Household appliance and motor control method

Abstract

The application provides a household appliance and a motor control method, and relates to the technical field of household appliances. The method comprises the following steps: determining a dead zone equivalent voltage, wherein the dead zone equivalent voltage is used to reflect the deviation between the actual input voltage and the expected input voltage of a motor; determining a compensation voltage according to the dead zone equivalent voltage when the dead zone equivalent voltage is less than a voltage threshold, wherein the voltage threshold is less than or equal to the expected input voltage; determining the compensation voltage based on the running data of the motor and the dead zone equivalent voltage when the dead zone equivalent voltage is greater than or equal to the voltage threshold, wherein the running data is used to reflect the running state of the motor; and compensating the input voltage of the motor based on the compensation voltage. The application can reduce the probability of over-compensation and improve the running performance of the motor.

Description

Technical Field

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

[0002] In the motor control of home appliances, to prevent the switching devices of the upper and lower bridge arms from simultaneously turning on and causing an open circuit, a delay time period is usually set in the inverter to ensure that one device is completely turned off before the other device turns on, thereby protecting the circuit and equipment safety. This set delay time period is called the dead time. The dead time effect refers to the phenomenon where the input voltage of the motor deviates from its expected input voltage due to the existence of dead time.

[0003] To reduce the impact of dead zone effect on motor performance, the motor input voltage is usually compensated based on the actual generated deviation voltage. However, due to factors such as device nonlinearity or dynamic operating conditions, the measured or calculated deviation voltage may have a large error. Directly using this deviation voltage to compensate the motor input voltage can easily lead to overcompensation, affecting the motor's operating performance. Summary of the Invention

[0004] This application provides a method for controlling household appliances and motors, which can reduce the probability of overcompensation and improve motor operating performance.

[0005] In a first aspect, some embodiments of this application provide a household appliance, including: a housing, a motor disposed within the housing, and a controller disposed within the housing;

[0006] The controller is configured to:

[0007] Determine the dead zone equivalent voltage, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor;

[0008] If the dead zone equivalent voltage is less than a voltage threshold, a compensation voltage is determined based on the dead zone equivalent voltage, wherein the voltage threshold is less than or equal to the expected input voltage.

[0009] When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the motor's operating data and the dead zone equivalent voltage, wherein the operating data is used to reflect the motor's operating status;

[0010] The input voltage of the motor is compensated based on the compensation voltage.

[0011] In this embodiment, since the dead-zone equivalent voltage reflects the deviation between the actual input voltage and the expected input voltage of the motor, and the voltage threshold is a value less than or equal to the expected input voltage, the probability of overcompensation when directly determining the compensation voltage for voltage compensation based on the dead-zone equivalent voltage relative to the voltage threshold can be better determined. Therefore, when the dead-zone equivalent voltage is less than the voltage threshold, the compensation voltage can be directly determined based on the dead-zone equivalent voltage; when the dead-zone equivalent voltage is greater than or equal to the voltage threshold, i.e., directly determining the compensation voltage based on the dead-zone equivalent voltage is likely to lead to overcompensation, the compensation voltage can be determined by combining the motor's operating data and the dead-zone equivalent voltage, rather than directly determining the compensation voltage based on the dead-zone equivalent voltage, thereby reducing the probability of overcompensation. Furthermore, the operating data can reflect the motor's operating state, so that the compensation voltage determined based on the operating data can match the actual operating state of the motor. Therefore, compensating the motor's input voltage based on the compensation voltage can effectively improve the motor's operating performance while reducing the probability of overcompensation.

[0012] Secondly, some embodiments of this application also provide a motor control method, applied to a controller in a household appliance provided in the first aspect, wherein the household appliance further includes a motor, and the method includes:

[0013] Determine the dead zone equivalent voltage, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor;

[0014] If the dead zone equivalent voltage is less than a voltage threshold, a compensation voltage is determined based on the dead zone equivalent voltage, wherein the voltage threshold is less than or equal to the expected input voltage.

[0015] When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the motor's operating data and the dead zone equivalent voltage, wherein the operating data is used to reflect the motor's operating status;

[0016] The input voltage of the motor is compensated based on the compensation voltage.

[0017] Thirdly, embodiments of this application provide a motor control device, including a module for performing the motor control method in the second aspect.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the motor control method described in the second aspect above.

[0019] Fifthly, embodiments of this application provide a computer program product that, when running on a home appliance, causes the home appliance to execute the motor control method described in the second aspect above.

[0020] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0021] 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, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram illustrating the operation scenarios between home appliances and control devices provided in some embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the hardware configuration of the control device provided in some embodiments of this application;

[0024] Figure 3 A structural block diagram of a household appliance provided for some embodiments of this application;

[0025] Figure 4 A structural block diagram of a household appliance provided for some embodiments of this application;

[0026] Figure 5 A schematic flowchart illustrating a motor control method provided in some embodiments of this application;

[0027] Figure 6 A flowchart illustrating another motor control method provided in some embodiments of this application;

[0028] Figure 7 A flowchart illustrating another motor control method provided in some embodiments of this application;

[0029] Figure 8 This is a schematic diagram of the structure of a motor control device provided in some embodiments of this application. Detailed Implementation

[0030] The 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 represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0031] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0032] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0033] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0034] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0035] Figure 1 This is a schematic diagram illustrating the operational scenarios between home appliances and control devices provided in some embodiments of this application. For example... Figure 1 As shown, users can operate home appliances 200 via touch operation, mobile terminal 300, and control device 100. For example, control device 100 can be a remote control, stylus, or handle.

[0036] In some embodiments, the control device 100 can be a remote control or a smart home controller, etc. For example, the control device is a remote control, and the communication methods between the remote control and the home appliance include, but are not limited to, infrared protocol communication, Bluetooth protocol communication, or other short-range communication methods, to control the home appliance 200 wirelessly or via wired means. Users can input user commands through buttons on the remote control, voice input, or control panel input to control the home appliance 200.

[0037] It should be understood that household appliances 200 include, but are not limited to, devices equipped with motors such as air conditioners, refrigerators, freezers, dehumidifiers, or heat pump water heaters.

[0038] In some embodiments, the home appliance 200 may be a new energy home appliance, such as an air source air conditioner. As an example, the home appliance 200 may be a new energy air conditioner.

[0039] In some embodiments, a mobile terminal 300 (such as a tablet computer, computer, or mobile phone) can also be used to control the home appliance 200. For example, an application running on the mobile terminal 300 can be used to control the home appliance 200.

[0040] In some embodiments, home appliances may receive instructions not through the aforementioned mobile terminal 300 or control device 100, but through buttons or other means set on the home appliances.

[0041] Figure 2 Provided for some embodiments of this application Figure 1 Hardware configuration block diagram of the central control device. (Example) Figure 2 As shown, the control device 100 may include: a controller 110, a communication interface 130, a user input / output interface, a memory, and a power supply.

[0042] The control device 100 is configured to control the home appliance 200, and to receive user input operation commands and convert the operation commands into commands that the home appliance 200 can recognize and respond to, thus acting as an intermediary for interaction between the user and the home appliance 200.

[0043] In some embodiments, the control device 100 may be a smart device. For example, the control device 100 may be equipped with various applications for controlling the home appliances 200 according to user needs.

[0044] In some embodiments, such as Figure 1 As shown, a mobile terminal 300 or other smart electronic device can perform similar functions to control device 100 after installing an application for controlling home appliances 200.

[0045] The controller 110 includes a processor 112, RAM 113, ROM 114, a communication interface 130, and a communication bus. The controller 110 is used to control the operation of the control device 100, as well as the communication and cooperation between internal components and the external and internal data processing functions.

[0046] Under the control of the controller 110, the communication interface 130 enables communication of control signals and data signals with the home appliance 200. The communication interface 130 may include at least one of other near-field communication modules such as WiFi chip 131, Bluetooth module 132, and NFC module 133.

[0047] User input / output interface 140, wherein the input interface includes at least one of other input interfaces such as microphone 141, touchpad 142, sensor 143, and button 144.

[0048] In some embodiments, the control device 100 includes at least one of a communication interface 130 and an input / output interface 140. The control device 100 is configured with the communication interface 130, such as a WiFi, Bluetooth, or NFC module, which can encode user input commands via WiFi, Bluetooth, or NFC protocols and send them to the home appliance 200.

[0049] The memory 190 is used to store various operating programs, data, and applications for driving and controlling the control device 100 under the control of the controller. The memory 190 can also store various control signal instructions input by the user.

[0050] The power supply 180 is used to provide operating power support for the various components of the control device 100 under the control of the controller.

[0051] Figure 3 Some embodiments of this application are shown. Figure 1 The structural block diagram of the household appliances shown is only illustrated with the parts relevant to the embodiments of this application for ease of explanation.

[0052] Reference Figure 3 The household appliance includes a housing 310, a motor 320, and a controller 330. The motor 320 and the controller 330 are both disposed within the housing 310. The controller 330 is configured as follows:

[0053] The dead zone equivalent voltage is determined, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor 320.

[0054] When the dead zone equivalent voltage is less than the voltage threshold, the compensation voltage is determined based on the dead zone equivalent voltage, and the voltage threshold is less than or equal to the expected input voltage.

[0055] When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the operating data of the motor 320 and the dead zone equivalent voltage. The operating data is used to reflect the operating status of the motor 320.

[0056] The input voltage of the motor 320 is compensated based on the aforementioned compensation voltage.

[0057] It should be noted that in some embodiments, the home appliance may include multiple housings 310, and the motor 320 and the controller 330 may be disposed in different housings 310; the home appliance may include one or more motors 320.

[0058] For example, home appliances could be multi-split air conditioners, such as... Figure 4 As shown, the multi-split air conditioner may include multiple outdoor units 340 and multiple indoor units 350. Each of the multiple outdoor units 340 is equipped with a motor 320. The controller 330 can determine the motor 320 to be monitored from the multiple motors 320 according to actual application requirements, and perform the above steps based on the motor 320 to be monitored in order to achieve voltage compensation of the motor 320 to be monitored.

[0059] For example, the controller 330 can identify the motor 320 that has been successfully started as the motor 320 to be monitored, and then determine the compensation voltage of the motor 320 to be monitored through the above steps. Based on the compensation voltage of the motor 320 to be monitored, the controller 330 can compensate the motor 320 to be monitored, thereby improving the operating performance of the motor 320 to be monitored, that is, improving the operating performance of the motor 320 that has been successfully started.

[0060] Figure 5 A schematic flowchart of a motor control method according to some embodiments of this application is shown, and is described in detail below:

[0061] S501. Determine the dead zone equivalent voltage. The dead zone equivalent voltage is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor.

[0062] The expected input voltage of the motor can also be called the expected output voltage of the controller. It usually refers to the voltage that the controller expects to output to the motor through the inverter under ideal conditions.

[0063] The actual input voltage of the motor can also be called the actual output voltage of the controller, which usually refers to the voltage that the controller actually outputs to the motor.

[0064] Dead zone equivalent voltage refers to the deviation voltage between the actual output voltage of the controller to the motor and the expected output voltage of the controller to the motor caused by the dead zone effect. It can reflect the difference between the actual input voltage and the expected input voltage of the motor.

[0065] It should be understood that the expected input voltage can be calculated by the motor mathematical model and corresponding control algorithm, or it can be calculated based on the rated parameters of the motor (such as rated voltage or power). The embodiments of this application do not impose specific restrictions on the method of determining the expected input voltage of the motor.

[0066] In some embodiments, considering that the bus voltage of new energy home appliances is typically a high DC bus voltage with a large fluctuation range, this fluctuation may affect the voltage output by the controller. When determining the expected input voltage of the motor, this expected input voltage can be dynamically calculated based on the actual bus voltage and modulation index. Optionally, the expected input voltage can be expressed in the following form:

[0067] U out =U*M

[0068] Among them, U out U represents the expected input voltage, U represents the bus voltage, and M represents the modulation index (also known as the modulation parameter).

[0069] It should be understood that when determining the dead zone equivalent voltage, it can be determined by actual measurement, calculated by a mathematical model corresponding to the controller output voltage, or calculated based on the motor current feedback signal. The specific settings can be made according to the actual application requirements.

[0070] In some embodiments, the dead-zone equivalent voltage can be calculated based on the dead time without the need to measure or sample parameters such as current, thus eliminating the need for additional detection devices. At the same time, it can effectively avoid the influence of current waveform distortion caused by operating conditions such as high DC bus voltage or low speed, thereby improving the accuracy of the obtained dead-zone equivalent voltage.

[0071] S502. When the dead zone equivalent voltage is less than the voltage threshold, a compensation voltage is determined based on the dead zone equivalent voltage, wherein the voltage threshold is less than or equal to the expected input voltage.

[0072] It should be understood that when determining the compensation voltage based on the dead zone equivalent voltage, the dead zone equivalent voltage can be directly used as the compensation voltage, or the compensation voltage can be calculated based on the dead zone equivalent voltage and the set compensation coefficient (such as 0.98).

[0073] In this embodiment, since the dead zone equivalent voltage can reflect the deviation between the expected input voltage and the actual input voltage of the motor, and the voltage threshold is determined based on the expected input voltage, when the dead zone equivalent voltage is less than the voltage threshold, it can be considered that the probability of overcompensation caused by voltage compensation based on the dead zone equivalent voltage is small. Therefore, the compensation voltage can be directly determined based on the dead zone equivalent voltage, thereby enabling fast and accurate voltage compensation.

[0074] S503. When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the motor's operating data and the dead zone equivalent voltage. The operating data is used to reflect the motor's operating status.

[0075] The operating data of the motor is used to reflect the operating status of the motor. This operating data includes, but is not limited to, one or more of the following: speed, load, power, efficiency, current harmonics, speed fluctuation and load fluctuation.

[0076] Since the dead zone equivalent voltage is too large when it is greater than or equal to the voltage threshold, it may be close to or exceed the expected input voltage. Directly determining the compensation voltage based on this dead zone compensation voltage can easily lead to overcompensation, which can cause aggravated current waveform distortion. Therefore, in this embodiment, the compensation voltage is determined by combining the motor's operating data and the dead zone equivalent voltage. That is, the compensation voltage that matches the actual operating state of the motor is calculated by combining the actual operating state of the motor and the dead zone equivalent voltage. This reduces the probability of overcompensation while improving the accuracy of motor control and reducing current distortion, thereby improving motor control performance.

[0077] S504. The input voltage of the motor is compensated based on the above-mentioned compensation voltage.

[0078] It should be understood that compensating for the motor's input voltage based on the compensation voltage is equivalent to compensating for the controller's output voltage based on the compensation voltage. When compensation is required, it can be achieved through methods such as voltage compensation, duty cycle compensation, or Proportional Resonant Controller (PR controller) compensation to compensate for the motor's input voltage.

[0079] It should be understood that during the process of controlling the motor, the controller typically transmits the generated control signals to the inverter. The inverter can then use these control signals to control the power switching devices to adjust the output voltage and current, thereby regulating the input voltage and current of the motor. The aforementioned control signals usually refer to Pulse Width Modulation (PWM) signals.

[0080] In some embodiments, when compensating the input voltage of the motor based on the compensation voltage, the compensation voltage can be directly superimposed on the output voltage command of the controller. That is, a new modulation command is generated based on the compensation voltage and the original output voltage command, so that the controller generates a new control signal containing the compensation voltage based on the new modulation command. Then, the inverter can adjust the voltage output to the motor according to the new control signal to achieve compensation of the input voltage of the motor.

[0081] Optionally, a three-phase compensation strategy can be adopted to superimpose the compensation voltage onto the controller's output voltage command to achieve three-phase compensation of the motor input voltage.

[0082] In this embodiment, since the dead-zone equivalent voltage reflects the deviation between the actual input voltage and the expected input voltage of the motor, and the voltage threshold is a value less than or equal to the expected input voltage, the probability of overcompensation when directly determining the compensation voltage for voltage compensation based on the dead-zone equivalent voltage relative to the voltage threshold can be better determined. Therefore, when the dead-zone equivalent voltage is less than the voltage threshold, the compensation voltage can be directly determined based on the dead-zone equivalent voltage; when the dead-zone equivalent voltage is greater than or equal to the voltage threshold, i.e., directly determining the compensation voltage based on the dead-zone equivalent voltage is likely to lead to overcompensation, the compensation voltage can be determined by combining the motor's operating data and the dead-zone equivalent voltage, rather than directly determining the compensation voltage based on the dead-zone equivalent voltage, thereby reducing the probability of overcompensation. Furthermore, the operating data can reflect the motor's operating state, so that the compensation voltage determined based on the operating data can match the actual operating state of the motor. Therefore, compensating the motor's input voltage based on the compensation voltage can effectively improve the motor's operating performance while reducing the probability of overcompensation.

[0083] Figure 6 A flowchart illustrating another motor control method provided in some embodiments is shown. (Refer to...) Figure 6 When the controller executes step S503, it is configured to perform the following steps:

[0084] When the dead zone equivalent voltage is greater than or equal to the voltage threshold and the motor speed is less than the set speed threshold, the compensation voltage is determined based on the operating data and the dead zone equivalent voltage.

[0085] It should be understood that the speed threshold can be obtained from user settings or input, or it can be calculated by intelligent algorithms based on the rated speed of the motor. The specific setting can be made according to the actual application scenario.

[0086] As an example, the motor speed (let's call it the reference speed) can be calculated when the dead zone equivalent voltage is equal to the expected input voltage, and then the speed threshold can be determined based on the reference speed.

[0087] The motor's speed (let's call it the first speed) can refer to the motor's current actual speed or the motor's target speed (i.e., the speed the motor is expected to reach). As an example, the first speed can refer to the motor's current actual speed.

[0088] Since the dead zone effect is relatively small when the motor speed is high, the performance improvement brought by voltage compensation is limited. However, the dead zone effect is relatively large when the motor speed is low, which can easily cause current distortion. Therefore, in order to simplify the motor control logic and ensure the motor's operating performance, the motor speed can be used to determine whether the motor is currently in a low-speed operation state, and thus decide whether to perform voltage compensation.

[0089] If the dead zone equivalent voltage is greater than or equal to the voltage threshold, and the motor speed is less than the set speed threshold (i.e., the motor is running at low speed), then the compensation voltage needs to be determined by combining the motor's operating data and the dead zone equivalent voltage in order to perform voltage compensation.

[0090] If the dead zone equivalent voltage is greater than or equal to the voltage threshold, but the motor speed is greater than or equal to the speed threshold, then to reduce computational complexity and computational resources, the input voltage of the motor can be left uncompensated. That is, there is no need to determine the compensation voltage based on the operating data and the dead zone equivalent voltage.

[0091] It should be noted that in some embodiments, since the computational complexity of directly determining the compensation voltage based on the dead-zone equivalent voltage is relatively low when the dead-zone equivalent voltage is less than the voltage threshold, the compensation voltage can be determined based on the dead-zone equivalent voltage and voltage compensation can be performed on the motor's input voltage regardless of whether the motor is running at low speed. Through the above processing, the complexity of motor performance and motor control is effectively balanced, resulting in a significant improvement in motor control performance.

[0092] In this embodiment, since the dead zone effect has a significant impact on the operating performance of the motor when it is running at low speed, if the dead zone equivalent voltage is greater than or equal to the voltage threshold, and the motor is running at low speed (i.e., the motor speed is less than the speed threshold), a compensation voltage is calculated by combining the operating data and the dead zone equivalent voltage. The input voltage of the motor is then adjusted according to the compensation voltage to reduce the impact of the dead zone effect when the motor is running at low speed, thereby improving the operating performance of the motor under low-speed conditions.

[0093] In some embodiments, the operating parameters include at least one of speed and load torque, and when the controller determines the compensation voltage based on the motor's operating data and the dead-zone equivalent voltage, it is configured to perform the following steps:

[0094] Given that the above operating data includes the above rotational speed, the rotational speed coefficient is determined based on the above rotational speed and the set upper limit value of rotational speed.

[0095] If the above operating data includes the above load torque, the load torque coefficient is determined based on the above load torque and the set upper limit value of the load torque.

[0096] The compensation voltage is determined based on the dead zone equivalent voltage and the weighting coefficients, wherein the weighting coefficients are determined based on the speed coefficient and / or the load torque coefficient.

[0097] Load torque usually refers to the torque corresponding to the actual working load of the motor, which can reflect the resistance that the motor needs to overcome.

[0098] It should be understood that the method for determining the motor's load torque can be set according to actual application requirements. For example, the load torque can be directly calculated based on the motor's output power and speed. Alternatively, when the motor's load includes alternating loads, the load torque can be calculated by measuring the average torque and its fluctuation amplitude.

[0099] It should be noted that the rotational speed in the operating data (let's call it the second rotational speed) can be the target rotational speed of the motor; the load torque in the operating data can be the real-time load torque of the motor, or the maximum actual load torque during the motor's operation (i.e., the maximum value of the actual load torque at each moment during this operation), which can be set according to the actual application requirements. In some other embodiments, the rotational speed in the operating data can refer to the current actual rotational speed of the motor.

[0100] It should be understood that the upper limit of the rotational speed can be obtained through user settings or input, or it can be calculated by intelligent algorithms based on the motor characteristics. Similarly, the upper limit of the load torque can be obtained through user settings or input, or it can be calculated by intelligent algorithms, etc., and no specific restrictions are imposed here.

[0101] Optionally, when determining the speed coefficient based on the rotational speed and the set upper limit of rotational speed, the speed coefficient can be determined based on the magnitude of the rotational speed relative to the upper limit of rotational speed, or based on the difference between the rotational speed and the upper limit of rotational speed. Alternatively, the speed type (such as low speed or medium speed) corresponding to the rotational speed can be determined based on the upper limit of rotational speed, and then the speed coefficient can be determined based on the coefficient corresponding to the speed type. This application embodiment does not impose specific restrictions on the method of determining the speed coefficient based on the rotational speed and the upper limit of rotational speed.

[0102] Optionally, when determining the load torque coefficient based on the load torque and the set upper limit of the load torque, the load torque coefficient can be determined according to the magnitude of the load torque relative to the upper limit of the load torque, or it can be determined according to the difference between the load torque and the upper limit of the load torque. The embodiments of this application do not impose specific restrictions on the method of determining the load torque coefficient based on the load torque and the upper limit of the load torque.

[0103] It should be understood that when the operating data only includes speed, the weighting coefficient can be determined based on the speed coefficient; when the operating data only includes load torque, the weighting coefficient can be determined based on the load torque coefficient; when the load torque coefficient includes both speed and load torque, the weighting coefficient can be determined jointly based on the speed coefficient and the load torque coefficient.

[0104] In other embodiments, when the motor's operating data also includes other data such as speed fluctuations, the weighting coefficient can be determined by combining the coefficients corresponding to the other data in the operating data.

[0105] In some embodiments, the determined weighting coefficient is less than 1, so as to control the final determined compensation voltage to be less than the dead zone compensation voltage, thereby reducing the probability of overcompensation.

[0106] In this embodiment, since the influence of different operating data such as the load torque and speed of the motor on the dead zone effect is usually different, the voltage compensation requirements are usually also different. Therefore, after calculating the corresponding coefficients according to the relationship between each data in the operating data and its corresponding upper limit value, the weighting coefficient of the final dead zone equivalent voltage is calculated according to each coefficient. This can better adapt to different working conditions, improve the adaptability and accuracy of the obtained weighting coefficient, and thus improve the accuracy of the calculated compensation voltage.

[0107] In some embodiments, when the controller determines the speed coefficient based on the speed and the set upper limit of speed, it is configured to perform the following steps:

[0108] A first difference is determined based on the aforementioned upper speed limit and the set speed threshold, and a second difference is determined based on the aforementioned upper speed limit and the aforementioned speed.

[0109] The speed coefficient is determined based on the ratio of the first difference to the second difference and the set speed weight.

[0110] The set speed threshold can be used to determine whether the motor speed is low, that is, whether the motor is in a low-speed operation state.

[0111] It should be understood that the speed weight can be obtained from user settings or input, or it can be calculated using intelligent algorithms such as deep learning models. For example, the speed weight can be calculated using a large model based on the magnitude of the motor's speed relative to the upper speed limit.

[0112] Optionally, in order to ensure motor performance while minimizing the computational complexity of motor control, if the motor speed is less than the speed threshold (i.e., the motor is in a low-speed operation state) when the dead zone equivalent voltage is greater than or equal to the dead zone threshold, the coefficients corresponding to each data in the operating data are calculated to calculate the weighting coefficients.

[0113] Alternatively, the speed coefficient can be expressed in the following form:

[0114]

[0115] Among them, K w This represents the speed coefficient, K1 represents the set speed weight, d1 represents the first difference, and d2 represents the second difference; w up This indicates the upper limit of the rotational speed, w th This indicates the set speed threshold, and w represents the speed in the motor's operating data.

[0116] In this embodiment, since the motor current waveform is more susceptible to the dead zone effect when the motor is running at low speed, the motor's operating performance is more sensitive. The second difference is the difference between the upper limit of the speed and the motor speed, which can reflect the sensitivity of the motor's current operating performance and the degree of influence of the dead zone effect on the motor's operating performance to a certain extent. Therefore, dynamically calculating the speed coefficient based on the ratio of the first difference to the second difference can fully consider the current sensitivity of the motor's operating performance and the current degree of influence of the dead zone effect, thereby improving the periodicity of the obtained speed coefficient. This helps to improve the accuracy of the compensation voltage calculated subsequently and avoid overcompensation.

[0117] In some embodiments, when the controller determines the load torque coefficient based on the load torque and the set upper limit of the load torque, it is configured to perform the following steps:

[0118] A third difference is determined based on the aforementioned upper limit of load torque and the set load torque threshold, and a fourth difference is determined based on the aforementioned upper limit of load torque and the aforementioned load torque.

[0119] The load torque coefficient is determined based on the ratio of the third difference to the fourth difference and the set load torque weight.

[0120] It should be understood that the load torque threshold can be obtained from user settings or input, or it can be calculated by intelligent algorithms such as large models. The specific setting can be made according to the actual application requirements.

[0121] The load torque threshold can be used to determine the load torque level corresponding to the load torque. For example, when the load torque is greater than or equal to the load torque threshold, the load torque level corresponding to the motor load torque can be considered as heavy load, that is, the motor is in a heavy load operation state; when the load torque is less than the load torque threshold, the load torque level corresponding to the motor load torque can be considered as light load, that is, the motor is in a light load operation state.

[0122] It should be understood that the load torque weight can be obtained from user settings or input, or it can be calculated by intelligent algorithms such as large models. The specific settings can be made according to the actual application requirements.

[0123] In this embodiment, since the current of the motor under different loads usually varies greatly, the degree of impact of the dead zone effect on the motor's operating performance varies. That is, the compensation requirements under different load torques are usually different. Therefore, a third difference is calculated based on the difference between the upper limit of the load torque and the load torque threshold, and a fourth difference is calculated based on the difference between the upper limit of the load torque and the load torque. The ratio between the third difference and the fourth difference is used to measure the adjustment intensity of the dead zone equivalent voltage, which helps to improve the accuracy of the calculated load torque coefficient.

[0124] As an example, the load torque coefficient can be expressed in the following form:

[0125]

[0126] Among them, K TL d1 represents the load torque coefficient, K2 represents the set load torque weight, d3 represents the third difference, and d4 represents the fourth difference; TL up TL represents the upper limit of the load torque. th TL represents the load torque threshold, and TL represents the load torque in the motor operating data.

[0127] In some embodiments, different load torque levels correspond to different load torque thresholds. When the controller determines the third difference based on the upper limit of the load torque and the set load torque threshold, it is configured to:

[0128] The third difference is determined based on the upper limit of the load torque and the load torque threshold corresponding to the load torque level to which the load torque belongs.

[0129] In this embodiment, the load torque level of the motor can be determined by combining the load torque of the motor with the set load torque thresholds. When calculating the third difference based on the load torque threshold and the upper limit of the load torque, the calculation is performed based on the load torque threshold corresponding to the load torque level to which the load torque belongs. Since the load torque level to which the load torque belongs can reflect the range of the load torque of the motor, the calculation of the third difference based on the load torque threshold corresponding to its load torque level makes the calculated third difference match the actual load torque state of the motor, which helps to improve the accuracy of the load torque coefficient obtained in subsequent calculations.

[0130] As an example, the load torque levels of a motor can include light load, medium load, and heavy load. The load torque thresholds can then include the load torque threshold corresponding to light load (let's call it the first load torque threshold), the load torque threshold corresponding to medium load (let's call it the second load torque threshold), and the load torque threshold corresponding to heavy load (let's call it the third load torque threshold). It should be understood that the upper limit of the load torque is typically greater than all load torque thresholds.

[0131] If the load torque of motor A is greater than the first load torque threshold and less than the second load torque threshold, then the load torque level of motor A can be determined to be medium load. In this case, the load torque coefficient can be expressed in the following form:

[0132]

[0133] Among them, TL th2 This represents the load torque threshold corresponding to the intermediate load, i.e., the second load torque threshold.

[0134] Figure 7 A flowchart illustrating another motor control method provided in some embodiments is shown. (Refer to...) Figure 7 When the controller executes step S504, it is configured as follows:

[0135] The input voltage of the motor is compensated based on the target compensation direction and the aforementioned compensation voltage. The target compensation direction is determined according to the current polarity of the motor.

[0136] It should be understood that the current polarity of a motor usually refers to the positive or negative sign of the motor current (such as load torque current or phase current).

[0137] In some embodiments, the target compensation direction can be determined based on the polarity of the motor's u-phase current. For example, when the u-phase current is greater than 0 (i.e., the u-phase current is positive), the target compensation direction can be positive, and in this case, the motor's input voltage is positively compensated based on the compensation voltage; when the u-phase current is less than 0 (i.e., the u-phase current is negative), the target compensation direction can be negative, and in this case, the motor's input voltage is negatively compensated based on the compensation voltage.

[0138] In this embodiment, when compensating the input voltage of the motor according to the compensation voltage, the compensation direction of the compensation voltage is determined by combining the current polarity of the motor, so that the actual input voltage of the motor reaches the expected input voltage as much as possible, thereby reducing the impact of dead zone effect on motor operating performance and improving motor operating performance and motor control reliability.

[0139] The above text combined Figures 5 to 7 The present application describes in detail the motor control method according to the embodiments of this application. The following will be combined with... Figure 8This application describes an embodiment of the apparatus. It should be understood that the motor control device in the embodiments of this application can execute various motor control methods described in the foregoing embodiments of this application. That is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0140] Figure 8 A schematic diagram of the structure of a motor control device provided in some embodiments of this application is shown.

[0141] Reference Figure 8 The device includes a dead-zone equivalent voltage determination module 810, a first calculation module 820, a second calculation module 830, and a compensation module 840.

[0142] The dead zone equivalent voltage determination module 810 is used to determine the dead zone equivalent voltage, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor.

[0143] The first calculation module 820 is used to determine a compensation voltage based on the dead zone equivalent voltage when the dead zone equivalent voltage is less than a voltage threshold, wherein the voltage threshold is less than or equal to the expected input voltage.

[0144] The second calculation module 830 is used to determine the compensation voltage based on the motor's operating data and the dead zone equivalent voltage when the dead zone equivalent voltage is greater than or equal to the voltage threshold. The operating data is used to reflect the operating status of the motor.

[0145] The compensation module 840 is used to compensate the input voltage of the motor based on the compensation voltage mentioned above.

[0146] Each unit module of the device can execute the corresponding steps in the above method embodiments, so the details of each unit module will not be elaborated here. Please refer to the description of the corresponding steps above for details.

[0147] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a controller, can implement the steps in the various method embodiments described above.

[0148] This application provides a computer program product that, when run on a controller, enables the controller to implement the steps of the motor control methods described in the above embodiments.

[0149] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0150] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0151] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0152] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0153] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0154] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A household appliance, characterized in that, include: case; The motor is installed inside the housing; The controller, located within the housing, is configured as follows: Determine the dead zone equivalent voltage, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor; If the dead zone equivalent voltage is less than a voltage threshold, a compensation voltage is determined based on the dead zone equivalent voltage, wherein the voltage threshold is less than or equal to the expected input voltage. When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the motor's operating data and the dead zone equivalent voltage, wherein the operating data is used to reflect the motor's operating status; The input voltage of the motor is compensated based on the compensation voltage.

2. The household appliance as described in claim 1, characterized in that, The operating data includes at least one of speed and load torque, and the controller is configured to determine the compensation voltage based on the motor's operating data and the dead-zone equivalent voltage when: When the operating data includes the rotational speed, a rotational speed coefficient is determined based on the rotational speed and a set upper limit value for the rotational speed. When the operating data includes the load torque, the load torque coefficient is determined based on the load torque and the set upper limit value of the load torque; The compensation voltage is determined based on the dead zone equivalent voltage and the weighting coefficient, wherein the weighting coefficient is determined based on the speed coefficient and / or the load torque coefficient.

3. The household appliance as described in claim 2, characterized in that, When the controller performs the determination of the speed coefficient based on the speed and the set upper limit of the speed, it is configured as follows: A first difference is determined based on the upper limit of the rotational speed and the set rotational speed threshold, and a second difference is determined based on the upper limit of the rotational speed and the rotational speed. The speed coefficient is determined based on the ratio of the first difference to the second difference and the set speed weight.

4. The household appliance as described in claim 2, characterized in that, When the controller performs the determination of the load torque coefficient based on the load torque and the set upper limit of the load torque, it is configured as follows: A third difference is determined based on the upper limit of the load torque and the set load torque threshold, and a fourth difference is determined based on the upper limit of the load torque and the load torque. The load torque coefficient is determined based on the ratio of the third difference to the fourth difference and the set load torque weight.

5. The household appliance as described in claim 4, characterized in that, Different load torque levels correspond to different load torque thresholds. When the controller determines the third difference based on the upper limit of the load torque and the set load torque threshold, it is configured as follows: The third difference is determined based on the upper limit of the load torque and the load torque threshold corresponding to the load torque level to which the load torque belongs.

6. The household appliance as described in claim 1, characterized in that, When the controller determines the compensation voltage based on the motor's operating data and the dead-zone equivalent voltage when the dead-zone equivalent voltage is greater than or equal to the voltage threshold, it is configured to: When the dead zone equivalent voltage is greater than or equal to the voltage threshold and the motor speed is less than the set speed threshold, the compensation voltage is determined based on the operating data and the dead zone equivalent voltage.

7. The household appliance as described in any one of claims 1 to 6, characterized in that, When the controller performs compensation of the motor's input voltage based on the compensation voltage, it is configured to: The input voltage of the motor is compensated based on the target compensation direction and the compensation voltage, wherein the target compensation direction is determined according to the current polarity of the motor.

8. A motor control method, characterized in that, A controller used in a home appliance, the home appliance further including a motor, the method comprising: Determine the dead zone equivalent voltage, which is used to reflect the deviation between the actual input voltage and the expected input voltage of the motor; If the dead zone equivalent voltage is less than a voltage threshold, a compensation voltage is determined based on the dead zone equivalent voltage, wherein the voltage threshold is less than or equal to the expected input voltage. When the dead zone equivalent voltage is greater than or equal to the voltage threshold, the compensation voltage is determined based on the motor's operating data and the dead zone equivalent voltage, wherein the operating data is used to reflect the motor's operating status; The input voltage of the motor is compensated based on the compensation voltage.

9. The motor control method as described in claim 8, characterized in that, The operating data includes at least one of speed and load torque, and determining the compensation voltage based on the motor's operating data and the dead-zone equivalent voltage includes: When the operating data includes the rotational speed, a rotational speed coefficient is determined based on the rotational speed and a set upper limit value for the rotational speed. When the operating data includes the load torque, the load torque coefficient is determined based on the load torque and the set upper limit value of the load torque; The compensation voltage is determined based on the dead zone equivalent voltage and the weighting coefficient, wherein the weighting coefficient is determined based on the speed coefficient and / or the load torque coefficient.

10. The motor control method as described in claim 8 or 9, characterized in that, When the dead-zone equivalent voltage is greater than or equal to the voltage threshold, determining the compensation voltage based on the motor's operating data and the dead-zone equivalent voltage includes: When the dead zone equivalent voltage is greater than or equal to the voltage threshold and the motor speed is less than the set speed threshold, the compensation voltage is determined based on the operating data and the dead zone equivalent voltage.

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