Household appliance and control method thereof

Abstract

The invention discloses a household appliance and a control method thereof. The household appliance comprises a shell; the motor is arranged in the shell and is used for operating according to the alternating current input voltage; the controller is configured to detect motor parameters of the motor in real time when the motor runs; decoupling control is carried out based on the motor parameters, the d-axis voltage after motor decoupling and the q-axis voltage after motor decoupling are obtained, and therefore complete decoupling is achieved, the dynamic response speed and stability of the motor are improved, and the overall performance of the electric equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of home appliance technology, and in particular to a home appliance and its control method. Background Technology

[0002] In existing technologies, feedforward decoupling control methods in motor control systems typically rely on motor parameters for design. However, in practical applications, these motor parameters are not constant; they change significantly with time, temperature, and different motor operating conditions. Current feedforward decoupling methods struggle to adapt to these real-time changes in motor parameters, resulting in incomplete decoupling, inaccurate decoupling results, and consequently affecting the system's dynamic response speed and stability. Summary of the Invention

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

[0004] The present invention proposes a household appliance comprising: a housing; a motor disposed within the housing for operation based on an AC input voltage; and a controller configured to: detect motor parameters in real time when the motor is operating; and perform decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor.

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

[0006] Furthermore, the motor parameters include the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

[0007] Furthermore, when performing decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor, the controller is configured to execute the following algorithm:

[0008]

[0009] Where Vd** is the decoupled d-axis voltage, Vq** is the decoupled q-axis voltage, and e d Let k be the current error along the d-axis of the motor. p k is the proportional gain of the PID (Proportional-Integral-Derivative) controller in the current loop of the motor drive system. i Let s be the integral gain of the PID controller in the current loop of the motor drive system, s be the differential operator, and K be the integral gain of the PID controller in the current loop of the motor drive system. i-decTo decouple the integral gain in the control process, e q Lq represents the q-axis current error of the motor. iden Let ω be the q-axis inductance. e R is the angular velocity of the motor. iden Ld is the resistance value of the motor winding. iden The d-axis inductance, The rotor flux linkage parameter of the motor is given.

[0010] Furthermore, when detecting the resistance value of the motor winding in real time, the controller is configured to: determine the resistance value of the motor winding based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the current feedback value of the q-axis of the motor; or, determine the resistance value of the motor winding based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the current command value of the q-axis of the motor.

[0011] Furthermore, when detecting the q-axis inductance in real time, the controller is configured to execute the following algorithm:

[0012]

[0013] Among them, Lq iden Let R be the q-axis inductance, Ts be the sampling period, iq(k) be the q-axis current feedback value corresponding to the current sampling point, iq(k-1) be the q-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the q-axis. iden The resistance value of the motor winding is... This represents the decoupled q-axis voltage corresponding to the current sampling point.

[0014] Furthermore, when detecting the d-axis inductance in real time, the controller is configured to execute the following algorithm:

[0015]

[0016] Among them, Ld iden Let Ts be the sampling period, id(k) be the d-axis inductance, id(k-1) be the d-axis current feedback value corresponding to the current sampling point, id(k-1) be the d-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R iden The resistance value of the motor winding is... This represents the decoupled d-axis voltage corresponding to the current sampling point.

[0017] Furthermore, when detecting the motor rotor flux linkage parameters in real time, the controller is configured to execute the following algorithm:

[0018]

[0019] in, Here, id* represents the rotor flux linkage parameter of the motor, id* represents the current command value for the d-axis, and id represents the current feedback value for the d-axis. The integral coefficient is... The initial values ​​are the rotor flux linkage parameters of the motor.

[0020] Furthermore, after real-time detection of the motor parameters, the controller is also configured to update the proportional gain of the PID controller in the current loop of the motor drive system based on the q-axis inductance or the d-axis inductance.

[0021] Furthermore, after real-time detection of the motor parameters, the controller is also configured to update the d-axis current feedback value based on the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

[0022] Furthermore, after real-time detection of the motor parameters, the controller is also configured to estimate the angle of the motor based on the resistance of the motor windings, the q-axis inductance and the d-axis inductance, the decoupled d-axis voltage, and the decoupled q-axis voltage.

[0023] Furthermore, the controller is also configured to: determine the d-axis current error of the motor based on the difference between the commanded current value of the d-axis and the current feedback value of the d-axis; and determine the q-axis current error of the motor based on the difference between the commanded current value of the q-axis and the current feedback value of the q-axis.

[0024] According to an embodiment of the present invention, a motor is housed within a casing, through which an AC input voltage can be transmitted. The motor operates based on the received AC input voltage, and the casing further protects the motor. During motor operation, a controller monitors the motor parameters in real time. Even if the motor parameters change due to temperature or current, the controller can adapt to these changes and then perform decoupled control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage. These decoupled d-axis and q-axis voltages are updated in real time along with the motor parameters, achieving complete decoupling, improving the motor's dynamic response speed and stability, and ultimately enhancing the overall performance and user experience of the electrical equipment.

[0025] To address the aforementioned problems, this invention also proposes a control method for a home appliance, used in any of the above embodiments. The control method includes: real-time detection of motor parameters when the motor is running; and decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor.

[0026] According to the control method of home appliances of the present invention, when the motor is running, the motor parameters of the motor can be detected in real time. Even if the motor parameters change due to temperature or current, the method can adapt to the changes in motor parameters. Then, decoupling control is performed based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor. The decoupled d-axis voltage and decoupled q-axis voltage can also be updated with the real-time update of the motor parameters, thereby achieving complete decoupling, improving the dynamic response speed and stability of the motor, and thus improving the overall performance of the electrical equipment and the user experience.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0029] Figure 1 This is a schematic diagram of the structure of a household appliance according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the controller according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram illustrating the calculation process of motor rotor flux linkage parameters according to another embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of an air conditioner according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of an air conditioner refrigeration system according to an embodiment of the present invention;

[0034] Figure 6 This is a flowchart of a control method for electrical equipment according to an embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] The following is for reference. Figures 1-6 This invention describes a household appliance and its control method according to embodiments of the present invention.

[0040] Figure 1 This is a schematic diagram of the structure of a household appliance according to an embodiment of the present invention. Figure 1 As shown, a household appliance 10 includes: a housing 11, a motor 12, and a controller 71. The motor 12 is disposed inside the housing 11 and is used to operate according to the AC input voltage. The controller 71 is configured to: detect the motor parameters of the motor 12 in real time when the motor 12 is running; and perform decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor.

[0041] Specifically, the motor 12 is housed within the housing 11, allowing it to operate by receiving external AC input voltage through the housing 11. During the operation of the motor 12, the controller 71 can monitor the motor parameters of the motor 12 in real time, including the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the rotor flux linkage parameters. These motor parameters reflect the current electromagnetic state and operating characteristics of the motor 12, such as the current response speed and stability. Based on the acquired motor parameters, the controller 71 can perform decoupling control. This decoupling control decomposes the complex electromagnetic relationships within the motor 12 into the d-axis (direct axis) and the q-axis (quadrature axis), and then controls the d-axis and q-axis separately. The controller 71 can calculate the decoupling voltage of the motor 12's d-axis and q-axis, thereby achieving precise control of the motor 12, improving its dynamic response speed and stability, and simultaneously enhancing the overall performance and user experience of the electrical equipment 10.

[0042] In a specific embodiment, controller 71 refers to a device that can generate operation control signals based on instruction opcodes and timing signals to instruct electrical equipment 10 to execute control commands. For example, in response to a power-on or power-off command received from a user, controller 71 can perform an operation related to the object selected by the power-on or power-off command.

[0043] This invention also provides a hardware structure diagram of the controller 71, as shown in the embodiment. Figure 2 As shown, the controller 71 includes a processor 83, and optionally, a memory 82 and a communication interface 84 connected to the processor 83. The processor 83, memory 82, and communication interface 84 are connected via a bus 81.

[0044] Processor 83 can be a central processing unit (CPU), a general-purpose processor (NP), a network processor (NP), a digital signal processor (DSP), a microprocessor (Microcontroller 718), a programmable logic device (PLD), or any combination thereof. Processor 83 can also be any other device with processing capabilities, such as a circuit, device, or software module. Processor 83 can also include multiple CPUs, and processor 83 can be a single-core processor 83 or a multi-core processor 83. Here, processor 83 can refer to one or more devices, circuits, or processing cores used for processing data (e.g., computer program instructions).

[0045] The memory 82 can be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer. This embodiment of the invention does not impose any limitations on this. The memory 82 can exist independently or be integrated with the processor 83. The memory 82 may contain computer program code. The processor 83 is used to execute the computer program code stored in the memory 82, thereby implementing the control method for the electrical equipment provided in this embodiment of the invention.

[0046] The communication interface 84 can be used to communicate with other devices or communication networks (such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.). The communication interface 84 can be a module, circuit, transceiver, or any device capable of communication.

[0047] Bus 81 can be a Peripheral Component Interconnect (PCI) bus 81 or an Extended Industry Standard Architecture (EISA) bus 81, etc. Bus 81 can be divided into address bus 81, data bus 81, control bus 81, etc. For ease of representation, Figure 2 The bus is represented by only one thick line, but this does not mean that there is only one bus 81 or one type of bus 81.

[0048] In one embodiment of the present invention, the motor parameters include the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

[0049] Specifically, the resistance of the motor windings can reflect the energy consumption and heat generation of the motor 12. Meanwhile, the q-axis inductance and d-axis inductance reflect the electromagnetic induction capability of the motor 12 in the q-axis and d-axis directions, respectively. In addition, the rotor flux linkage parameters reflect the relationship between the internal magnetic field distribution and the dynamic behavior of the rotor.

[0050] Since the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters change with temperature, the controller 71 can effectively control the current by acquiring the motor parameters in real time and identifying the latest status of the motor parameters online, thereby improving the dynamic response speed and stability of the motor 12.

[0051] In one embodiment of the present invention, when decoupling control is performed based on motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of motor 12, controller 71 is configured to execute the following algorithm:

[0052]

[0053] Where Vd** is the decoupled d-axis voltage, Vq** is the decoupled q-axis voltage, and e d k represents the current error of the d-axis of motor 12. p k is the proportional gain of the PID controller in the current loop of the motor drive system. i Let s be the integral gain of the PID controller in the current loop of the motor drive system, s be the differential operator, and K be the integral gain of the PID controller in the current loop of the motor drive system. i-dec To decouple the integral gain in the control process, e q Lq represents the current error of the q-axis of motor 12. iden For q-axis inductance, ω e R is the angular velocity of the motor. iden Ld is the resistance value of the motor winding. iden For d-axis inductance, These are the rotor flux linkage parameters of the motor.

[0054] Among them, the integral gain K in the decoupling control process i-dec The preset range is, for example, 0.5 to 1.5 times the bandwidth of the current loop PI controller, and the integral gain K in the decoupling control process is adjusted in real time. i-dec The performance of the electrical equipment 10 can be optimized according to different load conditions, ensuring that the motor 12 can maintain efficient operation under various working conditions.

[0055] In this embodiment, when calculating the decoupled d-axis voltage Vd**, the d-axis current error e of motor 12 is first obtained. d The current error e of the q-axis of motor 12 q And integrate the proportional gain k of the PID controller in the current loop of the motor control system.p And the integral gain k of the PID controller in the current loop of the motor drive system. i To quickly eliminate errors, and at the same time, introduce the integral gain K in the decoupling control process. i-dec This is to further improve the steady-state performance of the electrical equipment 10. Furthermore, the algorithm for calculating the d-axis voltage Vd** also considers the motor angular velocity ω. e and the resistance R of the motor winding iden The influence of the d-axis voltage Vd** is investigated to ensure that the d-axis voltage Vd** can be calculated in real time as the motor parameters change.

[0056] When calculating the decoupled q-axis voltage Vq**, the current error e through the d-axis of motor 12 is considered. d The current error e of the q-axis of motor 12 q The proportional gain k of the PID controller in the current loop of the motor drive system p The integral gain k of the PID controller in the current loop of the motor drive system i This eliminates calculation errors and also decouples the integral gain K in the control process. i-dec To improve the steady-state performance of electrical equipment 10, the q-axis inductance Lq was taken into consideration. iden ω of the motor e and the resistance R of the motor winding iden Impact on calculations. Furthermore, compared to calculating the decoupled d-axis voltage Vd**, the calculation of the decoupled q-axis voltage Vq** further considers the motor rotor flux linkage parameters. The decoupled q-axis voltage Vq** is calculated using multiple motor parameters, making the calculation result of the decoupled q-axis voltage Vq** more accurate.

[0057] Therefore, by comprehensively considering multiple key motor parameters of motor 12, this decoupling control algorithm achieves precise decoupling control of the d-axis and q-axis voltages, thereby improving the dynamic response speed, stability and control accuracy of motor 12.

[0058] In one embodiment of the present invention, the resistance R of the motor winding is detected in real time. eden At that time, controller 71 is configured to determine the resistance value R of the motor winding based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point and the q-axis current feedback value of motor 12. iden Alternatively, the resistance R of the motor winding can be determined based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the q-axis current command value of motor 12. iden .

[0059] In this embodiment, in order to detect the resistance R of the motor winding in real time idenWhen motor 12 is at low speed or in steady state, the decoupled q-axis voltage and the q-axis current feedback value of motor 12 are obtained at the current sampling point. Then, the ratio of the decoupled q-axis voltage to the q-axis current feedback value of motor 12 at the current sampling point is calculated, and the resistance value R of the motor winding is determined based on the ratio. iden That is, the resistance R of the motor winding. iden It can be represented as: in, iq is the decoupled q-axis voltage corresponding to the current sampling point, and iq is the current feedback value of the q-axis of motor 12.

[0060] Alternatively, obtain the q-axis current command value of the motor, and determine the resistance R of the motor winding based on the ratio of the decoupled q-axis voltage at the current sampling point to the q-axis current command value of the motor. iden That is, the resistance R of the motor winding. iden It can be represented as: in, iq* represents the decoupled q-axis voltage corresponding to the current sampling point, and iq* represents the q-axis current command value of motor 12.

[0061] These two methods determine the resistance value R of the motor windings. iden All of these methods fully utilize the real-time motor parameters during motor 12 operation, thereby ensuring the resistance R of the motor windings. iden The accuracy and dynamism of the detection.

[0062] In one embodiment of the present invention, when the q-axis inductance is detected in real time, the controller 71 is configured to execute the following algorithm:

[0063]

[0064] Among them, Lq iden Let R be the q-axis inductance, Ts be the sampling period, iq(k) be the q-axis current feedback value corresponding to the current sampling point, iq(k-1) be the q-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the q-axis at the current sampling point. iden This is the resistance value of the motor windings. This represents the decoupled q-axis voltage corresponding to the current sampling point.

[0065] Here, k represents a discrete value, which can be understood as a sampling point on the discrete time axis.

[0066] In the embodiment, the q-axis inductance Lq is detected in real time. idenAt the same time, the resistance R of the motor winding is obtained by detecting the current feedback value of the q-axis corresponding to two consecutive sampling points, namely the current feedback value iq(k) of the q-axis corresponding to the current sampling point, and the current feedback value iq(k-1) of the q-axis corresponding to the previous sampling point. iden The decoupled q-axis voltage corresponding to the current sampling point The q-axis inductance Lq is calculated based on these parameters. iden .

[0067] Specifically, the first difference, iq(k) - iq(k-1), is obtained by calculating the difference between the current feedback value iq(k) of the q-axis corresponding to the current sampling point and the current feedback value iq(k-1) of the q-axis corresponding to the previous sampling point. Then, the ratio of the sampling period Ts to the first difference is calculated. Next, calculate the resistance R of the motor windings. iden The product of the current feedback value iq(k) on the q-axis corresponding to the current sampling point, i.e., R iden *iq(k), then the decoupled q-axis voltage corresponding to the current sampling point. with product By subtracting, we obtain the second difference. Finally, the ratio of the sampling period Ts to the first difference is calculated. The second difference By multiplying, the q-axis inductance Lq can be calculated. iden .

[0068] In one embodiment of the present invention, when the d-axis inductance is detected in real time, the controller 71 is configured to execute the following algorithm:

[0069]

[0070] Among them, Ld iden Let R be the d-axis inductance, Ts be the sampling period, id(k) be the d-axis current feedback value corresponding to the current sampling point, id(k-1) be the d-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the d-axis at the current sampling point. iden This is the resistance value of the motor windings. This represents the decoupled d-axis voltage corresponding to the current sampling point.

[0071] In the embodiment, the d-axis inductance Ld is detected in real time. iden At the same time, the resistance R of the motor winding is obtained by detecting the current feedback value of the d-axis corresponding to two consecutive sampling points, namely the current feedback value id(k) of the d-axis corresponding to the current sampling point and the current feedback value id(k-1) of the d-axis corresponding to the previous sampling point. iden The decoupled d-axis voltage corresponding to the current sampling point The d-axis inductance Ld is calculated based on these obtained parameters.iden .

[0072] Specifically, the third difference id(k)-id(k-1) is obtained by calculating the difference between the current feedback value id(k) of the d-axis corresponding to the current sampling point and the current feedback value id(k-1) of the d-axis corresponding to the previous sampling point. Then, the ratio of the sampling period Ts to the third difference is calculated. Next, calculate the resistance R of the motor windings. iden The product of the current feedback value id(k) on the d-axis corresponding to the current sampling point, i.e., R iden *id(k), then the decoupled d-axis voltage corresponding to the current sampling point. With product R iden The fourth difference is obtained by subtracting *id(k). Finally, the ratio of the sampling period Ts to the third difference is calculated. Difference from the fourth By multiplying, the d-axis inductance Ld can be calculated. iden .

[0073] In one embodiment of the present invention, when the motor rotor flux linkage parameters are detected in real time, the controller 71 is configured to execute the following algorithm:

[0074]

[0075] in, Here are the motor rotor flux linkage parameters, id* is the d-axis current command value, and id is the d-axis current feedback value. The integral coefficient is... These are the initial values ​​for the motor rotor flux linkage parameters.

[0076] In the embodiment, the motor rotor flux linkage parameters The calculation process can be found by referring to... Figure 3 .like Figure 3 As shown, the rotor flux linkage parameters of the motor are monitored in real time. This can be achieved using a specific integration algorithm. This algorithm integrates the difference between the d-axis current command value id* and the d-axis current feedback value id, and then divides the result by the integration coefficient. Multiplying the products and passing them through a low-pass filter (LPF) yields the result. Finally, the initial values ​​of the motor rotor flux linkage parameters are compared. By adding them together, the rotor flux linkage parameters of the motor can be calculated.

[0077] Wherein, the integral coefficient The speed during the integration process can be adjusted to ensure the rotor flux linkage parameters of the motor. The stability and speed of the estimation.

[0078] In one embodiment of the present invention, after real-time detection of the motor parameters of the motor 12, the controller 71 is further configured to: based on the q-axis inductance Lq iden or d-axis inductance Ld iden The proportional gain k of the PID controller in the current loop of the motor drive system p Update.

[0079] In this embodiment, after real-time detection of the motor parameters of motor 12, controller 71 will determine the q-axis inductance Lq based on the real-time acquired data. iden or d-axis inductance Ld iden To adjust the proportional gain k of the PID controller in the current loop of the motor drive system. p Based on the continuously updated proportional gain k of the PID controller in the current loop of the motor drive system p The controller 71 can more accurately match the current electrical characteristics of the motor 12, such as current response speed and stability, thereby optimizing current control performance, improving the response speed and stability of the motor 12, and enabling the motor drive system to maintain a good control effect when facing different working conditions and load changes, thereby improving the overall operating efficiency and reliability of the home appliance 10.

[0080] Specifically, if based on the q-axis inductance Lq iden The proportional gain k of the PID controller in the current loop of the motor drive system p To update, k p The algorithm can be expressed as: K P =L q ω ACR , where ω ACR This represents the bandwidth of the current loop.

[0081] If based on the d-axis inductance Ld iden The proportional gain k of the PID controller in the current loop of the motor drive system p To update, k p The algorithm can be expressed as: K P =L d ω ACR , where ω ACR This represents the bandwidth of the current loop.

[0082] In one embodiment of the present invention, after real-time detection of the motor parameters of the motor 12, the controller 71 is further configured to: based on the q-axis inductance Lq iden d-axis inductance Ld iden And motor rotor flux linkage parameters Update the d-axis current feedback value id.

[0083] In this embodiment, after real-time detection of the motor parameters of motor 12, i.e., real-time detection of the q-axis inductance Lq... iden d-axis inductance Ld iden And motor rotor flux linkage parameters Then, the d-axis current feedback value id is updated based on the real-time detected motor parameters.

[0084] Specifically, according to the q-axis inductance Lq iden d-axis inductance Ld iden And motor rotor flux linkage parameters The algorithm for updating the d-axis current feedback value id can be expressed as follows:

[0085]

[0086] Due to the q-axis inductance Lq iden and d-axis inductance Ld iden This reflects the current response speed and stability of motor 12 in different directions, and the rotor flux linkage parameters. This reflects the magnetic field state of motor 12, and these motor parameters change with current and temperature. Therefore, based on the q-axis inductance Lq... iden d-axis inductance Ld iden And motor rotor flux linkage parameters Updating the d-axis current feedback value id can improve the current control accuracy and enhance the response speed and stability of motor 12.

[0087] In one embodiment of the present invention, after real-time detection of the motor parameters of the motor 12, the controller 71 is further configured to: based on the resistance value R of the motor windings... iden q-axis inductance Lq iden and d-axis inductance Ld iden The decoupled d-axis voltage Vd** and decoupled q-axis voltage Vq** are used to estimate the motor angle.

[0088] In the embodiment, the resistance value R of the motor winding is obtained. iden q-axis inductance Lq iden and d-axis inductance Ld iden After obtaining the motor parameters such as the decoupled d-axis voltage Vd** and the decoupled q-axis voltage Vq**, the motor angle is estimated based on these parameters. For example, if the motor angle is denoted as Δθ, the algorithm for calculating the motor angle Δθ can be expressed as:

[0089]

[0090] Where, ω e_est It is the velocity prediction value, which can also be understood as the velocity prediction filtered value.

[0091] Based on this, the controller 71 detects the motor parameters of the motor 12 in real time, including the resistance R of the motor windings. iden q-axis inductance Lq iden and d-axis inductance Ld iden The decoupled d-axis voltage Vd** and decoupled q-axis voltage Vq** are used to estimate the motor angle Δθ. Furthermore, a speed estimation value ω is introduced into the motor angle Δθ estimation algorithm. e_est Predicted velocity ω e_est It can reflect the estimation of motor speed. Through this algorithm, the controller 71 can control the operating status of the motor 12 in real time and accurately, thereby improving the dynamic response speed and stability of the motor 12.

[0092] In one embodiment of the present invention, the controller 71 is further configured to: determine the d-axis current error e of the motor 12 based on the difference between the command current value id* of the d-axis and the current feedback value id of the d-axis. d The q-axis current error e of motor 12 is determined based on the difference between the commanded q-axis current value and the q-axis current feedback value. q .

[0093] The command current value for the q-axis is denoted as iq*, and the current feedback value for the q-axis is denoted as iq.

[0094] In this embodiment, after obtaining the command current value id* and the current feedback value id of the d-axis, the difference between the command current value id* and the current feedback value id of the d-axis is calculated, and the current error e of the d-axis of the motor 12 can be determined. d That is, e d = id * - id.

[0095] Similarly, after obtaining the command current value iq* and the current feedback value iq of the q-axis, the difference between the command current value iq* and the current feedback value iq can be calculated, thus determining the current error e of the q-axis of motor 12. q That is, e q =iq*-iq.

[0096] It should be noted that the q-axis current error e q Current error e along the d-axis d The calculation method is a common method based on existing motor control technology. It helps the controller 71 to adjust the decoupled d-axis voltage Vd** and decoupled q-axis voltage Vq** of the motor 12 according to the error magnitude, thereby reducing the error, improving the control accuracy of the motor 12, achieving complete decoupling, and thus improving the dynamic response speed and stability of the motor 12.

[0097] As a specific embodiment, the home appliance 10 includes, for example, an air conditioner.

[0098] Figure 4 This is a schematic diagram of the structure of an air conditioner according to an embodiment of the present invention. Figure 5 This is a schematic diagram of an air conditioner refrigeration system according to an embodiment of the present invention. Since air conditioners are widely used in production and daily life, and in certain specific locations require them to be kept constantly on, this embodiment of the invention houses a motor 12 within a housing 11, which operates based on an AC input voltage. When the motor 12 is running, the controller 71 can detect the motor parameters of the motor 12 in real time and perform decoupling control based on these parameters to obtain the decoupled d-axis voltage Vd** and decoupled q-axis voltage Vd** of the motor 12. For example, when the air conditioner is running, changes in compressor temperature will cause changes in motor parameters. By detecting the motor parameters in real time and performing decoupling control based on these parameters, the current can be effectively controlled, achieving complete decoupling and thus improving the dynamic response speed and stability of the air conditioner.

[0099] In a specific embodiment, such as Figure 4 As shown, an air conditioner includes a refrigeration system for exchanging heat with indoor air to meet cooling or heating needs.

[0100] like Figure 5 As shown, the refrigeration system includes a compressor, a condenser, an electronic expansion valve, and an evaporator. In this embodiment of the invention, the air conditioner performs a refrigeration cycle by using the compressor, condenser, electronic expansion valve, and evaporator. The refrigeration cycle includes a series of processes involving compression, condensation, expansion, and evaporation, and supplies refrigerant to the conditioned and heat-exchanged air.

[0101] The compressor compresses refrigerant gas under high temperature and pressure and discharges the compressed refrigerant gas. The discharged refrigerant gas flows into the condenser. The condenser condenses the compressed refrigerant into a liquid phase, and the heat is released to the surrounding environment through the condensation process.

[0102] The electronic expansion valve expands the high-temperature, high-pressure liquid refrigerant condensed in the condenser into a low-pressure liquid refrigerant. The evaporator evaporates the refrigerant that has expanded in the electronic expansion valve and returns the low-temperature, low-pressure refrigerant gas to the compressor.

[0103] An evaporator achieves a cooling effect by exchanging heat with the material being cooled using the latent heat of refrigerant evaporation. Throughout the cycle, the air conditioner regulates the temperature of the indoor space.

[0104] The outdoor unit 2 of the air conditioner refers to the part of the refrigeration cycle that includes the compressor and the outdoor heat exchanger. The indoor unit 1 of the air conditioner includes the indoor heat exchanger, and an electronic expansion valve can be provided in either the indoor unit 1 or the outdoor unit 2.

[0105] The indoor and outdoor heat exchangers function as either condensers or evaporators. When the indoor heat exchanger is used as a condenser, the air conditioner functions as a heater in heating mode; when the indoor heat exchanger is used as an evaporator, the air conditioner functions as a cooler in cooling mode.

[0106] The air conditioner in this embodiment of the invention includes an indoor unit 1 and an outdoor unit 2, which can be configured as an integrated unit or a split unit. The indoor unit 1 can be configured as a wall-mounted unit, a ceiling-mounted unit, a ducted unit, etc., and the indoor unit 1 is installed on the top of the room.

[0107] Reference Figure 4 Taking indoor wall-mounted units as an example, indoor wall-mounted units are usually installed on indoor walls or other locations. For example, indoor cabinet units (not shown in the figure) are also a type of indoor unit 1.

[0108] Taking a split-type air conditioner as an example, the air conditioner includes an indoor unit 1 and an outdoor unit 2. The outdoor unit 2 is usually located outdoors and is used for heat exchange in the indoor environment.

[0109] In addition, such as Figure 4 The diagram shows that the air conditioner includes a controller to control the operation of various components within the air conditioner, enabling these components to perform predetermined functions. The air conditioner also includes a control device 200, which, exemplarily, is a remote control. This remote control has the function of communicating with the controller, for example, using infrared or other communication methods. The remote control allows the user to perform various controls on the air conditioner, enabling interaction between the user and the air conditioner.

[0110] In this embodiment of the invention, the indoor unit 1 of the air conditioner is installed at the top or upper part of the room. Generally, the installation height of the indoor unit 1 is higher than the user's activity area. The indoor unit 1 includes a return air vent and an air outlet that communicate with the room. Indoor air passes through the return air vent into the indoor unit 1 and flows back into the room through the air outlet.

[0111] In this embodiment of the invention, the refrigerant circulation loop allows the refrigerant to circulate within a loop consisting of a compressor, condenser, electronic expansion valve, and evaporator. One of the condenser and evaporator is an outdoor heat exchanger, and the other is an indoor heat exchanger. The indoor heat exchanger exchanges heat with the air inside the indoor unit 1, and the outdoor unit 2 heat exchanger exchanges heat with the air inside the outdoor unit 2, thereby fulfilling the cooling or heating requirements of the air conditioner.

[0112] The indoor unit 1 also includes an indoor fan, which is located near the return air vent or the air outlet of the indoor heat exchanger. It is used to deliver the heat-exchanged air to the room. The indoor fan has multiple speed settings to change the airflow speed at the air outlet.

[0113] An air guide plate is installed at the air outlet. By changing its relative rotation angle with the air outlet, the air guide plate adjusts the direction of airflow through the air outlet, thereby affecting the stratification of indoor air temperature.

[0114] In the embodiments shown in this invention, the air conditioner 10 further includes a controller, which is configured, for example, as the controller 71 described in any of the above embodiments.

[0115] In summary, according to the embodiments of the present invention, the home appliance 10 has a motor 12 housed within a housing 11. The housing 11 transmits AC input voltage to the motor 12, which operates based on the received AC input voltage, thus further protecting the motor 12. While the motor 12 is operating, the controller 71 monitors the motor parameters in real time. Even if the motor parameters change due to temperature or current, the controller 71 can adapt to these changes and then perform decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and q-axis voltage. This ensures that the decoupled d-axis voltage and q-axis voltage are updated in real time along with the motor parameters, achieving complete decoupling, improving the dynamic response speed and stability of the motor 12, and ultimately enhancing the overall performance and user experience of the appliance 10.

[0116] Further embodiments of the present invention disclose a method for controlling household appliances, used in any of the household appliances described in the above embodiments, such as... Figure 6 As shown, the method includes the following steps:

[0117] Step S1: While the motor is running, monitor the motor parameters in real time.

[0118] Step S2: Decouple the motor based on the motor parameters to obtain the decoupled d-axis voltage and the decoupled q-axis voltage.

[0119] In one embodiment of the present invention, the motor parameters include the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

[0120] In one embodiment of the present invention, when performing decoupling control based on motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor, the following algorithm is executed:

[0121]

[0122] Where Vd** is the decoupled d-axis voltage, Vq** is the decoupled q-axis voltage, and e d k represents the current error along the d-axis of the motor. p k is the proportional gain of the PID controller in the current loop of the motor drive system. iLet s be the integral gain of the PID controller in the current loop of the motor drive system, s be the differential operator, and K be the integral gain of the PID controller in the current loop of the motor drive system. i-dec To decouple the integral gain in the control process, e q Lq represents the q-axis current error of the motor. iden For q-axis inductance, ω e R is the angular velocity of the motor. iden Ld is the resistance value of the motor winding. iden For d-axis inductance, These are the rotor flux linkage parameters of the motor.

[0123] In one embodiment of the present invention, when detecting the resistance value of the motor winding in real time, the method includes: determining the resistance value of the motor winding based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the current feedback value of the q-axis of the motor; or, determining the resistance value of the motor winding based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the current command value of the q-axis of the motor.

[0124] In one embodiment of the present invention, real-time detection of the q-axis inductance includes:

[0125]

[0126] Among them, Lq iden Let R be the q-axis inductance, Ts be the sampling period, iq(k) be the q-axis current feedback value corresponding to the current sampling point, iq(k-1) be the q-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the q-axis at the current sampling point. iden This is the resistance value of the motor windings. This represents the decoupled q-axis voltage corresponding to the current sampling point.

[0127] In one embodiment of the present invention, real-time detection of the d-axis inductance includes:

[0128]

[0129] Among them, Ld iden Let R be the d-axis inductance, Ts be the sampling period, id(k) be the d-axis current feedback value corresponding to the current sampling point, id(k-1) be the d-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the d-axis at the current sampling point. iden This is the resistance value of the motor windings. This represents the decoupled d-axis voltage corresponding to the current sampling point.

[0130] In one embodiment of the present invention, real-time detection of motor rotor flux linkage parameters includes:

[0131]

[0132] in, Here are the motor rotor flux linkage parameters, id* is the d-axis current command value, and id is the d-axis current feedback value. The integral coefficient is... These are the initial values ​​for the motor rotor flux linkage parameters.

[0133] In one embodiment of the present invention, after real-time detection of the motor parameters of the motor, the method includes: updating the proportional gain of the PID controller in the current loop of the motor drive system based on the q-axis inductance or the d-axis inductance.

[0134] In one embodiment of the present invention, after real-time detection of the motor parameters, the method includes updating the d-axis current feedback value based on the q-axis inductance, d-axis inductance, and motor rotor flux linkage parameters.

[0135] In one embodiment of the present invention, after real-time detection of the motor parameters, the method includes: estimating the motor angle based on the resistance of the motor windings, the q-axis inductance and the d-axis inductance, the decoupled d-axis voltage, and the decoupled q-axis voltage.

[0136] In one embodiment of the present invention, the control method for home appliances further includes: determining the current error of the motor's d-axis based on the difference between the commanded current value of the d-axis and the current feedback value of the d-axis; and determining the current error of the motor's q-axis based on the difference between the commanded current value of the q-axis and the current feedback value of the q-axis.

[0137] According to the control method of home appliances of the present invention, when the motor is running, the motor parameters of the motor can be detected in real time. Even if the motor parameters change due to temperature or current, the method can adapt to the changes in motor parameters. Then, decoupling control is performed based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor. The decoupled d-axis voltage and decoupled q-axis voltage can also be updated with the real-time update of the motor parameters, thereby achieving complete decoupling, improving the dynamic response speed and stability of the motor, and thus improving the overall performance of the electrical equipment and the user experience.

[0138] It should be noted that the control method for home appliances in this embodiment of the invention is similar to the specific implementation of the home appliances in this embodiment of the invention. Please refer to the description of the home appliances section for details. To reduce redundancy, it will not be repeated here.

[0139] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0140] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A household appliance, characterized in that, include: case; The motor, housed within the housing, is used to operate according to the AC input voltage; The controller is configured to: The motor parameters are monitored in real time while the motor is running; Decoupling control is performed based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor.

2. The household appliance according to claim 1, characterized in that, The motor parameters include the resistance of the motor windings, the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

3. The household appliance according to claim 2, characterized in that, When performing decoupling control based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor, the controller is configured to execute the following algorithm: Vd**=e d *k p +e d *k i / s-(K i-dec and q *Lq iden *ω e / s)+(R iden K i-dec and d / s) Where Vd** is the decoupled d-axis voltage, Vq** is the decoupled q-axis voltage, and e d Let k be the current error along the d-axis of the motor. p k is the proportional gain of the PID controller in the current loop of the motor drive system. i Let s be the integral gain of the PID controller in the current loop of the motor drive system, s be the differential operator, and K be the integral gain. i-dec To decouple the integral gain in the control process, e q Lq represents the q-axis current error of the motor. iden Let ω be the q-axis inductance. e R is the angular velocity of the motor. iden Ld is the resistance value of the motor winding. iden The d-axis inductance, The rotor flux linkage parameter of the motor is given.

4. The household appliance according to claim 2, characterized in that, When the resistance of the motor windings is detected in real time, the controller is configured to: The resistance value of the motor winding is determined based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the q-axis current feedback value of the motor; or, The resistance value of the motor winding is determined based on the ratio of the decoupled q-axis voltage corresponding to the current sampling point to the q-axis current command value of the motor.

5. The household appliance according to claim 2, characterized in that, When the q-axis inductance is detected in real time, the controller is configured to execute the following algorithm: Among them, Lq iden Let R be the q-axis inductance, Ts be the sampling period, iq(k) be the q-axis current feedback value corresponding to the current sampling point, iq(k-1) be the q-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R be the current feedback value of the q-axis. iden The resistance value of the motor winding is... This represents the decoupled q-axis voltage corresponding to the current sampling point.

6. The household appliance according to claim 2, characterized in that, When the d-axis inductance is detected in real time, the controller is configured to execute the following algorithm: Among them, Ld iden Let Ts be the sampling period, id(k) be the d-axis inductance, id(k-1) be the d-axis current feedback value corresponding to the current sampling point, id(k-1) be the d-axis current feedback value corresponding to the previous sampling point, k represent the discrete value, and R iden The resistance value of the motor winding is... This represents the decoupled d-axis voltage corresponding to the current sampling point.

7. The household appliance according to claim 2, characterized in that, When the motor rotor flux linkage parameters are detected in real time, the controller is configured to execute the following algorithm: in, Here, id* represents the rotor flux linkage parameter of the motor, id* represents the current command value of the d-axis, and id represents the current feedback value of the d-axis. The integral coefficient is... The initial values ​​are the rotor flux linkage parameters of the motor.

8. The household appliance according to claim 2, characterized in that, After real-time detection of the motor parameters, the controller is further configured to: The proportional gain of the PID controller in the current loop of the motor drive system is updated based on the q-axis inductance or the d-axis inductance.

9. The household appliance according to claim 2, characterized in that, After real-time detection of the motor parameters, the controller is further configured to: The d-axis current feedback value is updated based on the q-axis inductance, the d-axis inductance, and the motor rotor flux linkage parameters.

10. The household appliance according to claim 2, characterized in that, After real-time detection of the motor parameters, the controller is further configured to: The angle of the motor is estimated based on the resistance of the motor windings, the q-axis inductance and the d-axis inductance, the decoupled d-axis voltage, and the decoupled q-axis voltage.

11. The household appliance according to claim 3, characterized in that, The controller is also configured to: The d-axis current error of the motor is determined by the difference between the commanded current value and the current feedback value of the d-axis. The current error of the motor's q-axis is determined by the difference between the commanded current value and the current feedback value of the q-axis.

12. A method for controlling a household appliance, characterized in that, A method for controlling a household appliance as described in any one of claims 1-11 includes: The motor parameters are monitored in real time while the motor is running; Decoupling control is performed based on the motor parameters to obtain the decoupled d-axis voltage and decoupled q-axis voltage of the motor.

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