variable frequency motor controller. The preset control parameters include the proportional coefficient of the speed loop, the integral coefficient of the speed loop, the proportional coefficient of the current loop, and / or the integral coefficient of the current loop.

[0054] In this embodiment of the present disclosure, the control device can update the variable frequency motor controller according to the current value of the preset operating parameters, so as to control the motor operation using the updated variable frequency motor controller.

[0055] In this embodiment, the garment processing equipment includes a variable frequency motor controller and a motor. The variable frequency motor controller includes a speed loop and a current loop. Considering that the proportional coefficient of the speed loop, the integral coefficient of the speed loop, the proportional coefficient of the current loop, and the integral coefficient of the current loop directly affect the efficiency of the motor operation, preset control parameters including one of the aforementioned parameters can be set. For example, as shown... Figure 2 As shown, the variable frequency motor controller includes a speed loop 121 and a current loop 122. The speed loop 121 can adjust the speed according to a given rotational speed ω. t * and actual rotational speed ω t Calculate the given quadrature-axis current i q * Given the quadrature-axis current i q * The calculated value is affected by the proportional and integral coefficients of PI in speed loop 121. Current loop 122 can adjust the value based on the given excitation current i. d * Given quadrature-axis current i q * Actual excitation current i d Actual quadrature axis current i q * The excitation control voltage u is calculated from the rotor position θ. d and quadrature axis control voltage u q The excitation control voltage u d and quadrature axis control voltage u qThe calculated value of the current loop is affected by the proportional coefficient and the integral coefficient of the two PIs. Therefore, the preset control parameters can be set to include the proportional coefficient of the PI in the speed loop, the integral coefficient of the PI in the speed loop, the proportional coefficient of the PI in the current loop, and / or the integral coefficient of the PI in the current loop, wherein the proportional coefficient of the PI in the current loop can include a d-axis proportional coefficient and a q-axis proportional coefficient, and the integral coefficient of the PI in the current loop can include a d-axis integral coefficient and a q-axis integral coefficient.

[0056] In some embodiments, updating the parameter value of the preset control parameter according to the current value of the preset operating parameter includes: sending the current value of the preset operating parameter to the cloud platform, so that the cloud platform determines the target value of the preset control parameter according to the current value of the preset operating parameter; and updating the current value of the preset control parameter to the target value.

[0057] In one example, the cloud platform has a pre-trained first neural network model built-in, so that the cloud platform can input the current value of the preset operating parameter into the first neural network model to make the first neural network model output the target value of the preset control parameter, and then the cloud platform feeds back the target value of the preset control parameter to the control device.

[0058] Specifically, the first neural network model is trained by sample data corresponding to a system deviation less than or equal to a first preset threshold, i.e., each sample data includes a preset operating parameter sample value and a preset control parameter sample value, and setting the parameter value of the preset control parameter to the preset control parameter sample value at the preset operating parameter sample value can make the system deviation less than or equal to the first preset threshold, so that the motor operates efficiently. The specific value of the preset threshold can be set by a person skilled in the art according to the actual situation, which is not limited here. For example, the first preset threshold is 0, but it is not limited to this. The system deviation can include motor phase current deviation, DC bus side voltage deviation, motor power deviation, and / or motor load weight deviation, but it is not limited to this.

[0059] Specifically, the control device and the cloud platform can transmit the target value of the preset control parameter through OTA technology, but it is not limited to this.

[0060] Specifically, if the current value of the preset control parameter is inconsistent with the target value, the current value of the preset control parameter is replaced with the target value.

[0061] It can be understood that the first neural network model is used to predict the target value of the preset control parameter, so that a relatively accurate target value of the preset control parameter can be given when facing various current values of the preset operating parameter, thereby weakening the system deviation as much as possible, and further making the motor operate efficiently as much as possible and improving energy efficiency.

[0062] Of course, in another example, the first neural network model pre-trained can be built-in the control device, so that the control device can input the current value of the preset operating parameter into the first neural network model to make the first neural network model output the target value of the preset control parameter.

[0063] In some other embodiments, updating the parameter value of the preset control parameter according to the current value of the preset operating parameter comprises: querying the preset association relationship to determine the target value of the preset control parameter that matches the current value of the preset operating parameter; and updating the current value of the preset control parameter to the target value.

[0064] Specifically, the preset association relationship can be pre-built in the control device, wherein the preset association relationship is a mapping relationship between an example value of the preset operating parameter and an example value of the preset control parameter, that is, the preset association relationship includes pairs of "example value of the preset operating parameter and example value of the preset control parameter", and for each pair of example values, if the parameter value of the preset operating parameter is the example value of the preset operating parameter, the parameter value of the preset control parameter is set to the example value of the preset control parameter, which can make the system deviation less than or equal to the first preset threshold and make the motor run efficiently. In this way, the example value of the preset control parameter that matches the current value of the preset operating parameter (i.e., the target value of the preset control parameter) can be obtained by querying the preset association relationship.

[0065] It can be understood that by querying the preset association relationship to determine the target value of the preset control parameter, the control device can successfully and timely update the parameter value of the preset control parameter in a non-networking state or a poor network state, thereby weakening the deviation as soon as possible and making the motor run efficiently as soon as possible to improve energy efficiency.

[0066] In the embodiments of the present disclosure, the parameter value of the preset control parameter is not fixed but can be updated according to the current value of the preset operating parameter, thereby at least partially eliminating the system deviation caused by factors such as the degree of machine running-in, device characteristic migration, etc., improving the operating efficiency of the motor, and being conducive to the efficient operation of the motor, thereby improving energy efficiency. Moreover, since the motor phase current, the DC bus side voltage, the motor power and / or the motor load weight have a relatively high correlation with the system deviation, updating the parameter value of the preset control parameter according to the motor phase current, the DC bus side voltage, the motor power and / or the motor load weight can better weaken or even eliminate the system deviation, thereby better improving the operating efficiency of the motor.

[0067] Figure 3 Another flowchart of a control method of a laundry treating apparatus is provided in the embodiments of the present disclosure. The embodiments of the present disclosure are optimized on the basis of the above-mentioned embodiments, and the embodiments of the present disclosure can also be combined with each optional scheme in one or more of the above-mentioned embodiments.

[0068] As Figure 3As shown, the control method of the clothes processing device can include the following steps.

[0069] S301, obtain a current value of a preset operating parameter, wherein the preset operating parameter includes a motor phase current, a DC bus side voltage, a motor power, and / or a motor load weight.

[0070] Specifically, S301 is similar to S101, and details are not repeated here.

[0071] S302, update a parameter value of a preset control parameter according to the current value of the preset operating parameter to update a variable frequency motor controller, wherein the preset control parameter includes a proportional coefficient of a speed loop, an integral coefficient of the speed loop, a proportional coefficient of a current loop, and / or an integral coefficient of the current loop.

[0072] Specifically, S302 is similar to S102, and details are not repeated here.

[0073] S303, obtain a current value of an AC input side electrical parameter, a current value of the DC bus side voltage, and a current value of the motor phase current.

[0074] Specifically, the AC input side electrical parameter includes an AC input side voltage and / or an AC input side current.

[0075] Specifically, a voltage transformer, a resistance voltage divider, etc. can be used to collect the DC bus side voltage, so that the control device can receive the collected AC input side voltage, but is not limited thereto.

[0076] Specifically, a current transformer, a Hall effect sensor, a Rogowski sensor, etc. can be used to collect the DC bus side current, so that the control device can receive the collected AC input side current, but is not limited thereto.

[0077] Specifically, for specific acquisition methods of the current value of the DC bus side voltage and the current value of the motor phase current, refer to the foregoing, and details are not repeated here.

[0078] S304, using the updated variable frequency motor controller, controlling the motor to operate according to the current value of the AC input side electrical parameter, the current value of the DC bus side voltage, and the current value of the motor phase current.

[0079] In some embodiments, the variable frequency motor controller includes a trained second neural network model and a drive signal generation module, and the drive signal generation module includes a speed loop and a current loop.

[0080] The S304 comprises: inputting the current value of the alternating input side electrical parameter, the current value of the DC bus side voltage and the current value of the motor phase current into the second neural network model, and obtaining the current value of the actual field current, the current value of the actual cross-axis current, the current value of the given field current, the current value of the actual speed and the current value of the rotor position output by the second neural network model.

[0081] The updated driving signal generation module generates a current driving signal according to the current value of the actual field current, the current value of the actual cross-axis current, the current value of the given field current, the current value of the actual speed and the current value of the rotor position, and controls the motor to operate.

[0082] Specifically, the second neural network model is pre-trained and built-in in the variable frequency motor controller, wherein the second neural network model is trained by sample data corresponding to "the alternating input side voltage and current being in phase and frequency" and / or "the calculation deviation being less than or equal to the second preset threshold". In other words, each sample data comprises "input sample value: sample value of alternating input side electrical parameter, sample value of DC bus side voltage and sample value of motor phase current" and "output sample value: sample value of actual field current, sample value of actual cross-axis current, sample value of given field current, sample value of actual speed and sample value of rotor position", under the sample data, the actual voltage and the actual current of the alternating input side can be more close to the same frequency and phase (i.e. the frequency difference and the phase difference are within the tolerance range). And the difference between the "calculation true value corresponding to the input sample value" and the "output sample value corresponding to the input sample value" is less than or equal to the second preset threshold. Wherein, the "calculation true value" is the true value of the actual field current, the true value of the actual cross-axis current, the true value of the given field current, the true value of the actual speed and the true value of the rotor position. The specific value of the second preset threshold can be set by the person skilled in the art according to the actual situation, which is not limited here. For example, the second preset threshold is 0.

[0083] For example, continuing to refer to Figure 2 , the variable frequency motor controller comprises a second neural network model 110, the input of the second neural network model 110 is: alternating input side voltage V DC , DC bus side voltage I AC and motor phase current (A-phase current I A and B-phase current), and the output is: actual field current i d , actual cross-axis current i q , given field current i d * , actual speed ω r and rotor position θ.

[0084] Specifically, the drive signal generation module includes a speed loop, a current loop, and a first generation unit. The speed loop determines the current value of the given quadrature-axis current based on the current value of the given motor speed and the current value of the actual motor speed. The current loop determines the current values ​​of the excitation control voltage and the quadrature-axis control voltage based on the current values ​​of the actual excitation current, the given excitation current, the actual quadrature-axis current, and the given quadrature-axis current. The first generation unit generates the drive signal based on the current values ​​of the excitation control voltage, the quadrature-axis control voltage, and the current value of the rotor position.

[0085] For example, see [link to example]. Figure 2 The drive signal generation module 120 includes a speed loop 121, a current loop 122, and a first generation unit 123. The speed loop 121 generates the signal based on a given motor speed ω. r * The current value and the actual motor speed ω r The current value determines the given quadrature axis current i q * The current value, using the current loop, is determined based on the actual excitation current i. q The current value of the given excitation current i d * The current value of the actual quadrature axis current i q The current value of the given quadrature-axis current i q * The current value is used to determine the excitation control voltage U. d The current value and quadrature axis control voltage U q The current value; using the first generation unit 123, based on the excitation control voltage U d The current value of the quadrature axis control voltage U q The quadrature voltage U is obtained from the current value of the rotor position θ. α and U β The current value, and then based on the orthogonal voltage U α and U β Generate drive signals (PWM signals).

[0086] It can be understood that the traditional FOC control method decouples the motor phase current into the cross-axis component and the excitation component through the field-oriented algorithm, so as to realize the decoupling control similar to the DC motor, but this control method is not suitable for the synchronous reluctance motor, because the synchronous reluctance motor has high salient pole effect, the reluctance torque accounts for a large proportion, and the torque fluctuation is violent, which causes the field-oriented algorithm to fail to realize complete decoupling, and further causes the accuracy of the actual cross-axis current and the actual excitation current to be low, and further causes the control accuracy of the motor to be low. However, in the embodiment of the present disclosure, the second neural network model is used to intelligently output the actual cross-axis current and the actual excitation current, without decoupling, so as to avoid the calculation error of the actual cross-axis current and the actual excitation current caused by decoupling, thereby improving the calculation accuracy of the actual cross-axis current and the actual excitation current, and further achieving the purpose of accurately controlling the motor, and the vibration and noise are also greatly improved.

[0087] It can also be understood that controlling the motor according to the output value of the second neural network model can make the actual voltage and the actual current of the alternating current input side more close to the same frequency and the same phase (that is, the frequency difference and the phase difference are within the tolerance range), so that the current of the alternating current input side is more converted into effective power, thereby realizing power correction.

[0088] Optionally, the method further includes updating the second neural network model. In this way, the performance of the second neural network model can be improved, and further the performance of the motor control can be improved.

[0089] In some examples, updating the second neural network model includes: obtaining a current version number of the second neural network model; sending the current version number to a cloud platform, so that the cloud platform feeds back update data corresponding to the latest version number when the current version number is not the latest version number; and updating the second neural network model according to the update data.

[0090] Optionally, obtaining the current version number of the second neural network model includes: in response to receiving an update notification sent by the cloud platform, obtaining the current version number of the second neural network model.

[0091] Specifically, after updating the second neural network model, the cloud platform can send an update notification to the control device, so that the control device can obtain the corresponding update data in time, thereby updating the second neural network model in time.

[0092] Optionally, obtaining the current version number of the second neural network model includes: periodically obtaining the current version number of the second neural network model at a preset interval.

[0093] Optionally, obtaining the current version number of the second neural network model includes: obtaining the current version number of the second neural network model when the computing resource occupancy rate is less than or equal to a third preset threshold.

[0094] Specifically, the control device and the cloud platform can transmit the update data through an OTA technology, but are not limited thereto.

[0095] It can be understood that determining whether the second neural network model needs to be updated through the cloud platform can reduce the occupation of the computing resources of the control device, thereby saving the computing resources for motor control.

[0096] In some other embodiments, updating the second neural network model comprises: receiving the latest version number corresponding to the latest version of the second neural network and the update data sent by the cloud platform; and updating the second neural network model according to the update data when the current version number is not the latest version number.

[0097] Specifically, after updating the second neural network model, the cloud platform can send the latest version number corresponding to the latest version of the second neural network and the update data to the control device, so that the control device can timely obtain the update data, thereby updating the second neural network model in time when the current version is not the latest version.

[0098] In some other embodiments, the variable-frequency motor controller comprises a first computing module, a second computing module, and a drive signal generation module, and the drive signal generation module comprises a speed loop, a current loop, and a second generation unit.

[0099] In some embodiments, S304 comprises: determining, by the first computing module, the actual quadrature-axis current and the actual field current according to the motor phase current; determining, by the speed loop, the average quadrature-axis current according to the given motor speed and the actual motor speed (calculated from the AC input side electrical parameters) calculated in advance; determining, by the second computing module, the given field current through sinusoidal given mode according to the AC voltage phase angle, and determining the given quadrature-axis current through sinusoidal square given mode according to the AC voltage phase angle and the average quadrature-axis current; determining, by the current loop, the field control voltage and the quadrature-axis control voltage according to the actual field current, the given field current, the actual quadrature-axis current, the given quadrature-axis current, and the DC bus side voltage; and the second generation unit is configured to generate the drive signal according to the field control voltage and the quadrature-axis control voltage.

[0100] According to the current value of the AC input side electrical parameters, the current value of the DC bus side voltage, and the current value of the motor phase current, the variable-frequency motor controller can be used to control the motor to run, and more factors are considered when controlling the motor to run than in the related art, which is beneficial to accurately control the motor to run.

[0101] The control device of the laundry treating apparatus is also provided in the embodiments of the present disclosure. Figure 4A structural schematic diagram of a control device of a laundry treating apparatus is provided for embodiments of the present disclosure, the laundry treating apparatus comprising a variable frequency motor controller and a motor, the variable frequency motor controller comprising a speed loop and a current loop, as shown in Figure 4 The control device of the laundry treating apparatus comprises:

[0102] The first obtaining module 410 is configured to obtain a current value of a preset operating parameter, wherein the preset operating parameter comprises a motor phase current, a DC bus side voltage, a motor power and / or a motor load weight.

[0103] The first updating module 420 is configured to update a parameter value of a preset control parameter according to the current value of the preset operating parameter, so as to update the variable frequency motor controller, wherein the preset control parameter comprises a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop.

[0104] The apparatuses provided in the above embodiments of the present disclosure are based on the same inventive concept as the methods provided in the embodiments of the present disclosure, and have the same beneficial effects as the methods, which will not be described herein.

[0105] The embodiments of the present disclosure further provide a computer readable storage medium, which stores programs or instructions, and the programs or instructions cause a computer to execute the steps of any one of the methods provided in the above embodiments.

[0106] In some embodiments, the computer executable instructions, when executed by a computer processor, can further be used to execute the technical solutions of any one of the above methods provided in the embodiments of the present disclosure, to achieve the corresponding beneficial effects.

[0107] From the above description about the embodiments, those skilled in the art can clearly understand that the present disclosure can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better implementation manner. Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a ROM, a RAM, a FLASH, a hard disk or an optical disc, and includes a plurality of instructions used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present disclosure.

[0108] Based on the above embodiments, this disclosure also provides a garment processing device, which includes a motor and a variable frequency motor controller; a processor and a memory, wherein the processor executes the methods of various embodiments of this disclosure by calling programs or instructions stored in the memory.

[0109] It should be noted that the "processor and memory" can be integrated into the variable frequency motor controller or can be independent of the variable frequency motor controller; this disclosure does not limit this.

[0110] Figure 5 This is a schematic diagram of the structure of a garment processing device provided in an embodiment of this disclosure. Figure 5 As shown, the garment processing device includes a processor 501 and a memory 502. The processor 501 executes the steps of the methods described in the above embodiments by calling the programs or instructions stored in the memory 502, thus possessing the beneficial effects of the above embodiments, which will not be repeated here.

[0111] Specifically, such as Figure 5 As shown, a garment handling device may be configured to include at least one processor 501, at least one memory 502, and at least one communication interface 503. The various components of the garment handling device are coupled together via a bus system 504. The communication interface 503 is used for information transmission with external devices. It is understood that the bus system 504 is used to implement communication between these components. In addition to a data bus, the bus system 504 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 4 The general designated all buses as Bus System 504.

[0112] It is understood that the memory 502 in this embodiment may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. In some embodiments, the memory 502 stores elements such as executable units or data structures, or subsets thereof, or extended sets thereof, operating systems, and applications. In embodiments of this disclosure, the processor 501 executes the steps of the various embodiments of the methods provided in this disclosure by invoking programs or instructions stored in the memory 502.

[0113] The method provided by the embodiments of the present disclosure can be applied to the processor 501 or implemented by the processor 501. The processor 501 can be an integrated circuit chip with a signal processing capability. In the implementation process, the steps of the above method can be completed by the integrated logic circuit or the software form of instructions in the processor 501. The processor 501 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0114] The steps of the method provided by the embodiments of the present disclosure can be directly embodied as a hardware coding processor to complete, or a combination of hardware and software units in the coding processor to complete. The software unit can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory, an electrically erasable programmable memory, a register, and other mature storage media in the art. The storage medium is located in the storage 502, and the processor 501 reads the information in the storage 502, and combines the hardware to complete the steps of the method.

[0115] The laundry processing apparatus can further include one physical component or a plurality of physical components to generate an instruction according to the processor 501 in executing the method provided by the embodiments of the present disclosure. Different physical components can be arranged in the laundry processing apparatus or outside the laundry processing apparatus, such as a cloud platform server. Each physical component cooperates with the processor 501 and the storage 502 to realize the function of the laundry processing apparatus in the embodiments.

[0116] It should be noted that, in this document, the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another same element in the process, method, article or equipment including the element.

[0117] The foregoing is merely illustrative of the various implementations of the present disclosure and the general principles thereof. Numerous modifications can be made to these illustrations, and equivalents can be substituted therefor, without departing from the scope of the present disclosure. The specific embodiments commensurate with the specific application are intended to be illustrative only and not limiting of the scope of the application as set forth in the following claims.

Claims

1.A control method of a laundry treating apparatus, characterized by, The clothes processing device includes a variable frequency motor controller and a motor, the variable frequency motor controller includes a speed loop and a current loop, and the method includes: obtaining a current value of a preset operating parameter, wherein the preset operating parameter includes motor phase current, DC bus side voltage, motor power and / or motor load weight; updating a parameter value of a preset control parameter according to the current value of the preset operating parameter to update the variable frequency motor controller, wherein the preset control parameter includes a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop and / or an integral coefficient of the current loop. 2.The control method of a laundry treating apparatus according to claim 1, characterized in that, The updating of the parameter value of the preset control parameter according to the current value of the preset operating parameter includes: sending the current value of the preset operating parameter to a cloud platform to enable the cloud platform to determine a target value of the preset control parameter according to the current value of the preset operating parameter; updating the current value of the preset control parameter to the target value. 3.The control method of a laundry treating apparatus according to claim 2, characterized in that, The target value of the preset control parameter is generated by a pre-trained first neural network model according to the current value of the preset operating parameter. 4.The control method of a laundry treating apparatus according to claim 1, characterized in that, The updating of the parameter value of the preset control parameter according to the current value of the preset operating parameter includes: querying a preset association relationship to determine a target value of the preset control parameter that matches the current value of the preset operating parameter; updating the current value of the preset control parameter to the target value. 5.The control method of a laundry treating apparatus according to claim 1, characterized in that, The method further includes: obtaining a current value of an AC input side electrical parameter, a current value of a DC bus side voltage and a current value of a motor phase current; controlling the motor to operate by using the updated variable frequency motor controller according to the current value of the AC input side electrical parameter, the current value of the DC bus side voltage and the current value of the motor phase current. 6.The control method of a laundry treating apparatus according to claim 5, characterized in that, The variable frequency motor controller includes a trained second neural network model and a drive signal generation module, and the drive signal generation module includes the speed loop and the current loop; The controlling of the motor to operate by using the updated variable frequency motor controller according to the current value of the AC input side electrical parameter, the current value of the DC bus side voltage and the current value of the motor phase current includes: inputting the current value of the AC input side electrical parameter, the current value of the DC bus side voltage and the current value of the motor phase current into the second neural network model and obtaining a current value of an actual field current, a current value of an actual quadrature axis current, a current value of a given field current, a current value of an actual speed and a current value of a rotor position output by the second neural network model; generating a current drive signal by using the updated drive signal generation module according to the current value of the actual field current, the current value of the actual quadrature axis current, the current value of the given field current, the current value of the actual speed and the current value of the rotor position to control the motor to operate. 7.The control method of a laundry treating apparatus according to claim 6, characterized in that, The method further includes: updating the second neural network model. 8.The control method of a laundry treating apparatus according to claim 7, characterized in that, The updating of the second neural network model includes: obtaining a current version number of the second neural network model; The current version number is sent to a cloud platform, so that the cloud platform feeds back update data corresponding to the latest version number when the current version number is not the latest version number; The second neural network model is updated according to the update data. 9.The control method of a laundry treating apparatus according to claim 8, characterized in that, The current version number of the second neural network model is obtained, including: In response to receiving the update notification sent by the cloud platform, the current version number of the second neural network model is obtained. 10.A control apparatus of a laundry treating apparatus, characterized by, The clothes processing device includes a variable frequency motor controller and a motor, the variable frequency motor controller includes a speed loop and a current loop, and the device includes: A first acquisition module is configured to acquire a current value of a preset operating parameter, wherein the preset operating parameter includes a motor phase current, a DC bus side voltage, a motor power, and / or a motor load weight. A first update module is configured to update a parameter value of a preset control parameter according to the current value of the preset operating parameter, so as to update the variable frequency motor controller, wherein the preset control parameter includes a proportional coefficient of the speed loop, an integral coefficient of the speed loop, a proportional coefficient of the current loop, and / or an integral coefficient of the current loop. 11.A laundry treating apparatus, characterized by, It includes: A motor and a variable frequency motor controller; A processor and a memory, the processor executes the steps of the method according to any one of claims 1 to 8 by calling the program or instruction stored in the memory.

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