Motor torque compensation control method and household electrical appliance product

Abstract

The embodiment of the invention provides a motor torque compensation control method and a household electrical appliance, and the method comprises the steps: determining a rotating speed fluctuation value according to a target rotating speed value of a motor and a real-time rotating speed value if the real-time rotating speed value of the motor is detected to be below a preset rotating speed value; if it is detected that the rotating speed fluctuation value reaches a first rotating speed fluctuation preset value or above, a first current injection proportion is determined according to the rotating speed fluctuation value and the first rotating speed fluctuation preset value; determining actual injection current according to the first current injection proportion; and compensating the torque of the motor according to the actual injection current. According to the invention, torque compensation can be carried out adaptively according to the rotating speed fluctuation value of the motor, so that rotating speed fluctuation and current harmonics are reduced at the same time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a control method for torque compensation of an electric machine and a household appliance. BACKGROUND

[0002] Permanent magnet synchronous machines have the advantages of high power factor and high torque density, and have been widely used in new energy vehicles, variable frequency household appliances and other fields. However, due to the uneven load outside the motor, the eccentricity of the structure of some motors and other factors, current harmonics will be introduced in the motor driving current, especially at low frequency, the load fluctuation in the mechanical period of the motor will cause the rotational speed of the motor to fluctuate greatly, which will cause adverse effects such as system vibration, noise, and deterioration of motor control performance.

[0003] In order to suppress the large speed fluctuation of the motor at low frequency, torque compensation algorithm is generally used, but the current torque compensation algorithm will cause the driving current harmonics of the motor to increase at low frequency.

[0004] Therefore, there is an urgent need for a torque compensation method and household appliance that can reduce current harmonics. SUMMARY

[0005] The present application aims to solve the above problems and other problems.

[0006] The present application also aims to effectively reduce the speed fluctuation of the motor.

[0007] The present application also aims to effectively reduce the current harmonics generated by the motor.

[0008] The present application also aims to reduce the speed fluctuation and current harmonics of the motor simultaneously.

[0009] The present application also aims to accurately determine the first current injection ratio.

[0010] The present application also aims to accurately determine the first speed fluctuation preset value.

[0011] The present application also aims to accurately determine the actual injected current, and then accurately compensate the torque of the motor.

[0012] The present application also aims to accurately determine the second current injection ratio.

[0013] The present application does not limit to the above-mentioned purposes, and those skilled in the art can understand other purposes not mentioned by the following description.

[0014] The present application relates to a control method for torque compensation of an electric machine, the method comprising:

[0015] if it is detected that the real-time rotation speed value of the motor is below a preset rotation speed value, determining a rotation speed fluctuation value according to a target rotation speed value of the motor and the real-time rotation speed value;

[0016] if it is detected that the rotation speed fluctuation value reaches above a first rotation speed fluctuation preset value, determining a first current injection ratio according to the rotation speed fluctuation value and the first rotation speed fluctuation preset value;

[0017] determining an actual injection current according to the first current injection ratio;

[0018] compensating for a torque of the motor according to the actual injection current.

[0019] In some embodiments of the present application, the determining of the first current injection ratio according to the rotation speed fluctuation value and the first rotation speed fluctuation preset value comprises:

[0020] calculating a first ratio of the rotation speed fluctuation value to the first rotation speed fluctuation preset value;

[0021] determining the first current injection ratio according to the first ratio.

[0022] In some embodiments of the present application, the method further comprises:

[0023] obtaining a maximum rotation speed fluctuation value that the motor can withstand;

[0024] determining the first rotation speed fluctuation preset value according to the maximum rotation speed fluctuation value.

[0025] In some embodiments of the present application, the determining of the actual injection current according to the first current injection ratio comprises:

[0026] obtaining a first injection current according to the rotation speed fluctuation value;

[0027] determining the actual injection current according to the first injection current and the first current injection ratio.

[0028] In some embodiments of the present application, the method further comprises:

[0029] if it is detected that the rotation speed fluctuation value is below a second rotation speed fluctuation preset value, determining a second current injection ratio according to the rotation speed fluctuation value and the second rotation speed fluctuation preset value;

[0030] determining the actual injection current according to the second current injection ratio.

[0031] In some embodiments of the present application, the determining of the second current injection ratio according to the rotation speed fluctuation value and the second rotation speed fluctuation preset value comprises:

[0032] Calculate the second ratio between the speed fluctuation value and the second preset speed fluctuation value;

[0033] The second current injection ratio is determined based on the second ratio.

[0034] In some embodiments of this application, determining the actual injection current based on the second current injection ratio includes:

[0035] The second injection current is obtained based on the rotational speed fluctuation value;

[0036] The actual injection current is determined based on the second injection current and the second current injection ratio.

[0037] In some embodiments of this application, the first speed fluctuation preset value is greater than the second speed fluctuation preset value.

[0038] In some embodiments of this application, the method further includes:

[0039] If the detected speed fluctuation value is below the first speed fluctuation preset value and above the second speed fluctuation preset value, then a third injection current is determined based on the speed fluctuation value, and the third injection current is used as the actual injection current.

[0040] The present invention also relates to a home appliance product, the home appliance product including a control circuit, the control circuit comprising:

[0041] A position observation module is used to detect the real-time rotational speed of the motor;

[0042] The speed fluctuation value determination module is used to determine the speed fluctuation value based on the target speed value of the motor and the real-time speed value.

[0043] The compensation ratio control module is used to determine the first current injection ratio based on the speed fluctuation value and the first speed fluctuation preset value;

[0044] The actual injection current determination module is used to determine the actual injection current based on the first current injection ratio.

[0045] A torque compensation module is used to compensate the torque of the motor based on the actual injected current.

[0046] The details of other embodiments are included in the detailed description and the accompanying drawings.

[0047] According to at least one embodiment of the present invention, the speed fluctuation value is determined based on the target speed value and the real-time speed value of the motor. If the speed fluctuation value is detected to be above the first speed fluctuation preset value, the first current injection ratio can be accurately determined based on the speed fluctuation value and the first speed fluctuation preset value.

[0048] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the first current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the speed fluctuation of the motor.

[0049] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the first current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the current harmonics generated during motor operation.

[0050] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the first current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the speed fluctuation and current harmonics of the motor.

[0051] According to at least one embodiment of the present invention, a first ratio of the rotational speed fluctuation value to a first preset value of the rotational speed fluctuation can be calculated, and a first current injection ratio can be accurately determined based on the first ratio.

[0052] According to at least one of the embodiments of the present invention, the maximum speed fluctuation value that the motor can withstand can be obtained, thereby accurately determining the first speed fluctuation preset value based on the maximum speed fluctuation value.

[0053] According to at least one embodiment of the present invention, the first injection current can be obtained based on the rotational speed fluctuation value, thereby accurately determining the actual injection current based on the first injection current and the first injection current ratio.

[0054] According to at least one embodiment of the present invention, if the detected speed fluctuation value is below the second speed fluctuation preset value, the second current injection ratio can be accurately determined based on the speed fluctuation value and the second speed fluctuation preset value.

[0055] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the second current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the speed fluctuation of the motor.

[0056] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the second current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the current harmonics generated during motor operation.

[0057] According to at least one embodiment of the present invention, the actual injection current can be accurately determined based on the second current injection ratio, and the torque of the motor can be precisely compensated based on the actual injection current, thereby effectively reducing the speed fluctuation and current harmonics of the motor.

[0058] According to at least one embodiment of the present invention, a second ratio of the rotational speed fluctuation value to a second rotational speed fluctuation preset value can be calculated, and a second current injection ratio can be accurately determined based on the second ratio.

[0059] According to at least one embodiment of the present invention, the second injection current can be obtained based on the rotational speed fluctuation value, thereby accurately determining the actual injection current based on the ratio of the second injection current to the second injection current.

[0060] The effects of this invention are not limited to those mentioned above, and those skilled in the art can clearly understand other effects not mentioned from the description of the claims. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0062] Figure 1 This is a flowchart of a motor torque compensation control method provided in an exemplary embodiment of this application.

[0063] Figure 2 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0064] Figure 3 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0065] Figure 4 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0066] Figure 5 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0067] Figure 6 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0068] Figure 7This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0069] Figure 8 This is a flowchart of a control method for motor torque compensation provided in another exemplary embodiment of this application.

[0070] Figure 9 This is a schematic diagram of the structure of a control circuit in a household appliance provided in another exemplary embodiment of this application.

[0071] Figure 10 This is a schematic diagram of the structure of a garment processing device provided in an exemplary embodiment of this application.

[0072] Explanation of reference numerals in the attached figures:

[0073] 1: Location observation module;

[0074] 2: Speed ​​fluctuation value determination module;

[0075] 3: Compensation ratio control module;

[0076] 4: Reference Injection Current Determination Module;

[0077] 5: Actual Injection Current Determination Module;

[0078] 6: Torque compensation module;

[0079] 10: Shell;

[0080] 11: Door body;

[0081] 12: Control Panel. Detailed Implementation

[0082] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0083] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the actual situation. It should also be noted that "multiple" as mentioned in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0084] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0085] When a structural element is mentioned as being "connected" or "in contact" with another structural element, it may mean that it is directly connected to or in contact with the other structural element, but it can also be understood as meaning that there are other structural elements between them. Conversely, when a structural element is mentioned as being "directly connected" or "directly in contact" with another structural element, it should be understood as meaning that there are no other structural elements between them.

[0086] Unless the context clearly indicates a different meaning, the singular form includes the plural form.

[0087] Permanent magnet synchronous motors have advantages such as high power factor and high torque density, and have been widely used in new energy vehicles, variable frequency home appliances and other fields. However, due to factors such as uneven external load and eccentric characteristics of some motor structures, current harmonics are introduced into the motor drive current. Especially when running at low frequencies, excessive load fluctuations within the motor's mechanical cycle can cause significant fluctuations in the motor's rotational speed, leading to adverse effects such as system vibration, noise, and deterioration of motor control performance.

[0088] To suppress large speed fluctuations in motors at low frequencies, torque compensation algorithms are commonly used. However, current torque compensation algorithms can lead to increased drive current harmonics when the motor is running at low frequencies.

[0089] Therefore, there is an urgent need for a torque compensation method that can reduce current harmonics and related home appliances.

[0090] To address the aforementioned technical problems, this application proposes a control method for motor torque compensation.

[0091] Please see Figure 1 ,Figure 1 This is a flowchart of a motor torque compensation control method provided in an exemplary embodiment of this application.

[0092] like Figure 1 As shown, in some embodiments of this application, the control method for motor torque compensation may include the following steps S110-S140:

[0093] S110, if the real-time speed value of the motor is detected to be below the preset speed value, the speed fluctuation value is determined based on the target speed value and the real-time speed value of the motor.

[0094] S120, if the detected speed fluctuation value reaches or exceeds the first speed fluctuation preset value, then the first current injection ratio is determined based on the speed fluctuation value and the first speed fluctuation preset value.

[0095] S130, determine the actual injection current based on the first current injection ratio.

[0096] S140 compensates for the motor torque based on the actual injected current.

[0097] As can be seen from the above, the actual injection current can be accurately determined based on the first current injection ratio, and the torque of the motor can be accurately compensated based on the actual injection current, thereby effectively reducing the current harmonics generated during motor operation.

[0098] The following sections will elaborate on each of the above steps S110-S140.

[0099] In S110, the preset speed value can be set according to the different application scenarios of the motor.

[0100] In some embodiments of this application, if the motor is used in the field of new energy vehicles, a corresponding preset speed value can be set.

[0101] In some other embodiments of this application, if the motor is used in the field of home appliances, a corresponding preset speed value can be set.

[0102] In some embodiments of this application, the preset speed value of the motor in the field of new energy vehicles can be greater than the preset speed value of the motor in the field of home appliances.

[0103] In some other embodiments of this application, the preset speed value set for the motor in the field of new energy vehicles can be equal to the preset speed value set for the motor in the field of home appliances.

[0104] In some other embodiments of this application, the preset speed value of the motor in the field of new energy vehicles may be less than the preset speed value of the motor in the field of home appliances.

[0105] In some embodiments of this application, a position observation module can be set to obtain the real-time speed value of the motor.

[0106] In some embodiments of this application, the target speed value of the motor can be subtracted from the real-time speed value to determine the speed fluctuation value of the motor.

[0107] In some embodiments of this application, the real-time speed value of the motor is below a preset speed value, which means that the real-time speed value of the motor is less than the preset speed value.

[0108] In some other embodiments of this application, the real-time speed value of the motor is below a preset speed value, which may be that the real-time speed value of the motor is less than or equal to the preset speed value.

[0109] In some embodiments of this application, S110 can be divided into S111 and S112 as follows:

[0110] S111, detect whether the real-time speed of the motor is below the preset speed value.

[0111] S112, if the detection is yes, then determine the speed fluctuation value based on the target speed value and the real-time speed value of the motor.

[0112] Similarly, in S120, the first speed fluctuation preset value can be set according to the different scenarios in which the motor is used.

[0113] In some embodiments of this application, if the motor is in the field of new energy vehicles, a corresponding first speed fluctuation preset value can be set.

[0114] In some other embodiments of this application, if the motor is used in the field of home appliances, a corresponding first speed fluctuation preset value can be set.

[0115] In some embodiments of this application, the first speed fluctuation preset value set for the motor in the field of new energy vehicles can be greater than the first speed fluctuation preset value set for the motor in the field of home appliances.

[0116] In some other embodiments of this application, the first speed fluctuation preset value set for the motor in the field of new energy vehicles can be equal to the first speed fluctuation preset value set for the motor in the field of home appliances.

[0117] In some other embodiments of this application, the first speed fluctuation preset value set for the motor in the field of new energy vehicles can be smaller than the first speed fluctuation preset value set for the motor in the field of home appliances.

[0118] Please see Figure 2 In some other embodiments of this application, the first speed fluctuation preset value can be obtained through the following steps S210-S220:

[0119] S210: Obtain the maximum speed fluctuation value that the motor can withstand.

[0120] The maximum speed fluctuation that a motor can withstand can be determined based on the different application scenarios of the motor.

[0121] In some embodiments of this application, the maximum speed fluctuation value that the motor can withstand in the field of new energy vehicles can be greater than the maximum speed fluctuation value that the motor can withstand in the field of home appliances.

[0122] In some embodiments of this application, the maximum speed fluctuation value that the motor can withstand in the field of new energy vehicles can be equal to the maximum speed fluctuation value that the motor can withstand in the field of home appliances.

[0123] In some embodiments of this application, the maximum speed fluctuation value that the motor can withstand in the field of new energy vehicles may be less than the maximum speed fluctuation value that the motor can withstand in the field of home appliances.

[0124] S220, determine the first speed fluctuation preset value based on the maximum speed fluctuation value.

[0125] In some embodiments of this application, a first speed fluctuation preset value can be determined based on the maximum speed fluctuation value and a preset ratio.

[0126] For example, the first speed fluctuation preset value can be equal to the maximum speed fluctuation value multiplied by a preset ratio.

[0127] In some embodiments of this application, the first speed fluctuation preset value may be equal to the maximum speed fluctuation value.

[0128] In some other embodiments of this application, the first speed fluctuation preset value may be less than or equal to the maximum speed fluctuation value.

[0129] In some embodiments of this application, the motor speed fluctuation value reaching or exceeding a first speed fluctuation preset value can be that the motor speed fluctuation value is greater than the first speed fluctuation preset value.

[0130] In some other embodiments of this application, the motor speed fluctuation value reaching or exceeding the first speed fluctuation preset value can be greater than or equal to the first speed fluctuation preset value.

[0131] Please see Figure 3 In some embodiments of this application, the first current injection ratio can be obtained through the following steps S310-S320:

[0132] S310, calculate the first ratio of the speed fluctuation value to the first preset speed fluctuation value.

[0133] In some embodiments of this application, the first ratio may be equal to the motor speed fluctuation value divided by the first speed fluctuation preset value.

[0134] It is understandable that since the speed fluctuation value reaches or exceeds the first speed fluctuation preset value, the first ratio can be greater than 1.

[0135] The speed fluctuation of the motor is directly proportional to the first ratio. The greater the speed fluctuation, the larger the first ratio. The smaller the speed fluctuation, the smaller the first ratio.

[0136] S320, determine the first current injection ratio based on the first ratio.

[0137] In some embodiments of this application, the first current injection ratio may be equal to the first ratio minus 1.

[0138] In some embodiments of this application, S120 can be divided into S121 and S122 as follows:

[0139] S121, Detect whether the speed fluctuation value reaches or exceeds the first speed fluctuation preset value.

[0140] S122, if the detection is yes, then determine the first current injection ratio based on the speed fluctuation value and the first speed fluctuation preset value.

[0141] In S130, please refer to Figure 4 In some embodiments of this application, the actual injected current can be obtained through the following steps S410-S420:

[0142] S410: Obtain the first injection current based on the speed fluctuation value.

[0143] The motor speed fluctuation value can be input into the reference injection current determination module to obtain the first injection current.

[0144] S420, determine the actual injection current based on the first injection current and the first current injection ratio.

[0145] In some embodiments of this application, the actual injection current may be equal to the first injection current multiplied by the first current injection ratio.

[0146] In S140, the motor input current is adjusted according to the determined actual injection current, which can compensate for torque loss caused by changes in motor internal parameters or external load.

[0147] By precisely controlling the waveform and amplitude of the injected current, an additional torque component can be generated, thereby effectively enhancing the original torque and achieving precise compensation of the motor torque.

[0148] Please see Figure 5 ,Figure 5 This is a flowchart of a motor torque compensation control method provided in another exemplary embodiment of this application. In some embodiments of this application, the motor torque compensation control method may further include the following steps S510-S520:

[0149] S510, if the detected speed fluctuation value is below the second speed fluctuation preset value, then the second current injection ratio is determined based on the speed fluctuation value and the second speed fluctuation preset value.

[0150] Similarly, in S510, the second speed fluctuation preset value can be set according to the different scenarios in which the motor is used.

[0151] In some embodiments of this application, if the motor is in the field of new energy vehicles, a corresponding second speed fluctuation preset value can be set.

[0152] In some other embodiments of this application, if the motor is used in the field of home appliances, a corresponding second speed fluctuation preset value can be set.

[0153] In some embodiments of this application, the second speed fluctuation preset value set for the motor in the field of new energy vehicles can be greater than the second speed fluctuation preset value set for the motor in the field of home appliances.

[0154] In some other embodiments of this application, the second speed fluctuation preset value set for the motor in the field of new energy vehicles can be equal to the second speed fluctuation preset value set for the motor in the field of home appliances.

[0155] In some other embodiments of this application, the second speed fluctuation preset value set for the motor in the field of new energy vehicles can be smaller than the second speed fluctuation preset value set for the motor in the field of home appliances.

[0156] In some embodiments of this application, the first speed fluctuation preset value may be equal to the second speed fluctuation preset value.

[0157] In some embodiments of this application, the first speed fluctuation preset value may be greater than the second speed fluctuation preset value.

[0158] In some embodiments of this application, S510 can be divided into S511 and S512 as follows:

[0159] S511, detect whether the speed fluctuation value is below the second speed fluctuation preset value.

[0160] S512, if the detection is yes, then determine the second current injection ratio based on the speed fluctuation value and the second speed fluctuation preset value.

[0161] Please see Figure 6In some embodiments of this application, the second current injection ratio can be obtained through the following steps S610-S620:

[0162] S610, calculate the second ratio of the speed fluctuation value to the second speed fluctuation preset value.

[0163] In some embodiments of this application, the second ratio may be equal to the motor speed fluctuation value divided by the second speed fluctuation preset value.

[0164] Understandably, the motor's speed fluctuation is directly proportional to the second ratio. The greater the speed fluctuation, the larger the second ratio; the smaller the speed fluctuation, the smaller the second ratio.

[0165] S620, determine the second current injection ratio based on the second ratio.

[0166] In some embodiments of this application, the second current injection ratio may be equal to the second ratio.

[0167] S520 determines the actual injection current based on the second current injection ratio.

[0168] Please see Figure 7 In some embodiments of this application, the actual injection current can be determined through the following steps S710-S720:

[0169] S710 obtains the second injection current based on the speed fluctuation value.

[0170] Similarly, the motor speed fluctuation value can be input into the reference injection current determination module to obtain the second injection current.

[0171] S720 determines the actual injection current based on the second injection current and the second current injection ratio.

[0172] In some embodiments of this application, the actual injection current may be equal to the first injection current multiplied by the first current injection ratio.

[0173] Please see Figure 8 , Figure 8 This is a flowchart of a motor torque compensation control method provided in another exemplary embodiment of this application. In some embodiments of this application, the motor torque compensation control method may further include the following step S810:

[0174] S810, if the detected speed fluctuation value is below the first speed fluctuation preset value and above the second speed fluctuation preset value, then the third injection current is determined based on the speed fluctuation value, and the third injection current is used as the actual injection current.

[0175] In S810, when the first speed fluctuation preset value is less than the second speed fluctuation preset value, the relationship between the speed fluctuation value of the motor and the first speed fluctuation preset value can be determined.

[0176] When the first preset value of speed fluctuation is less than the second preset value of speed fluctuation, the relationship between the speed fluctuation value of the motor and the second preset value of speed fluctuation can be determined.

[0177] In some embodiments of this application, it can be determined first whether the motor speed fluctuation value is below a first speed fluctuation preset value, and then it can be determined whether the motor speed fluctuation value reaches or exceeds a second speed fluctuation preset value.

[0178] In some other embodiments of this application, it can be determined first whether the motor speed fluctuation value is below the first speed fluctuation preset value. When it is determined that the motor speed fluctuation value is below the first speed fluctuation preset value, it can then be determined whether the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value.

[0179] In some other embodiments of this application, it can be determined first whether the motor speed fluctuation value is below the first speed fluctuation preset value. When it is determined that the motor speed fluctuation value reaches or exceeds the first speed fluctuation preset value, it is no longer necessary to determine whether the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value.

[0180] In some other embodiments of this application, it can be determined first whether the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value, and then it can be determined whether the motor speed fluctuation value is below the first speed fluctuation preset value.

[0181] In some other embodiments of this application, it can be determined first whether the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value. When it is determined that the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value, it can then be determined whether the motor speed fluctuation value is below the first speed fluctuation preset value.

[0182] In some other embodiments of this application, it can be determined first whether the motor speed fluctuation value reaches or exceeds the second speed fluctuation preset value. When it is determined that the motor speed fluctuation value is below the second speed fluctuation preset value, it is no longer necessary to determine whether the motor speed fluctuation value is below the first speed fluctuation preset value.

[0183] In some other embodiments of this application, the relationship between the speed fluctuation value of the motor and the first speed fluctuation preset value and the second speed fluctuation preset value can be determined simultaneously.

[0184] In some embodiments of this application, the motor speed fluctuation value can be input into the reference injection current determination module to obtain the third injection current.

[0185] In some other embodiments of this application, the motor speed fluctuation value can be input into the compensation ratio control module to obtain the third injection current ratio.

[0186] The actual injected current of the motor can be equal to the third injected current multiplied by the third injected current ratio.

[0187] When the motor speed fluctuation value is below the first speed fluctuation preset value and above the second speed fluctuation preset value, the third injection current ratio can be 1.

[0188] Therefore, the third injection current can be taken as the actual injection current.

[0189] In some embodiments of this application, S810 can be divided into S811 and S812 as follows:

[0190] S811, detect whether the speed fluctuation value is below the first speed fluctuation preset value and above the second speed fluctuation preset value.

[0191] S812, if the detection is yes, then the injection current is determined based on the speed fluctuation value, and the injection current is used as the actual injection current.

[0192] In other embodiments of this application, S811 can also be divided into S8111 and S8112 as follows:

[0193] S8111, detect whether the speed fluctuation value is below the first speed fluctuation preset value.

[0194] S8112, detect whether the speed fluctuation value reaches or exceeds the second speed fluctuation preset value.

[0195] In some embodiments of this application, a home appliance product is also proposed.

[0196] In some embodiments of this application, the home appliance product may include a control circuit.

[0197] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a control circuit in a household appliance provided in another exemplary embodiment of this application. For example... Figure 9 As shown:

[0198] In some embodiments of this application, the control circuit may include a position observation module 1. The position observation module 1 can be used to detect the real-time rotational speed ω of the motor. real .

[0199] In some embodiments of this application, the control circuit may include a speed fluctuation value determination module 2. The speed fluctuation value determination module 2 can be used to determine the target speed value ω* and the real-time speed value ω* of the motor. realDetermine the speed fluctuation value ω err .

[0200] Among them, the speed fluctuation value ω err =Target speed value ω * - Real-time speed value ω real .

[0201] In some embodiments of this application, the control circuit may include a compensation proportional control module 3. The compensation proportional control module 3 can be used to adjust the speed fluctuation value ω. err Determine the current injection ratio P.

[0202] In other embodiments of this application, the compensation proportional control module 3 can be used to adjust the speed fluctuation value ω. err and the first speed fluctuation preset value ω err-on Determine the first current injection ratio.

[0203] In some embodiments of this application, if the speed fluctuation value of the motor reaches or exceeds the first speed fluctuation preset value, the current injection ratio P can be equal to the first current injection ratio.

[0204] In other embodiments of this application, the compensation proportional control module 3 can be used to adjust the speed fluctuation value ω. err Second speed fluctuation preset value ω err-off Determine the first current injection ratio.

[0205] In some embodiments of this application, if the speed fluctuation value of the motor is below the second speed fluctuation preset value, the current injection ratio P can be equal to the second current injection ratio.

[0206] In some embodiments of this application, if the speed fluctuation value of the motor is below the first speed fluctuation preset value and above the second speed fluctuation preset value, the current injection ratio P can be equal to the third current injection ratio.

[0207] In some embodiments of this application, the control circuit may include a reference injection current determination module 4. The reference injection current determination module 4 can be used to determine the reference injection current based on the rotational speed fluctuation value ω. err Determine the reference injection current I comp .

[0208] In some embodiments of this application, if the motor speed fluctuation value reaches or exceeds a first speed fluctuation preset value, the reference injection current I... comp It can be equal to the first injected current.

[0209] In some embodiments of this application, if the motor speed fluctuation value is below a second speed fluctuation preset value, the reference injection current I... comp It can be equal to the second injection current.

[0210] In some embodiments of this application, if the motor speed fluctuation value is below a first preset speed fluctuation value and above a second preset speed fluctuation value, then the reference injection current I... comp It can be equal to the third injection current.

[0211] In some embodiments of this application, the control circuit may include an actual injection current determination module 5. The actual injection current determination module 5 can be used to determine the actual injection current I based on the current injection ratio P. comp *

[0212] In some embodiments of this application, if the motor speed fluctuation value reaches or exceeds a first speed fluctuation preset value, the actual injection current determination module 5 can determine the actual injection current I based on the first current injection ratio. comp *

[0213] In some embodiments of this application, if the motor speed fluctuation value reaches or exceeds a first speed fluctuation preset value, the actual injection current determination module 5 can determine the actual injection current I based on the first current injection ratio and the first injection current. comp *

[0214] Among them, the actual injected current I comp * can be equal to the first current injection ratio multiplied by the first injection current.

[0215] In some embodiments of this application, if the motor speed fluctuation value is below the second speed fluctuation preset value, the actual injection current determination module 5 can determine the actual injection current I based on the second current injection ratio. comp *

[0216] In some embodiments of this application, if the motor speed fluctuation value is below the second speed fluctuation preset value, the actual injection current determination module 5 can determine the actual injection current I based on the second current injection ratio and the second injection current. comp *

[0217] Among them, the actual injected current I comp * can be equal to the second current injection ratio multiplied by the second injection current.

[0218] In some embodiments of this application, if the motor speed fluctuation value is below a first preset speed fluctuation value and above a second preset speed fluctuation value, the actual injection current determination module 5 can determine the actual injection current I based on the third injection current. comp *

[0219] Among them, the actual injected current I comp * can be equal to the third injection current.

[0220] In some embodiments of this application, the control circuit may include a torque compensation module 6. The torque compensation module 6 can be used to adjust the actual injected current I. comp * Compensate for the motor torque.

[0221] In some embodiments of this application, the position observation module 1 can also output the filtered real-time rotational speed value ω^.

[0222] In some embodiments of this application, the target speed value ω* of the motor can be subtracted from the filtered real-time speed value ω^ and input into the speed loop PI to obtain the current I of the motor on the q-axis. q .

[0223] In some embodiments of this application, the current I of the motor on the q-axis is calculated. q With real-time injection current I comp The sum of * gives the compensated current I. q * .

[0224] In some embodiments of this application, the compensated current I is calculated. q* By subtracting the real-time current of the motor on the q-axis from the actual current, and inputting the difference into the current loop PI, the voltage V of the motor on the q-axis can be obtained. q *

[0225] In some embodiments of this application, the compensated current I is calculated. d * By subtracting the real-time current of the motor on the d-axis from the actual current, and inputting the difference into the current loop PI, the voltage V of the motor on the d-axis can be obtained. d *

[0226] In some embodiments of this application, the household appliance may be a clothing processing device.

[0227] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a garment processing device provided in an exemplary embodiment of this application. The garment processing device can be a washing machine. The garment processing device can be an agitator-type washing machine. The garment processing device can be a drum-type washing machine. The garment processing device can be a dryer. The garment processing device can be a washer-dryer combo.

[0228] This embodiment does not impose specific restrictions on the type of clothing processing equipment.

[0229] like Figure 10 As shown, the garment processing equipment may include a housing 7. The housing 7 is the external structure of the garment processing equipment and can be used to fix and protect the internal components. The housing 7 can also provide robust structural support for the internal components.

[0230] The housing 7 can be made of metal or plastic.

[0231] In some embodiments of this application, the housing 7 may be made of ABS material, which makes the housing 7 more durable.

[0232] The housing 7 protects the internal mechanical and electronic components of the garment processing equipment from external impacts, water, and dust.

[0233] In some embodiments of this application, a door 8 may be provided on the housing 7. The door 8 may be designed with a locking mechanism to ensure that it is tightly closed and to prevent water leakage from the inner cylinder.

[0234] The door 8 can be made of transparent glass or plastic so that users can observe the clothing cleaning process.

[0235] In some embodiments of this application, a control panel 9 may also be provided on the housing 7. The control panel 9 may be located on the top or front of the garment processing equipment so that the user can control the garment processing equipment through the control panel 9.

[0236] The control panel 9 can consist of button components. The control panel 9 can also consist of touchscreen components. The control panel 9 can be composed of a combination of button components and touchscreen components.

[0237] Users can select washing programs, set washing duration, and set spin-drying duration via control panel 9.

[0238] Users can select the drying program via control panel 9. Users can also select the drying duration via control panel 9.

[0239] The preferred embodiments of the present invention have been illustrated and described above. However, the present invention is not limited to the specific embodiments described above. Of course, those skilled in the art can make various modifications without departing from the spirit of the invention as claimed in the claims. These modifications should not be understood separately from the technical concept or prospect of the present invention.

[0240] This invention can be implemented in various forms, and its scope of claim is not limited to the embodiments described above. Therefore, any modified embodiment that includes the constituent elements within the scope of the claims of this invention should be considered to fall within the scope of the claims of this invention.

[0241] The embodiments of the present invention described above, or other embodiments thereof, are not mutually exclusive or distinct. The embodiments of the present invention described above, or other embodiments thereof, can be used in combination or in combination of their respective configurations or functions.

[0242] For example, it indicates that configuration A described in a particular embodiment and / or figure and configuration B described in another embodiment and / or figure can be combined. That is, even if no combination between the configurations is directly described, it indicates that they can be combined, except where cases where combination is impossible are explained.

[0243] The detailed description above should not be construed as limiting in all respects, but should be considered exemplary. The scope of the invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention.

Claims

1. A control method of motor torque compensation, characterized by, The method comprises: if the real-time speed value of the motor is detected to be below a preset speed value, determining a speed fluctuation value according to a target speed value of the motor and the real-time speed value; if the speed fluctuation value is detected to reach above a first speed fluctuation preset value, determining a first current injection ratio according to the speed fluctuation value and the first speed fluctuation preset value; determining an actual injection current according to the first current injection ratio; compensating the torque of the motor according to the actual injection current.

2. The method of claim 1, wherein, The method further comprises: acquiring a maximum speed fluctuation value that the motor can withstand; determining the first speed fluctuation preset value according to the maximum speed fluctuation value.

3. The method of claim 1, wherein, The method further comprises: if the speed fluctuation value is detected to be below a second speed fluctuation preset value, determining a second current injection ratio according to the speed fluctuation value and the second speed fluctuation preset value; determining the actual injection current according to the second current injection ratio.

4. The method of claim 1, wherein, The method further comprises: if the speed fluctuation value is detected to be below a second speed fluctuation preset value, determining a second current injection ratio according to the speed fluctuation value and the second speed fluctuation preset value; determining the actual injection current according to the second current injection ratio.

5. The method of claim 1, wherein, The method further comprises: if the speed fluctuation value is detected to be below a second speed fluctuation preset value, determining a second current injection ratio according to the speed fluctuation value and the second speed fluctuation preset value; determining the actual injection current according to the second current injection ratio.

6. The method of claim 5, wherein, The first speed fluctuation preset value is greater than the second speed fluctuation preset value. The method further comprises: if the speed fluctuation value is detected to be below the first speed fluctuation preset value and reach above the second speed fluctuation preset value, determining a third injection current according to the speed fluctuation value, and taking the third injection current as the actual injection current.

7. The method of claim 5, wherein, The household electrical product comprises a control circuit, and the control circuit comprises: a position observation module configured to detect a real-time speed value of the motor; a speed fluctuation value determination module configured to determine a speed fluctuation value according to a target speed value of the motor and the real-time speed value; 8. The method of claim 5, wherein, a compensation ratio control module configured to determine a first current injection ratio according to the speed fluctuation value and a first speed fluctuation preset value; 9. The method of claim 8, wherein, an actual injection current determination module configured to determine an actual injection current according to the first current injection ratio; a torque compensation module configured to compensate the torque of the motor according to the actual injection current.

10. An electric home appliance characterized by comprising: ​ ​ ​ ​ ​ ​

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