Motor control method, washing machine, storage medium and computer program product

Abstract

The invention discloses a motor control method, a washing machine, a storage medium and a computer program product, relates to the technical field of washing machine control, is applied to the washing machine, and the washing machine at least comprises a washing machine roller and a motor. Obtaining the eccentricity amplitude and eccentric phase information of an eccentric load in the drum of the washing machine based on the motor rotating speed signal; and generating a target torque instruction based on the eccentricity amplitude and the eccentric phase information, and controlling a motor of the washing machine to generate an electromagnetic torque confronting the eccentric load based on the target torque instruction. The technical problem that an existing roller washing machine is low in operation efficiency under the dewatering working condition is solved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor control method, electronic device, storage medium and computer program product. Background Technology

[0002] With the increasing popularity of front-loading washing machines, users are demanding a more efficient, quiet, and safe spin-drying experience. During the spin-drying process, clothes inside the drum become unevenly distributed due to tangling and knotting, creating an eccentric load – a common and unavoidable phenomenon. At high speeds, this eccentric load generates significant periodic centrifugal force, causing severe vibrations, abnormal noise, and even displacement of the washing machine, impacting both user experience and safety. Traditional solutions typically involve interrupting the spin-drying process or switching to a lower speed program to redistribute the clothes when significant eccentricity is detected, sacrificing spin-drying efficiency and extending the overall running time. Therefore, current front-loading washing machines suffer from low operating efficiency during spin-drying.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide a motor control method, electronic device, storage medium, and computer program product, which aims to solve the technical problem of low operating efficiency of current drum washing machines under spin-drying conditions.

[0005] To achieve the above objectives, this application proposes a motor control method applied to a washing machine, wherein the washing machine includes at least a washing machine drum and a motor, and the motor control method includes: The motor speed signal of the washing machine drum is acquired in real time, and the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum are acquired based on the motor speed signal. A target torque command is generated based on the eccentricity amplitude and the eccentricity phase information, and the motor is controlled to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

[0006] In one embodiment, the step of obtaining the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal includes: A periodic fluctuation signal is extracted from the motor speed signal, wherein the periodic fluctuation signal is synchronized with the rotation frequency of the washing machine drum; The target angle of the washing machine drum is calculated based on the target rotational speed of the motor speed signal. A sine reference signal and a cosine reference signal are generated based on the target angle. The in-phase component is obtained based on the periodic fluctuation signal and the cosine reference signal. The periodic fluctuation signal is filtered to obtain a speed error signal. A phase error characterization signal is obtained based on the speed error signal and the in-phase component. The initial phase value of the target angle is adjusted by a preset first controller to adjust the phase error characterization signal. When the phase error characterization signal is adjusted to be lower than a preset signal threshold, the amplitude of the in-phase component is used as the eccentricity amplitude of the eccentric load inside the washing machine drum, and the phases of the sine reference signal and the cosine reference signal are used as the eccentricity phase information of the eccentric load inside the washing machine drum.

[0007] In one embodiment, the step of generating a target torque command based on the eccentricity amplitude and the eccentricity phase information includes: Obtain the target gain coefficient corresponding to the washing machine drum; A compensation torque command is generated based on the target gain coefficient, the eccentricity amplitude, and the eccentricity phase information; a basic torque command is generated based on the preset second controller and the speed error signal. The compensation torque command and the basic torque command are superimposed to generate the target torque command.

[0008] In one embodiment, the step of obtaining the target gain coefficient corresponding to the washing machine drum includes: The drum speed of the washing machine drum is monitored in real time, and the drum speed is compared with a preset speed threshold to determine the operating range of the drum speed, wherein the operating range includes a low-speed operating range, a medium-speed transition range, and a high-speed spin-drying range; When the drum speed is in the low-speed operating range, the initial gain coefficient corresponding to the washing machine drum is set to the first gain value; When the drum speed is in the medium speed transition range, the initial gain coefficient corresponding to the washing machine drum is calculated based on the drum speed, wherein the initial gain coefficient increases as the drum speed increases; When the drum speed is in the high-speed dehydration range, the initial gain coefficient corresponding to the washing machine drum is set to the second gain value, wherein the second gain value is higher than the first gain value; The initial gain coefficient is adjusted based on the weight of the clothes in the washing machine to obtain the target gain coefficient.

[0009] In one embodiment, the step of adjusting the initial gain coefficient based on the weight of clothes in the washing machine to obtain the target gain coefficient includes: The washing machine obtains the weight of the clothes, compares the weight of the clothes with a preset load weight threshold, and determines the weight range to which the weight of the clothes belongs based on the comparison result, wherein the load adjustment factor is proportional to the weight of the clothes; Determine the load adjustment factor corresponding to the weight range, and obtain the target gain coefficient corresponding to the washing machine drum based on the load adjustment factor and the initial gain coefficient.

[0010] In one embodiment, the step of generating a compensation torque command based on the target gain coefficient, the eccentricity amplitude, and the eccentricity phase information includes: Multiplying the eccentricity amplitude by the target gain coefficient yields the reference value of the compensation torque amplitude; The motor rotation angle of the washing machine drum is obtained, and the motor rotation angle and the eccentric phase information are accumulated to obtain the composite phase angle; A preset phase lead compensation amount is superimposed on the synthesized phase angle to obtain the total phase angle, and the sine function value of the total phase angle is calculated. The compensation signal is obtained by multiplying the compensation torque amplitude reference value by the sine function value, and the compensation signal is used as the compensation torque command.

[0011] In one embodiment, the motor control method further includes: The system collects feedback signals reflecting the vibration state of the washing machine in real time, extracts the fundamental component that is synchronized with the rotation frequency of the washing machine drum from the feedback signals, calculates the intensity value of the fundamental component, and uses the intensity value as a residual vibration index. If the residual vibration index is higher than the preset index threshold, the target gain coefficient and / or the preset phase advance compensation amount are adjusted based on the deviation between the residual vibration index and the preset index threshold until the residual vibration index is lower than the preset index threshold.

[0012] Furthermore, to achieve the above objectives, this application also proposes a motor control device for use in a washing machine, wherein the washing machine includes at least a washing machine drum and a motor, and the motor control device includes: The parameter acquisition module is used to acquire the motor speed signal of the washing machine drum in real time, and acquire the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal. The instruction generation module is used to generate a target torque instruction based on the eccentricity amplitude and the eccentricity phase information, and to control the motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque instruction.

[0013] In addition, to achieve the above objectives, this application also proposes an electronic device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor control method as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the motor control method described above.

[0015] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the motor control method described above.

[0016] This application provides a motor control method applied to a washing machine. The washing machine includes at least a washing machine drum and a motor. The motor control method includes: acquiring the motor speed signal of the washing machine drum in real time; acquiring the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal; generating a target torque command based on the eccentricity amplitude and eccentricity phase information; and controlling the washing machine motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

[0017] This application solves the technical problem of traditional solutions that can only determine whether eccentricity exists or exceeds limits, but cannot accurately quantify the size and spatial orientation of eccentricity, by acquiring the motor speed signal of the washing machine drum in real time and extracting the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the signal. Based on the acquired eccentricity amplitude and eccentricity phase information, a target torque command is generated, and the motor is controlled to generate a corresponding electromagnetic torque. This solves the fundamental efficiency problem of traditional solutions that can only passively interrupt spin-drying or reduce speed when large eccentricity is detected, resulting in repeated spin-drying processes and extended time. By executing the above total torque command, the motor actively outputs a canceling electromagnetic torque while driving the drum to rotate. This keeps the net torque acting on the drive shaft relatively stable and suppresses the vibration source caused by eccentric centrifugal force. Compared to related solutions that interrupt spin-drying or switch to a low-speed program to redistribute clothes when large eccentricity is detected, this application actively counteracts the vibration of the washing machine caused by eccentric load by generating electromagnetic torque in real time. This changes passive interception to active counteracting. The system can effectively suppress violent vibration and abnormal noise of the machine body and prevent the washing machine from shifting without interrupting the high-speed spin-drying process. Thus, while ensuring stable operation and safety, it significantly shortens the total time required for spin-drying and improves spin-drying efficiency. Attached Figure Description

[0018] 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.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating an embodiment of the motor control method of this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the motor control method of this application; Figure 3 This is a flowchart illustrating Embodiment 3 of the motor control method of this application; Figure 4 This is a schematic diagram of the module structure of the motor control device according to an embodiment of this application; Figure 5 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the motor control method in the embodiments of this application.

[0021] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the first embodiment described herein is merely used to explain the technical solution of this application and is not intended to limit this application.

[0023] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0024] The first embodiment of this application is applied to a washing machine, which includes at least a washing machine drum and a motor. The main solution is: the motor control method includes: acquiring the motor speed signal of the washing machine drum in real time, acquiring the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal; generating a target torque command based on the eccentricity amplitude and eccentricity phase information, and controlling the washing machine motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

[0025] In the first embodiment, for ease of description, the following description uses a washing machine as the execution subject.

[0026] Because current front-loading washing machines often leave clothes tangled and knotted after washing, making spin-drying difficult, high-speed spin-drying can lead to severe drum collisions and machine displacement. Traditional washing machine spin-drying systems, when experiencing large eccentricities at high speeds, have their inverter board detect this and report it to the host computer for interception, thus extending the spin-drying time. Under high-speed rotation, the uncontrolled eccentric load generates significant periodic centrifugal force, causing severe vibration of the washing machine, abnormal noise, and even "walking" or shifting, posing a safety hazard.

[0027] This application provides a solution that acquires the motor speed signal of the washing machine drum in real time and extracts the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the signal. This solves the technical problem of traditional solutions that can only determine whether eccentricity exists or exceeds the limit, but cannot accurately quantify the size and spatial orientation of eccentricity. Based on the acquired eccentricity amplitude and eccentricity phase information, a target torque command is generated, and the motor is controlled to generate a corresponding electromagnetic torque accordingly. This solves the fundamental efficiency problem of traditional solutions that can only passively interrupt spin-drying or reduce speed when large eccentricity is detected, resulting in repeated spin-drying processes and extended time. By executing the above total torque command, the motor actively outputs a canceling electromagnetic torque while driving the drum to rotate. This keeps the net torque acting on the drive shaft relatively stable and suppresses the vibration source caused by eccentric centrifugal force. Compared to related solutions that interrupt spin-drying or switch to a low-speed program to redistribute clothes when large eccentricity is detected, this application actively counteracts the vibration of the washing machine caused by eccentric load by generating electromagnetic torque in real time. This changes passive interception to active counteracting. The system can effectively suppress violent vibration and abnormal noise of the machine body and prevent the washing machine from shifting without interrupting the high-speed spin-drying process. Thus, while ensuring stable operation and safety, it significantly shortens the total time required for spin-drying and improves spin-drying efficiency.

[0028] It should be noted that the executing entity in the first embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, or other electronic device, or a system, application, or program capable of implementing the above functions. The first embodiment and the following embodiments will be described using a washing machine as an example.

[0029] All actions involving the acquisition of signals, information, or data in this application are carried out in accordance with the relevant data protection laws and policies of the country where the application is located, and with the authorization of the owner of the relevant device.

[0030] Based on this, the embodiments of this application provide a motor control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the motor control method of this application.

[0031] In this embodiment, the motor control method is applied to a washing machine, which includes at least a washing machine drum and a motor, and includes steps S01~S02: Step S01: Real-time acquisition of the motor speed signal of the washing machine drum; based on the motor speed signal, acquisition of the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum. It should be noted that a washing machine refers to an integrated electromechanical system with washing and spin-drying functions. It includes a washing drum for holding clothes, a motor that drives the drum's rotation, a driver (such as an inverter board) to control the motor, and a processor (main control MCU) responsible for running the control algorithm. The washing drum is the cylindrical component inside the washing machine that carries and rotates the clothes. During the spin-drying stage, it is the core moving part that generates centrifugal force, and its rotational smoothness directly determines the overall vibration level of the machine. The motor speed signal is a physical quantity or an electrical signal derived from the real-time rotational speed of the motor driving the washing drum. It can be directly measured by a speed sensor (such as a Hall sensor or encoder) mounted on the motor shaft, or indirectly calculated by sampling the motor phase current and using a sensorless observer algorithm (such as a sensorless FOC observer). Eccentric load is a physical state caused by clothes being tangled, knotted, or unevenly distributed inside the washing machine drum, resulting in the overall center of mass of the drum and clothes deviating from its geometric axis of rotation. For example, a pile of wet clothes is all piled on one side of the drum instead of being evenly distributed. The eccentricity amplitude is a quantitative representation of the severity of the eccentric load, reflecting the distance (or equivalent torque) of the overall mass center of the clothes deviating from the rotation axis of the washing machine drum. The larger the amplitude, the more severe the eccentricity, and the stronger the centrifugal force and vibration that may be generated. The eccentricity phase information is a quantitative representation of the specific spatial orientation of the eccentric load on the rotating circumference. It can be represented by an angle value (such as 0-360 degrees) to indicate the instantaneous angle of the eccentric mass block relative to a certain rotational reference zero point (such as the position of the drum door).

[0032] Understandably, step S01 achieves refined and digital perception of the eccentricity state by resolving the periodic fluctuations that are in sync with the drum rotation frequency from the motor speed signal in real time, and accurately calculating the amplitude that characterizes the severity of eccentricity and the phase information that indicates the phase of the eccentric mass block on the inner circumference of the drum. This provides the necessary and accurate input parameters for subsequent precise dynamic compensation, overcoming the shortcomings of traditional detection methods that are coarse and lagging.

[0033] Step S02: Generate a target torque command based on the eccentricity amplitude and eccentricity phase information, and control the motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

[0034] It should be noted that the target torque command is the final torque setting value sent to the motor. Electromagnetic torque is the actual mechanical torque generated by the motor through its internal electromagnetic interaction (interaction between the stator magnetic field and the rotor magnetic field) based on the received target torque command; it is the actual rotational force applied to the drum.

[0035] For example, a target torque command, as a total control quantity, is input to the motor driver (typically an inverter or intelligent power module). This command corresponds to the expected total electromagnetic torque that the motor should output. Upon receiving this command, the current loop controller within the driver (such as a current regulator based on field-oriented control) decomposes it and converts it into corresponding three-phase current setpoints. For instance, in a quadrature-axis coordinate system, this total torque command directly corresponds to a reference value for the quadrature-axis current. Subsequently, the current loop uses high-frequency pulse width modulation technology to adjust the conduction state of each power switch in the inverter in real time, thereby precisely controlling the voltage and current applied to the three-phase windings of the motor to match the resulting electromagnetic field with the electromagnetic torque required by the target torque command.

[0036] Understandably, step S02 generates and executes an electromagnetic torque that cancels out the eccentric disturbance torque in real time based on the eccentricity amplitude and eccentricity phase information. This enables the system to actively suppress vibration and displacement risks while maintaining the target dehydration speed, achieving a strategic leap from "passive detection-interruption processing" to "active perception-real-time cancellation". Under the premise of ensuring stable and safe operation, it significantly improves dehydration efficiency.

[0037] In one feasible implementation, step S01, which involves obtaining the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal, includes steps A01 to A04: Step A01: Extract the periodic fluctuation signal from the motor speed signal, wherein the periodic fluctuation signal is synchronized with the rotation frequency of the washing machine drum; It should be noted that the periodic fluctuation signal is a signal component that is separated from the motor speed signal and exhibits regular fluctuations. Its fluctuation frequency is exactly the same as the rotation frequency of the washing machine drum (i.e., the number of times the drum rotates per second). For example, if the washing machine drum rotates at 10 Hz, then the frequency of the periodic fluctuation signal is also 10 Hz.

[0038] Step A02: Calculate the target angle of the washing machine drum based on the target speed of the motor speed signal, generate a sine reference signal and a cosine reference signal based on the target angle, and obtain the in-phase component based on the periodic fluctuation signal and the cosine reference signal. It should be noted that the target rotational speed is the constant rotational speed value that the motor is expected to achieve when driving the drum, as set by the washing program. The target angle is an angle value that increases linearly with time, calculated by mathematical integration from the target rotational speed. It describes the theoretical circumferential position (angle) of the washing machine drum at any given moment under ideal, unbiased, uniform rotation conditions, and is used as the phase reference for generating the reference signal. The sine and cosine reference signals are a pair of standard periodic signals with an amplitude of 1 and a phase difference of 90 degrees (orthogonal), generated in real time based on the target angle. The in-phase component is a DC or slowly varying signal obtained by multiplying the periodic fluctuation signal and the cosine reference signal, followed by filtering. It reflects the amplitude of the portion of the periodic fluctuation signal that is in phase (i.e., in sync) with the cosine reference signal.

[0039] For example, based on a preset target rotational speed, the target angle that the roller should theoretically be at when rotating at a uniform speed without eccentricity is calculated through integration. Based on this angle, a pair of ideal orthogonal signals—a sine reference signal and a cosine reference signal—are generated in real time. Subsequently, the periodic fluctuation signal (e.g., its absolute value is taken to enhance the signal-to-noise ratio) is multiplied with the cosine reference signal to obtain an initial in-phase component. This operation essentially projects the fluctuation signal onto the reference axis. If the fluctuation is completely in phase with the cosine reference signal, the projected value (in-phase component) is maximized, directly reflecting the intensity of the eccentric disturbance.

[0040] Step A03: The periodic fluctuation signal is filtered to obtain the speed error signal. The phase error characterization signal is obtained based on the speed error signal and the in-phase component. The initial phase value of the target angle is adjusted by a preset first controller to adjust the phase error characterization signal. It should be noted that filtering is a signal processing operation designed to preserve specific frequency components while attenuating others. For example, low-pass filtering can smooth a signal and remove unnecessary fluctuations caused by noise or high-frequency interference. The speed error signal is obtained by filtering (mainly low-pass filtering) the periodic fluctuation signal, representing the low-frequency fluctuation component of the speed affected by eccentricity, i.e., the error relative to the ideal speed. The phase error characterization signal is obtained by multiplying the speed error signal with the in-phase component and then filtering it. It represents the deviation between the phase of the currently generated reference signal (derived from the target angle) and the phase of the actual eccentric disturbance signal in the periodic fluctuation signal. The preset first controller refers to a proportional-integral (PI) controller, which receives the phase error characterization signal as input and outputs a correction value, automatically adjusting system parameters to drive the error signal closer to zero. The initial phase value is an adjustable phase offset used when calculating the target angle; the output of the preset first controller is used to dynamically correct this value, thereby changing the generated phase of the sine / cosine reference signal.

[0041] For example, the periodic fluctuation signal is low-pass filtered to obtain the speed error signal. At the same time, the initial in-phase component is also low-pass filtered to eliminate high-frequency noise. The speed error signal is multiplied with the filtered in-phase component and filtered again to finally obtain a stable phase error characterization signal. This signal reflects the deviation between the phase of the built-in reference signal and the phase of the actual eccentric disturbance. The system inputs this error signal to a preset first controller (such as a proportional-integral controller). The output of the controller dynamically adjusts the initial phase value of the target angle used to generate the sine / cosine reference signal. This is a closed-loop adjustment process with the goal of driving the phase error characterization signal to approach zero.

[0042] Step A04: When the phase error characterization signal is adjusted to be lower than the preset signal threshold, the amplitude of the in-phase component is used as the eccentricity amplitude of the eccentric load inside the washing machine drum, and the phases of the sine reference signal and the cosine reference signal are used as the eccentricity phase information of the eccentric load inside the washing machine drum.

[0043] It should be noted that the preset signal threshold is a small positive number close to zero, which serves as a convergence criterion for judging whether the phase error characterization signal has been sufficiently suppressed. When the absolute value of the phase error characterization signal is lower than this threshold, the phase-locked loop is determined to have entered a stable state, that is, it can determine the stable eccentricity amplitude and eccentricity phase information.

[0044] For example, when the closed-loop adjustment causes the phase error characterization signal to be adjusted to below the preset signal threshold, it is determined that the phase has been accurately locked. At this time, the amplitude of the filtered in-phase component (a stable DC or slow variable) in the locked state is adopted as an accurate measure of the eccentricity amplitude. At the same time, the phase corresponding to the adjusted target angle used to generate sine and cosine signals is determined as the eccentricity phase information, which indicates the real-time orientation of the eccentric mass block on the circumference of the drum.

[0045] In this embodiment, by separating the rotational speed fluctuation signal that is in sync with the drum, the vibration source is accurately located, avoiding noise interference and laying the foundation for precise quantification. Orthogonal phase-locked loop technology is used to generate a reference signal and extract the in-phase component, thereby initially obtaining a reliable characterization of the eccentricity amplitude. Phase locking is achieved through closed-loop adjustment to ensure that the system dynamically tracks the eccentricity position, solving the key problem of compensation failure caused by phase inaccuracy. After the phase locking stabilizes, accurate amplitude and phase information are output, realizing real-time and accurate identification of the eccentricity state. This provides the necessary conditions for generating accurate active compensation torque, so that the system does not need to interrupt the high-speed dehydration process due to inaccurate detection or compensation, fundamentally improving the continuity and overall efficiency of the dehydration process.

[0046] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 In step S02, the step of generating the target torque command based on the eccentricity amplitude and eccentricity phase information includes steps S11 to S13: Step S11: Obtain the target gain coefficient corresponding to the washing machine drum; It should be noted that the target gain coefficient is an adjustable parameter used to dynamically adjust the compensation intensity, and its value can be adaptively adjusted according to the system operating conditions (such as real-time rotation speed and clothing load weight).

[0047] Step S12: Generate a compensation torque command based on the target gain coefficient, eccentricity amplitude and eccentricity phase information, and generate a basic torque command based on the preset second controller and speed error signal. It should be noted that the compensation torque command is a feedforward control command generated in real time by the control algorithm based on the eccentricity amplitude, eccentricity phase information, and target gain coefficient, according to a preset mathematical model (such as a sine function model). This command is a time-varying signal with the same frequency, proportional amplitude, and opposite phase to the periodic disturbance torque caused by the eccentric load. Its core purpose is to actively cancel the disturbance, rather than to maintain the speed. The preset second controller is the speed loop controller (e.g., a PID controller) in the washing machine drive system. As a feedback controller, it continuously receives the deviation signal between the actual speed of the motor and the target speed (i.e., the speed error signal) and calculates accordingly. Its output is the basic torque command required to maintain the system stably following the target speed. The basic torque command is a control signal output by the preset second controller, representing the basic electromagnetic torque required to drive the motor speed to reach and maintain the set value under the current speed error.

[0048] Step S13: The compensation torque command and the basic torque command are superimposed to generate the target torque command.

[0049] For example, the final generated target torque command is Ttotal = Tspeed_pid + Tcomp, where Tspeed_pid is the base torque command and Tcomp is the compensation torque command.

[0050] In this embodiment, the target gain coefficient is obtained based on real-time operating conditions, which solves the problem of mismatch between compensation intensity and current speed and load, enabling adaptive optimization of compensation intensity and improving control accuracy. By generating compensation torque commands for actively offsetting eccentric disturbances and basic torque commands for maintaining speed stability, the limitation of a single speed loop being unable to cope with periodic strong disturbances is solved, achieving targeted suppression of vibration sources. By superimposing the two commands and merging them into a total control command, the motor can simultaneously output smooth driving force and active anti-vibration force, resolving the contradiction of traditional solutions requiring interruption or speed reduction for vibration avoidance. This achieves vibration suppression during continuous high-speed operation and significantly improves dehydration efficiency.

[0051] In one feasible implementation, step S11, the step of obtaining the target gain coefficient corresponding to the washing machine drum, includes steps B01 to B05: Step B01: Monitor the drum speed of the washing machine drum in real time and compare the drum speed with the preset speed threshold to determine the operating range of the drum speed. The operating range includes the low speed operating range, the medium speed transition range and the high speed spin-drying range. It should be noted that drum speed refers to the actual instantaneous speed at which the washing machine drum rotates around its central axis, usually measured in revolutions per minute (RPM). Preset speed thresholds are speed values ​​stored in the control system to divide different operating stages. The low-speed operating range refers to the range from zero drum speed to the first speed threshold; in this stage, the center of gravity is low, and vibration is minimal. The medium-speed transition range refers to the range between the first and second speed thresholds; in this stage, centrifugal force begins to increase significantly. The high-speed spin-drying range refers to the range where the drum speed exceeds the second speed threshold; in this stage, centrifugal force dominates, and the risk of vibration is highest.

[0052] Step B02: When the drum speed is in the low-speed operating range, set the initial gain coefficient corresponding to the washing machine drum to the first gain value; It should be noted that the initial gain coefficient refers to the basic adjustment parameter for compensation intensity determined based on the current drum speed and its operating range, before considering the influence of the load weight of the clothes. The first gain value is a smaller initial gain coefficient corresponding to the low-speed operating range, suitable for operating conditions where the eccentricity hazard is relatively small.

[0053] Step B03: When the drum speed is in the medium speed transition range, calculate the initial gain coefficient corresponding to the washing machine drum based on the drum speed. The initial gain coefficient increases as the drum speed increases. It should be noted that when the drum speed is in the medium-speed transition range, the initial gain coefficient increases from the first gain value until it increases to the second gain value.

[0054] Step B04: When the drum speed is in the high-speed spin-drying range, set the initial gain coefficient corresponding to the washing machine drum to the second gain value, wherein the second gain value is higher than the first gain value. It should be noted that the second gain value is a relatively large initial gain coefficient corresponding to the high-speed dehydration range, used to provide sufficient compensation to suppress severe vibrations.

[0055] Step B05: Adjust the initial gain coefficient based on the weight of the clothes in the washing machine to obtain the target gain coefficient.

[0056] It should be noted that the weight of the clothes is the total mass of the clothes in the drum estimated or measured by the washing machine's weighing module before or at the beginning of the program. The target gain coefficient is the final effective compensation strength parameter obtained by weighting and adjusting the initial gain coefficient according to the weight of the clothes, realizing a composite adaptive response to both the rotation speed and the load.

[0057] For example, the drum speed of the washing machine is monitored in real time and compared with multiple preset speed thresholds to divide the spin-drying process into a low-speed operating range, a medium-speed transition range, and a high-speed spin-drying range. This is because the centrifugal force caused by eccentricity is proportional to the square of the speed, so the degree of harm caused by the same amount of eccentricity varies greatly at different speeds. In the low-speed operating range (e.g., the start-up or shaking stage), the initial gain coefficient is set to a low first gain value. This is because the eccentric vibration energy is small at low speeds, tolerating larger eccentricities without causing serious problems, prioritizing acceleration and fabric efficiency, and avoiding unnecessary energy consumption and potential overshoot. When the speed enters the medium-speed transition range, the initial gain coefficient increases linearly from the first gain value as the speed increases, matching the square-increasing trend of centrifugal force, allowing the compensation strength to prevent problems before they occur and enhancing the suppression capability in advance before the vibration becomes severe. In the high-speed spin-drying range, the initial gain coefficient is set to a higher second gain value and remains unchanged to ensure sufficient and stable compensation capability under the condition of maximum centrifugal force, effectively suppressing severe vibration and machine displacement. Finally, the weight of the clothing was introduced as another key variable to calibrate the initial gain based on the rotation speed. Through this dual adaptive mechanism of rotation speed and load, the compensation force was accurately matched with the real-time operating conditions, thereby maximizing the continuity of high-speed dehydration and improving operating efficiency while ensuring the vibration suppression effect.

[0058] In this embodiment, real-time speed zoning provides a basis for subsequent differentiated compensation strategies, solving the problem of disconnect between control parameters and speed conditions. The gain is dynamically set according to the speed range. A lower gain is used in the low-speed stage to avoid unnecessary energy consumption and potential disturbances. In the medium-speed stage, the gain increases linearly with the speed to match the square growth relationship of centrifugal force. In the high-speed stage, a higher fixed gain is used to provide sufficient vibration suppression capability. This solves the contradiction that fixed gain cannot simultaneously take into account efficiency and stability over a wide speed range. By introducing the weight of clothing to correct the gain, the problem of different compensation strengths required under different load inertia is solved, achieving precise matching between compensation strength and load state.

[0059] In one feasible implementation, step B05, adjusting the initial gain coefficient based on the weight of the clothes in the washing machine to obtain the target gain coefficient, includes steps B11-B12: Step B11: Obtain the weight of the clothes in the washing machine, compare the weight of the clothes with the preset load weight threshold, and determine the weight range to which the weight of the clothes belongs based on the comparison result. The load adjustment factor is proportional to the weight of the clothes. It should be noted that the preset load weight threshold is a pre-defined set of weight critical values. These values ​​are set based on the washing machine's design specifications and experimental data, and are used to divide the continuous load weight range into several discrete intervals with different control strategies. The comparison result refers to the measured value of the current clothing weight (i.e., the total mass of all clothes in the washing drum) obtained through the weighing command of the washing machine's inverter board. The weight interval is a specific load level range divided according to the comparison result, and each interval corresponds to a preset load adjustment factor. For example, if the measured clothing weight ≤ threshold one (2 kg), it is determined to belong to the "light load interval"; if threshold one (2 kg) < measured weight ≤ threshold two (5 kg), it belongs to the "medium load interval"; if the measured weight > threshold two (5 kg), it belongs to the "heavy load interval", and the heavy load interval is usually assigned a larger load adjustment factor.

[0060] Step B12: Determine the load adjustment factor corresponding to the weight range, and obtain the target gain coefficient corresponding to the washing machine drum based on the load adjustment factor and the initial gain coefficient.

[0061] For example, the weight of the clothes in the washing machine is obtained through a built-in weighing sensor or a weighing command based on the inverter board. This weight is compared to a preset load weight threshold. Based on the comparison result, the clothes are categorized into one of the preset weight ranges: light load, medium load, or heavy load. According to a predefined mapping relationship, a corresponding load adjustment factor is assigned to this range. This factor is proportional to the weight of the clothes; that is, the heavier the load, the larger the factor value. The load adjustment factor corresponding to the weight range is then multiplied by the initial gain coefficient to obtain the final target gain coefficient. For example, if the initial gain coefficient calculated based on the spin speed is 2.0, and the load adjustment factor corresponding to heavy load is 1.5, then the final target gain coefficient is 3.0.

[0062] In this embodiment, by acquiring and quantifying the weight of the clothing, the problems of insensitivity of compensation to load changes and the inability of a single gain to adapt to the different inertial requirements of light and heavy loads are solved. The weight of the clothing is quantified as an adjustment factor and applied to the gain, so that the compensation intensity is positively correlated with the weight of the clothing. This ensures that there is sufficient compensation torque to suppress vibration under heavy loads and avoids overcompensation under light loads. It achieves a precise match between the compensation intensity and the load inertia, optimizes the vibration suppression effect across the entire load range, and thus ensures the continuous and stable operation of the high-speed dehydration process under different clothing weights, thereby improving the dehydration efficiency.

[0063] In one feasible implementation, step S12, which involves generating a compensation torque command based on the target gain coefficient, the eccentricity amplitude, and the eccentricity phase information, includes steps B21 to B24: Step B21: Multiply the eccentricity amplitude by the target gain coefficient to obtain the reference value of the compensation torque amplitude; It should be noted that the reference value of the compensation torque amplitude is a scalar value obtained by multiplying the eccentricity amplitude by the target gain coefficient. It represents the theoretical peak value of the compensation torque required to counteract the current eccentricity disturbance. For example, if the eccentricity amplitude is determined to be A and the target gain coefficient is K, then the reference value of the compensation torque amplitude is A·K, which directly determines the strength of the compensation.

[0064] Step B22: Obtain the motor rotation angle of the washing machine drum, accumulate the motor rotation angle and eccentric phase information, and obtain the composite phase angle; It should be noted that the composite phase angle is the sum of the motor rotation angle (the absolute or relative mechanical angle of the motor rotor or drum provided in real time by an encoder, Hall sensor or non-sensory observer) and the eccentric phase information (the spatial azimuth angle of the identified eccentric mass block on the circumference of the drum), which represents the instantaneous angular position of the eccentric load relative to the motor magnetic field or spatial reference coordinates.

[0065] Step B23: Superimpose a preset phase advance compensation amount on the synthesized phase angle to obtain the total phase angle, and calculate the sine function value of the total phase angle; It should be noted that the preset phase advance compensation amount is an angle value pre-set or optimized online to compensate for control delay. Due to the inherent response time (delay) from command calculation and driver processing to the generation of actual electromagnetic torque by the motor, directly generating the command based on the current synthetic phase angle would result in the compensation torque failing to synchronize precisely with the disturbance torque. The preset phase advance compensation amount offsets the delay by advancing the command phase by a corresponding angle, ensuring timely and accurate compensation. The total phase angle is the final angle value obtained by adding the synthetic phase angle to the preset phase advance compensation amount. The sine function value is a sinusoidal trigonometric function value (sin value) calculated in real time based on the total phase angle. This value is a periodically changing value within the interval [-1, 1], and its waveform is at the same frequency as the centrifugal force fluctuation caused by eccentricity. It is used to shape the waveform of the compensation torque command, determining the instantaneous direction (positive or negative) and relative magnitude of the compensation torque within the period.

[0066] Step B24: Multiply the compensation torque amplitude reference value and the sine function value to obtain the compensation signal, and use the compensation signal as the compensation torque command.

[0067] It should be noted that the compensation signal is a continuous time signal obtained by multiplying the compensation torque amplitude reference (which determines the amplitude) with the sine function value (which determines the waveform and direction) in real time. This signal constitutes a complete compensation torque command. It is a periodic command with the same frequency as the eccentric disturbance torque, the same expected amplitude, but opposite phase (or aligned after advance compensation), and is directly fed into the motor torque control loop as a feedforward quantity.

[0068] For example, the compensation torque command can be expressed as:

[0069] in, To compensate for torque commands, For the eccentricity amplitude, The target gain coefficient, To compensate for the reference amount of torque amplitude, The rotation angle of the motor. For off-center phase information, To synthesize the phase angle, This is the preset phase advance compensation amount. The total phase angle, This is the sine function value of the total phase angle.

[0070] In this embodiment, by combining the quantized eccentricity amplitude with the adaptive gain, a benchmark for the compensation force is determined, solving the problem of mismatch between the compensation amount and the actual eccentricity. By integrating the real-time motor angle, eccentricity orientation, and preset advance compensation amount, a total phase angle opposite to the disturbance torque is accurately constructed, solving the problem of compensation phase inaccuracy caused by delay. Based on this phase and the benchmark amplitude, a sinusoidal compensation signal is synthesized, realizing real-time and accurate cancellation of the compensation torque and the eccentric disturbance torque. The high-speed dehydration process does not need to be interrupted due to vibration, thus significantly improving the dehydration efficiency.

[0071] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to the first and second embodiments described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 The motor control method also includes steps S21-S22: Step S21: Real-time acquisition of feedback signals reflecting the vibration state of the washing machine; extraction of the fundamental component synchronized with the rotation frequency of the washing machine drum from the feedback signals; calculation of the intensity value of the fundamental component; and use the intensity value as a residual vibration index. It should be noted that the vibration state of a washing machine refers to the physical motion state of the washing machine drum during the spin-drying process caused by mechanical forces (mainly periodic centrifugal forces), such as shaking, swaying, or overall translational tendency (displacement). Feedback signals are physical quantity signals acquired in real time to evaluate the vibration suppression effect; these signals are measurable mappings of the vibration state. The fundamental component is a sinusoidal wave component whose frequency is strictly consistent with the current instantaneous rotation frequency of the washing machine drum, separated from the feedback signal through signal processing (such as bandpass filtering and fast Fourier transform). The intensity value is a scalar value representing the energy or amplitude of the fundamental component after quantification, and can be represented by the root mean square value or peak value. The residual vibration index is a quantitative index used for internal decision-making, formed after normalization, filtering, or scaling of the intensity value. It reflects the degree of imbalance remaining after the eccentric vibration is suppressed following the execution of the active compensation algorithm.

[0072] Step S22: If the residual vibration index is higher than the preset index threshold, adjust the target gain coefficient and / or the preset phase advance compensation amount based on the deviation between the residual vibration index and the preset index threshold until the residual vibration index is lower than the preset index threshold.

[0073] It should be noted that the preset index threshold is a pre-defined constant or variable boundary value that defines the upper limit allowed by the residual vibration index. When the index exceeds this threshold, it indicates that the current vibration suppression effect has not achieved the expected goal. The deviation value is the algebraic difference between the instantaneous value of the residual vibration index and the preset index threshold. It is a scalar with a positive and negative sign, the magnitude of which indicates the degree of exceeding the limit, and the positive and negative sign indicating whether the limit has been exceeded.

[0074] For example, during the period when the compensation torque command is in effect, a time-domain feedback signal reflecting the vibration state of the entire washing machine is collected in real time through a built-in vibration acceleration sensor or current harmonic analysis unit. The signal is then subjected to spectral analysis (such as Fast Fourier Transform) to extract the fundamental component synchronized with the current rotation frequency of the washing machine drum. The amplitude or root mean square value of this component is calculated and quantified into a monitorable residual vibration index. This index directly reflects the remaining vibration energy that has not been completely offset after active compensation. The residual vibration index is compared in real time with a preset safe operating threshold. If the index is found to be consistently higher than the threshold (indicating that the current compensation parameters are not optimal and the vibration suppression effect is insufficient), a parameter adjustment routine is initiated. For example, in one specific embodiment, if the residual vibration index is high and exhibits periodic fluctuations, it may be determined that the phase compensation is insufficient, and the preset phase advance compensation amount is gradually increased in fixed steps. If the index is high but relatively stable, it may be determined that the compensation strength is insufficient, and the target gain coefficient is increased by a certain proportion. After each parameter adjustment, the feedback signal is re-acquired and the new residual vibration index is calculated. Through this iterative approximation closed-loop optimization process, the index is reduced to below the threshold, thereby achieving adaptive calibration of the compensation parameters under different loads, different speeds and mechanical state changes.

[0075] In this embodiment, by real-time monitoring and quantification of the residual vibration level after vibration control, the problem that open-loop control cannot evaluate and verify the actual vibration suppression effect is solved, providing an objective basis for optimization. When the vibration suppression effect is not as expected, the control parameters are automatically adjusted, solving the problem of reduced compensation effect caused by load changes, mechanical wear, or inaccurate initial parameters. Through continuous online optimization, a long-term, stable, and optimal vibration suppression state can be maintained, avoiding unnecessary speed reduction or interruption triggered by the decay of control effect, thereby ensuring that the dehydration process continues to operate in a high-efficiency state.

[0076] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the motor control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0077] This application also provides a motor control device for use in a washing machine, wherein the washing machine includes at least a washing machine drum and a motor. Please refer to [reference needed]. Figure 4The motor control device includes: The parameter acquisition module 10 is used to acquire the motor speed signal of the washing machine drum in real time, and to acquire the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal. The instruction generation module 20 is used to generate a target torque instruction based on the eccentricity amplitude and eccentricity phase information, and to control the motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque instruction.

[0078] The motor control device provided in this application, employing the motor control method described in the above embodiments, can solve the technical problem of low operating efficiency in current drum washing machines during the spin-drying process. Compared with the prior art, the beneficial effects of the motor control device provided in this application are the same as those of the motor control method provided in the above embodiments, and other technical features in the motor control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0079] This application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the motor control method in Embodiment 1 above.

[0080] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of this application. The electronic devices in these embodiments may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0081] like Figure 5As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication device 1009 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although the diagrams show electronic devices with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.

[0082] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0083] The electronic device provided in this application, employing the motor control method described in the above embodiments, can solve the technical problem of low operating efficiency in current drum washing machines during the spin-drying process. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the motor control method provided in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0084] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0085] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0086] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the motor control method in the above embodiments.

[0087] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0088] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0089] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by an electronic device, the motor control device causes the motor to: acquire the motor speed signal of the washing machine drum in real time; acquire the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal; generate a target torque command based on the eccentricity amplitude and eccentricity phase information; and control the washing machine motor to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

[0090] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0092] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0093] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described motor control method, which can solve the technical problem of low operating efficiency of current drum washing machines under spin-drying conditions. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the motor control method provided in the above embodiments, and will not be repeated here.

[0094] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor control method described above.

[0095] The computer program product provided in this application can solve the technical problem of low operating efficiency of current drum washing machines under spin-drying conditions. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the motor control method provided in the above embodiments, and will not be repeated here.

[0096] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A motor control method, characterized in that, Applied to a washing machine, the washing machine includes at least a washing machine drum and a motor, and the motor control method includes: The motor speed signal of the washing machine drum is acquired in real time, and the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum are acquired based on the motor speed signal. A target torque command is generated based on the eccentricity amplitude and the eccentricity phase information, and the motor is controlled to generate an electromagnetic torque that counteracts the eccentric load based on the target torque command.

2. The motor control method as described in claim 1, characterized in that, The step of obtaining the eccentricity amplitude and eccentricity phase information of the eccentric load inside the washing machine drum based on the motor speed signal includes: A periodic fluctuation signal is extracted from the motor speed signal, wherein the periodic fluctuation signal is synchronized with the rotation frequency of the washing machine drum; The target angle of the washing machine drum is calculated based on the target rotational speed of the motor speed signal. A sine reference signal and a cosine reference signal are generated based on the target angle. The in-phase component is obtained based on the periodic fluctuation signal and the cosine reference signal. The periodic fluctuation signal is filtered to obtain a speed error signal. A phase error characterization signal is obtained based on the speed error signal and the in-phase component. The initial phase value of the target angle is adjusted by a preset first controller to adjust the phase error characterization signal. When the phase error characterization signal is adjusted to be lower than a preset signal threshold, the amplitude of the in-phase component is used as the eccentricity amplitude of the eccentric load inside the washing machine drum, and the phases of the sine reference signal and the cosine reference signal are used as the eccentricity phase information of the eccentric load inside the washing machine drum.

3. The motor control method as described in claim 2, characterized in that, The step of generating the target torque command based on the eccentricity amplitude and the eccentricity phase information includes: Obtain the target gain coefficient corresponding to the washing machine drum; A compensation torque command is generated based on the target gain coefficient, the eccentricity amplitude, and the eccentricity phase information; a basic torque command is generated based on the preset second controller and the speed error signal. The compensation torque command and the basic torque command are superimposed to generate the target torque command.

4. The motor control method as described in claim 3, characterized in that, The step of obtaining the target gain coefficient corresponding to the washing machine drum includes: The drum speed of the washing machine drum is monitored in real time, and the drum speed is compared with a preset speed threshold to determine the operating range of the drum speed, wherein the operating range includes a low-speed operating range, a medium-speed transition range, and a high-speed spin-drying range; When the drum speed is in the low-speed operating range, the initial gain coefficient corresponding to the washing machine drum is set to the first gain value; When the drum speed is in the medium speed transition range, the initial gain coefficient corresponding to the washing machine drum is calculated based on the drum speed, wherein the initial gain coefficient increases as the drum speed increases; When the drum speed is in the high-speed dehydration range, the initial gain coefficient corresponding to the washing machine drum is set to the second gain value, wherein the second gain value is higher than the first gain value; The initial gain coefficient is adjusted based on the weight of the clothes in the washing machine to obtain the target gain coefficient.

5. The motor control method as described in claim 4, characterized in that, The step of adjusting the initial gain coefficient based on the weight of clothes in the washing machine to obtain the target gain coefficient includes: The washing machine obtains the weight of the clothes, compares the weight of the clothes with a preset load weight threshold, and determines the weight range to which the weight of the clothes belongs based on the comparison result, wherein the load adjustment factor is proportional to the weight of the clothes; Determine the load adjustment factor corresponding to the weight range, and obtain the target gain coefficient corresponding to the washing machine drum based on the load adjustment factor and the initial gain coefficient.

6. The motor control method as described in claim 3, characterized in that, The step of generating a compensation torque command based on the target gain coefficient, the eccentricity amplitude, and the eccentricity phase information includes: Multiplying the eccentricity amplitude by the target gain coefficient yields the reference value of the compensation torque amplitude; The motor rotation angle of the washing machine drum is obtained, and the motor rotation angle and the eccentric phase information are accumulated to obtain the composite phase angle; A preset phase lead compensation amount is superimposed on the synthesized phase angle to obtain the total phase angle, and the sine function value of the total phase angle is calculated. The compensation signal is obtained by multiplying the compensation torque amplitude reference value by the sine function value, and the compensation signal is used as the compensation torque command.

7. The motor control method as described in claim 6, characterized in that, The motor control method further includes: Feedback signals reflecting the vibration state of the washing machine are collected in real time. The fundamental component that is synchronized with the rotation frequency of the washing machine drum is extracted from the feedback signal, and the intensity value of the fundamental component is calculated. The intensity value is used as a residual vibration index. If the residual vibration index is higher than the preset index threshold, the target gain coefficient and / or the preset phase advance compensation amount are adjusted based on the deviation between the residual vibration index and the preset index threshold until the residual vibration index is lower than the preset index threshold.

8. A washing machine, characterized in that, The washing machine includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor control method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the motor control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the motor control method as described in any one of claims 1 to 7.

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