Clothesline position control device and clothesline machine

Abstract

The application discloses an air-drying position control device and an air-drying machine. The air-drying position control device comprises a controller, a motor driver and a motor body. The controller is connected with the motor driver and is configured to output a stop instruction to the motor driver. The stop instruction contains a target position of an air-drying rope. The motor driver is also connected with the motor body and is configured to drive the motor body to rotate based on the stop instruction. The motor body is also connected with the air-drying rope and is configured to drive the air-drying rope to move to the target position by rotating. The controller is also connected with the motor body and is configured to obtain an actual position when the motor body drives the air-drying rope to stop, and compensate the target position contained in the next stop instruction based on the deviation between the actual position and the target position.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and in particular to a clothes drying position control device and a clothes drying machine. Background Technology

[0002] Smart clothes drying racks can automatically raise and lower the clothesline according to the user's settings, such as a convenient location for hanging clothes or for drying clothes, freeing the user's hands. As smart clothes drying racks become more widespread, people have increasingly higher expectations for their user experience. Currently, conventional smart clothes drying racks use a DC brushed motor and Hall effect sensors. The Hall effect sensors measure the number of motor rotations to control the clothes drying position.

[0003] DC brushed motors include brushes and commutators, which leads to problems such as complex structure, poor reliability, frequent failures, large maintenance workload, and short lifespan. Furthermore, the use of Hall sensors will significantly increase costs.

[0004] Furthermore, the clothes on the clothesline carry a certain weight, and the DC brushed motor, due to inertia, will experience positional errors when it stops at different locations. This means the stopping position may not be the actual position set by the user, and subsequent position control will be based on the previous position. Thus, when the smart clothes dryer runs multiple times, it will result in significant cumulative positional errors, making it impossible for the Hall sensor to accurately control the clothes-drying position. Utility Model Content

[0005] The purpose of this application is to provide a clothes drying position control device and a clothes drying machine to solve the problem that the existing clothes drying position cannot be accurately controlled.

[0006] To solve the above-mentioned technical problems, this specification is implemented as follows: In a first aspect, a clothes-drying position control device is provided, including a controller, a motor drive, and a motor body. The controller, connected to the motor drive, is configured to output a stop command to the motor drive, the stop command including a target position for the clothesline to stop. The motor drive is also connected to the motor body and is configured to drive the motor body to rotate based on the stop command; The motor body is also connected to the clothesline and is configured to drive the clothesline to move toward the target position by rotating it; The controller is also connected to the motor body and is configured to obtain the actual position when the motor body stops driving the clothesline, and compensate for the target position contained in the next stop command based on the deviation between the actual position and the target position.

[0007] Optionally, the motor drive is configured as follows: Based on the target position carried by the stop command, determine the preset number of revolutions to drive the motor body to rotate; The motor body is driven to rotate based on the preset number of revolutions.

[0008] Optionally, the motor drive is configured as follows: Based on the preset number of revolutions and the number of pole pairs of the motor body, the number of electrical pulses that drive the motor body to rotate is determined; Based on the number of electrical pulses, a PWM signal is output to the three-phase power lines of the motor body. The PWM signal is used to control the power lines of each phase to alternately supply power to the motor body, so as to drive the motor body to rotate based on the magnetic field generated by the power supply of each phase power line.

[0009] Optionally, the controller is connected to each phase power line of the motor body. The controller is configured as follows: Real-time acquisition of current on each phase power line; Based on the current collected at the moment before the motor body stops and the preset current-angle relationship table, the angle corresponding to the current at the moment before stops is determined. The preset current-angle relationship table records the mapping relationship between different current magnitudes and the rotation angle of the motor body. Determine the number of rotations of the motor body corresponding to the angle; Based on the number of inertia revolutions and the preset number of revolutions, the actual position of the motor body when it stops driving the clothesline is determined.

[0010] Optionally, the motor body is connected to the clothesline in sequence via a worm gear, a turbine, and a reduction gear. The controller is configured as follows: Based on the inertia count and the preset count, determine the actual number of rotations of the motor body when the clothesline stops; Obtain the circumference of one revolution of the reduction wheel and the reduction ratio between the worm and the reduction wheel; Based on the actual number of turns, the circumference, and the reduction ratio, determine the distance the clothesline moves when it stops; The actual position is determined based on the distance traveled and the starting position of the clothesline.

[0011] Optionally, the controller is further configured to: When it is detected that the motor body drives the clothesline to move to the first designated position, the preset rotation speed of the motor body is reduced based on the load weight driven by the clothesline. The motor body is controlled to move the clothesline from the first designated position to the target position at a reduced rotational speed, where the first designated position does not exceed the target position.

[0012] Optionally, the controller is further configured to: When it is detected that the motor body drives the clothesline to move from the starting position, the preset rotation speed of the motor body is reduced based on the load weight driven by the clothesline. The motor body is controlled by the motor drive to reduce the rotation speed, thereby moving the clothesline from the starting position to the second designated position, which is located between the starting position and the first designated position. The motor body is controlled by the motor drive to rotate at the preset speed, thereby moving the clothesline from the second designated position to the first designated position.

[0013] Optionally, it also includes a switching power supply and a transformer module. The switching power supply has a first end connected to a power supply and a second end connected to the motor body, and is used to boost the voltage output by the power supply to a preset high voltage to power the motor body. The transformer module has a first end connected to the second end of the switching power supply, and the second end connected to the controller and the motor drive respectively, for reducing the preset high voltage to a preset low voltage to supply power to the controller and the motor drive.

[0014] Optionally, the motor drive and the motor body correspond to form a brushless DC motor.

[0015] In a second aspect, a clothes drying rack is provided, including the clothes drying position control device as described in the first aspect above.

[0016] In this embodiment, the clothesline position control device includes a controller, a motor drive, and a motor body. The controller is connected to the motor drive and configured to output a stop command to the motor drive, the stop command including a target position for stopping the clothesline. The motor drive is also connected to the motor body and configured to drive the motor body to rotate based on the stop command. The motor body is also connected to the clothesline and configured to move the clothesline toward the target position by rotating. The controller is also connected to the motor body and configured to obtain the actual position when the motor body stops the clothesline, and compensate for the target position included in the next stop command based on the deviation between the actual position and the target position. This can compensate for the position deviation that occurs when the clothesline stops due to the inertial motion of the motor, avoid the cumulative position error caused by multiple runs of the clothes dryer, and achieve precise control of the clothesline position. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a structural block diagram of the clothes drying position control device according to an embodiment of this application.

[0018] Figure 2 These are the current waveform diagrams of the phase power supply lines and the angle waveform diagrams of the motor body rotation in embodiments of this application.

[0019] Figure 3 This is a current-angle mapping diagram of an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the connection structure between the motor body and the clothesline in an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the power supply architecture of the clothes drying position control device according to an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The drawing numbers in this application are only used to distinguish the various steps in the solution and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0023] To address the problems existing in the prior art, this application provides a clothesline position control device, including a controller, a motor drive, and a motor body. The controller is connected to the motor drive and configured to output a stop command to the motor drive, the stop command including a target position for stopping the clothesline. The motor drive is also connected to the motor body and configured to drive the motor body to rotate based on the stop command. The motor body is also connected to the clothesline and configured to move the clothesline towards the target position by rotation. The controller is also connected to the motor body and configured to acquire the actual position when the motor body stops the clothesline, and compensate for the target position included in the next stop command based on the deviation between the actual position and the target position.

[0024] Figure 1This is a structural block diagram of the clothes drying position control device according to an embodiment of this application, as shown below. Figure 1 As shown, the clothesline position control device 20 includes a controller 22, a motor drive 24, and a motor body 26. The controller 22 can receive user input, such as setting the target position for the clothesline to stop via a remote control. The target position can be the lowest position, the highest position, or a preset position between the lowest and highest positions. The lowest position is the lower limit, and the highest position is the upper limit.

[0025] Users can set the clothes drying mode using the remote control. For example, by pressing the pause + rise button, the first mode can be set to the clothes drying position between the lowest and highest positions. Specifically, after the clothesline rises to the desired position, the user presses the pause button and then presses the rise button. This button combination operation sets the current pause position as the position that the clothesline needs to reach when drying clothes later, which is the target position of the first mode.

[0026] Similarly, users can also set a second mode for the clothing hanging position between the lowest and highest positions by pressing the pause + descend button. Specifically, after the clothesline descends to the desired position, the user presses the pause button and then presses the descend button. This button combination operation sets the current pause position as the position that the clothesline needs to reach when the user hangs the clothes later, which is the target position of the second mode.

[0027] Users can also set the desired stopping position of the clothesline by directly pressing the lowest or highest position button. The remote control may also include other different clothes-drying position setting modes and corresponding control buttons, with operating principles similar to those described above. This application is not limited to this specific embodiment.

[0028] After receiving user input, controller 22 outputs a stop command to motor drive 24 according to the target position set by the user for the corresponding mode. The stop command includes the target position for the clothesline to stop set by the user. The controller can output the stop command based on the distance between the current stop position of the clothesline and the target position set by the user. For example, if the clothesline is currently stopped at its lowest position, i.e., position 0, and the user has set the clothes drying position for the first mode, then controller 22 can calculate the distance difference between the clothes drying position and the lowest position and send it to motor drive 24 in the stop command to drive motor body 26 to rotate.

[0029] Optionally, the motor drive is configured to: determine a preset number of revolutions to drive the motor body to rotate based on the target position carried by the stop command; and drive the motor body to rotate based on the preset number of revolutions.

[0030] Combination Figure 4The motor body 26 is also connected to the clothesline 40. The motor drive 24 drives the motor body 26 to rotate based on a stop command. The rotation of the motor body 26 causes the clothesline 40 to move towards the target position. The motor drive 24 determines the number of rotations of the motor body 26 based on the target position. This number of rotations is a preset number. Theoretically, when the motor body 26 stops after rotating this number of rotations, it can accurately stop the clothesline at the target position set by the user.

[0031] However, because the clothes on the clothesline carry a certain weight, the actual stopping position may differ from the theoretical target position due to inertia upon stopping, resulting in a positional error. The controller 22, connected to the motor body 26, determines the actual position of the clothesline when it stops and compensates for the distance deviation between the actual and target positions. For example, upon receiving a stop command specifying the clothesline's stopping position, it compensates for the deviation to that position before outputting a stop command to the motor drive 24.

[0032] For example, if the current stop command requires the clothesline 40 to move 1 meter to reach the target position, the drive motor determines the number of rotations the motor body 26 needs to make to move 1 meter, and then drives the motor body 26 to rotate. The motor body 26 stops after rotating the corresponding number of rotations, but due to inertia, the actual distance the motor drive 24 moves the clothesline 40 is 1.05 meters, resulting in a distance deviation of 0.05 meters. If the next stop command received by the controller 22 requires the clothesline 40 to move 0.5 meters, the controller 22 needs to compensate for the previous distance deviation of 0.05 meters, meaning the stop command output to the motor drive 24 will require the clothesline to move 0.45 meters to reach the target position.

[0033] Subsequent stop commands repeat the above operation, thus avoiding the cumulative positional error caused by multiple stop actions and achieving precise control over the stopping position of the clothesline each time.

[0034] In one embodiment, the motor drive is configured to determine the number of electrical pulses required to drive the motor body to rotate based on the preset number of revolutions and the number of pole pairs of the motor body; and based on the number of electrical pulses, control the output of PWM signals to the three-phase power lines of the motor body, the PWM signals being used to control the alternating switching of the power lines to supply power to the motor body, so as to drive the motor body to rotate based on the magnetic field generated by the power supply of each phase power line.

[0035] The correspondence between the number of revolutions of the motor body 26 and the number of electrical pulses is that the number of electrical pulses per revolution corresponds to the number of pole pairs of the motor body. For example, in this embodiment, the motor body 26 has 2 pole pairs, and the motor drive 24 determines the preset number of revolutions of the motor body to be 1000 based on the target position, then the number of electrical pulses is 2000.

[0036] An electrical pulse is a pulse generated by electrons, representing a voltage change within a very short time. After determining the number of electrical pulses, the motor drive 24 controls the output of PWM signals to the three-phase power lines of the motor body 26. The motor body 26 is a three-phase motor, with one power line for each phase. The motor drive 24 generates a PWM signal for each electrical pulse, controlling the alternating switching of power supply lines to the motor body 26. This generates a magnetic field based on the power supply from each phase, causing the motor body to rotate. After the required number of electrical pulses is reached, PWM signal generation stops, thus stopping the rotation of the motor body 26.

[0037] Specifically, the controller is connected to each phase power line of the motor body. The controller is configured to: collect the current on each phase power line in real time; determine the angle corresponding to the current at the previous moment based on the current collected at the moment before the motor body stops and a preset current-angle relationship table, the preset current-angle relationship table recording the mapping relationship between different current magnitudes and the rotation angle of the motor body; determine the number of rotations of the motor body corresponding to the angle; and determine the actual position of the motor body when it stops driving the clothesline based on the number of rotations of the motor body and the preset number of rotations.

[0038] During the rotation of the motor body 26 driven by the motor drive 24, the controller 22 collects the corresponding current from each phase power line of the motor body 26 in real time. The magnitude of the current on each phase power line is, for example, Figure 2 The sine wave in (a) is shown.

[0039] After acquiring the current, the controller 22 can determine the corresponding rotation angle of the motor body 26 in real time according to the preset current-angle relationship table. The waveform diagram of the rotation angle of the motor body 26 is shown below. Figure 2 As shown in (b), Figure 2 As shown, within one cycle of current change, the motor body 26 rotates from 0° to 360°, that is, completes one revolution. Therefore, the current-angle relationship can be obtained as follows: Figure 3 As shown.

[0040] For example, from Figure 3It can be seen that the current value of one-quarter cycle corresponds to 90°, the current value of one-half cycle corresponds to 180°, the current value of three-quarter cycle corresponds to 270°, and the current value of one cycle corresponds to 360°. The correspondence between other current values ​​and the rotation angle of the motor body can be deduced by analogy, and will not be elaborated here.

[0041] Therefore, when the motor drive 24 drives the motor body 26 to stop according to the target position, the current collected at the time before the stopping time, i.e., the current sampling time, and Figure 3 The corresponding preset current-angle relationship table can be used to determine the angle corresponding to the current at the previous moment, that is, the angle of rotation when the motor body 26 stops.

[0042] As mentioned above, one revolution corresponds to 360°. Based on the angle of rotation when the motor body 26 stops, the number of revolutions the motor body 26 exceeds the preset number due to inertial motion can be calculated. This number of revolutions is the distance deviation between the target position and the actual position when the clothesline stops. The number of revolutions obtained by summing the number of revolutions and the preset number is the actual number of revolutions the motor body 26 rotates, corresponding to the actual position when the clothesline stops.

[0043] Inertial motion will cause the motor body 26 to move beyond the preset number of revolutions, that is, the angle is within the angle range of the next revolution after the last revolution corresponding to the preset number of revolutions.

[0044] Since the motor body 26 is a high-speed motor, it is necessary to reduce speed to achieve the applicable movement range of the clothesline 40 when moving it.

[0045] Optionally, the motor body is connected to the clothesline in sequence via a worm gear, a turbine, and a reduction wheel. The controller is configured to: determine the actual number of rotations of the motor body when the clothesline stops, based on the number of inertial rotations and the preset number of rotations; obtain the circumference of one rotation of the reduction wheel and the reduction ratio between the worm gear and the reduction wheel; determine the distance the clothesline moves when it stops, based on the actual number of rotations, the circumference, and the reduction ratio; and determine the actual position based on the distance moved and the starting position of the clothesline.

[0046] Combination Figure 4 The motor body 26 is connected to the turbine 34 via the worm gear 32, the turbine 34 is connected to the reduction wheel 36, and the reduction wheel 36 is connected to the clothesline 40, thereby reducing the rotation of the motor body 26 and moving the clothesline 40.

[0047] Based on the number of inertial revolutions and a preset number of revolutions of the motor body 26, the controller 22 can first determine the actual number of revolutions of the motor body 26 when the clothesline 40 stops. Then, it acquires the rotational speeds of the worm gear 32 and the reduction gear 36, and calculates the reduction ratio between the worm gear 32 and the reduction gear 36. Figure 4 As shown, the rotational speed of the motor body 26 is n1, and the rotational speed of the reduction wheel 36 is n2. Then n1 / n2 is the reduction ratio between the two.

[0048] Based on the circumference of one revolution of the reduction gear 36, the reduction ratio, and the actual number of revolutions, the distance the clothesline moves when it stops can be determined. For example, if the reduction ratio is 210.7 and the actual number of revolutions of the motor body 26 is 2000.5, then the distance L that the clothesline moves when it stops is L = (2000.5 * circumference of one revolution of the reduction gear) / k / reduction ratio, where the circumference of one revolution of the reduction gear is a fixed value, and k is a reference fixed value.

[0049] Finally, by summing the calculated distance L and the starting position of the clothesline, the actual position of the motor body 26 when it stops driving the clothesline 40 can be determined.

[0050] After obtaining the actual position, the inertial movement distance of the clothesline 40 when it stops can be calculated by subtracting it from the target position set by the user, and can be used for target position compensation in the next stop command.

[0051] Existing DC brushed motors are relatively large, and when the load is heavy, the clothesline may overshoot during motor start-up and shutdown, resulting in a poor user experience.

[0052] Optionally, the controller is further configured to: when it detects that the motor body drives the clothesline to move to a first designated position, reduce the preset rotation speed of the motor body based on the load weight driven by the clothesline; control the motor body to drive the clothesline from the first designated position to the target position at the reduced rotation speed, wherein the first designated position does not exceed the target position.

[0053] Under normal circumstances, the motor body 26 rotates at a preset speed. In this embodiment, for the case where the motor body 26 stops, the controller 22 decelerates the motor body 26 in advance to overcome the overshoot problem when the motor stops, thus achieving a smooth and stable stop for the clothesline. Specifically, based on the load weight of the clothesline 40, the controller 22 controls the motor body 26 to reduce the preset speed at a first designated position before reaching the target position. The reduced speed is then sent to the motor drive 24, which controls the motor body 26 to rotate at this speed, thereby moving the clothesline from the first designated position to the target position.

[0054] The motor drive 24 can reduce the preset rotational speed of the motor body 26 by reducing the frequency of the PWM signal output to each phase power line.

[0055] Different load weights correspond to different reductions in rotational speed; the greater the load weight, the smaller the reduced rotational speed.

[0056] For example, the reduced rotational speed V = a * H, where a is a fixed coefficient and H is the load weight. The greater the load weight, the greater the corresponding speed reduction, and the smaller the reduced rotational speed. The controller 22 can determine the load weight by measuring the collected current.

[0057] In this way, by using stepped speeds to move and stop the clothesline, the problem of over-rushing of the clothesline when the motor stops can be solved.

[0058] Furthermore, the controller is also configured to: when it detects that the motor body drives the clothesline to move from the starting position, reduce the preset rotation speed of the motor body based on the load weight carried by the clothesline; control the motor body to move the clothesline from the starting position to a second designated position at the reduced rotation speed via the motor drive, the second designated position being located between the starting position and the first designated position; and control the motor body to move the clothesline from the second designated position to the first designated position at the preset rotation speed via the motor drive.

[0059] Under normal circumstances, the motor body 26 rotates at a preset speed. In this embodiment, for the starting situation of the motor body 26, the controller 22 decelerates the motor body 26 in advance to overcome the overshoot problem during motor start-up and achieve a smooth and stable start-up of the clothesline. Specifically, the controller 22 controls the motor body 26 to reduce the preset speed from the starting position to the second specified position based on the load weight of the clothesline 40. The reduced speed is then sent to the motor drive 24, which controls the motor body 26 to rotate at this speed, thereby moving the clothesline from the starting position to the second specified position, which is located between the starting position and the first specified position.

[0060] Similarly, the reduced rotational speed V = a * H. Thus, by using a stepped speed to start and move the clothesline, the problem of overshooting during motor startup can be solved.

[0061] Furthermore, it can reduce the inertial travel distance, further reducing the deviation between the actual position and the target position when the clothesline stops.

[0062] The motor body 26 is powered by high voltage, while the controller 22 and the motor drive 24 are powered by low voltage. Under normal circumstances, the voltage of the power supply needs to be converted to the corresponding required voltage before supplying power to the motor body 26, the controller 22 and the motor drive 24 respectively, which increases the cost of the power supply circuit.

[0063] To reduce the cost of the power supply circuit, in this embodiment, the clothes drying position control device may optionally include a switching power supply and a transformer module. The switching power supply has a first terminal connected to a power supply and a second terminal connected to the motor body, and is used to boost the voltage output by the power supply to a preset high voltage to power the motor body. The transformer module has a first terminal connected to the second terminal of the switching power supply and a second terminal connected to the controller and the motor drive, respectively, and is used to reduce the preset high voltage to a preset low voltage to power the controller and the motor drive.

[0064] Figure 5 The power supply architecture of each component of the clothes-drying position control device according to an embodiment of this application is shown. Here, the power supply 56 is, for example, a 220V AC mains power supply, and the 220V voltage is input to the switching power supply 52. ​​The switching power supply 52 is, for example, a MOSFET switch, which, through the switching function of the MOSFET, raises the 220V voltage to a preset high voltage of, for example, 330V, and directly supplies this preset high voltage to the motor body 26. In addition, in conjunction with the transformer module 54, the preset high voltage output by the switching power supply 52 is further reduced to a preset low voltage, and then used to power the controller 22 and the motor drive power supply 24 respectively.

[0065] In this embodiment, a single switching power supply and transformer module can power the motor body 26, the controller 22, and the motor drive 24, thereby supporting high-voltage drive and reducing the cost of the power supply circuit.

[0066] Optionally, the motor drive and the motor body correspond to form a brushless DC motor. The brushless DC motor structure reduces the use of Hall sensors, brushes, and commutators, thus allowing for a smaller size, simpler structure, easier modularization, and reduced manufacturing costs compared to a brushed DC motor.

[0067] In this embodiment, the clothesline position control device includes a controller, a motor drive, and a motor body. The controller is connected to the motor drive and is used to output a stop command to the motor drive, the stop command carrying a target position for stopping the clothesline. The motor drive is also connected to the motor body and is used to drive the motor body to rotate based on the stop command. The motor body is also connected to the clothesline and is used to move the clothesline towards the target position by rotating it. The controller is also connected to the motor body and is used to obtain the actual position when the motor body drives the clothesline to stop, and to compensate for the target position carried in the next stop command based on the deviation between the actual position and the target position. This can compensate for the position deviation that occurs when the clothesline stops due to the inertial motion of the motor, avoid the cumulative position error caused by multiple runs of the clothes dryer, and achieve precise control of the clothesline position.

[0068] Optionally, embodiments of this application also provide a clothes drying rack, including as follows: Figures 1 to 5 The clothes drying position control device described in the embodiment.

[0069] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0070] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A clothes-drying position control device, characterized in that, Includes controller, motor drive, and motor body. The controller, connected to the motor drive, is configured to output a stop command to the motor drive, the stop command including a target position for the clothesline to stop. The motor drive is also connected to the motor body and is configured to drive the motor body to rotate based on the stop command; The motor body is also connected to the clothesline and is configured to drive the clothesline to move toward the target position by rotating it; The controller is also connected to the motor body and is configured to obtain the actual position when the motor body stops driving the clothesline, and compensate for the target position contained in the next stop command based on the deviation between the actual position and the target position.

2. The apparatus according to claim 1, characterized in that, The motor drive is configured as follows: Based on the target position carried by the stop command, determine the preset number of revolutions to drive the motor body to rotate; The motor body is driven to rotate based on the preset number of revolutions.

3. The apparatus according to claim 2, characterized in that, The motor drive is configured as follows: Based on the preset number of revolutions and the number of pole pairs of the motor body, the number of electrical pulses that drive the motor body to rotate is determined; Based on the number of electrical pulses, a PWM signal is output to the three-phase power lines of the motor body. The PWM signal is used to control the power lines of each phase to alternately supply power to the motor body, so as to drive the motor body to rotate based on the magnetic field generated by the power supply of each phase power line.

4. The apparatus according to claim 3, characterized in that, The controller is connected to each phase power line of the motor body. The controller is configured as follows: Real-time acquisition of current on each phase power line; Based on the current collected at the moment before the motor body stops and the preset current-angle relationship table, the angle corresponding to the current at the moment before stops is determined. The preset current-angle relationship table records the mapping relationship between different current magnitudes and the rotation angle of the motor body. Determine the number of rotations of the motor body corresponding to the angle; Based on the number of inertia revolutions and the preset number of revolutions, the actual position of the motor body when it stops driving the clothesline is determined.

5. The apparatus according to claim 4, characterized in that, The motor body is connected to the clothesline in sequence via a worm gear, a turbine, and a reduction gear. The controller is configured as follows: Based on the inertia count and the preset count, determine the actual number of rotations of the motor body when the clothesline stops; Obtain the circumference of one revolution of the reduction wheel and the reduction ratio between the worm and the reduction wheel; Based on the actual number of turns, the circumference, and the reduction ratio, determine the distance the clothesline moves when it stops; The actual position is determined based on the distance traveled and the starting position of the clothesline.

6. The apparatus according to claim 4, characterized in that, The controller is also configured to: When it is detected that the motor body drives the clothesline to move to the first designated position, the preset rotation speed of the motor body is reduced based on the load weight driven by the clothesline. The motor body is controlled to move the clothesline from the first designated position to the target position at a reduced rotational speed, where the first designated position does not exceed the target position.

7. The apparatus according to claim 6, characterized in that, The controller is also configured to: When it is detected that the motor body drives the clothesline to move from the starting position, the preset rotation speed of the motor body is reduced based on the load weight driven by the clothesline. The motor body is controlled by the motor drive to reduce the rotation speed, thereby moving the clothesline from the starting position to the second designated position, which is located between the starting position and the first designated position. The motor body is controlled by the motor drive to rotate at the preset speed, thereby moving the clothesline from the second designated position to the first designated position.

8. The apparatus according to claim 1, characterized in that, It also includes switching power supplies and transformer modules. The switching power supply has a first end connected to a power supply and a second end connected to the motor body, and is used to boost the voltage output by the power supply to a preset high voltage to power the motor body. The transformer module has a first end connected to the second end of the switching power supply, and the second end connected to the controller and the motor drive respectively, for reducing the preset high voltage to a preset low voltage to supply power to the controller and the motor drive.

9. The apparatus according to claim 1, characterized in that, The motor drive and the motor body together constitute a brushless DC motor.

10. A clothes drying rack, characterized in that, Includes the clothes drying position control device as described in any one of claims 1-9.

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