Motor-equipped equipment, and method and device for improving stopping noise

Abstract

The present disclosure can convert kinetic energy into electrical energy of the bus voltage when the bus voltage is low, and can realize a braking function by converting kinetic energy into electrical energy while reliably and effectively ensuring the operation of circuit components. [Solution] A method for improving stopping noise in a motor-equipped device includes the steps of: when the motor is about to stop, cutting off an external power supply and collecting a bus voltage that drives the motor at a predetermined collection period; when the bus voltage is equal to or higher than a predetermined first threshold voltage, controlling the motor to operate in an energy consumption braking state and converting the kinetic energy of the motor into thermal energy in the motor windings; and when the bus voltage is equal to or lower than a predetermined second threshold voltage, returning the kinetic energy of the motor to the power supply end and increasing the bus voltage at the power supply end of the motor, wherein the first threshold voltage is greater than the second threshold voltage.

Description

[Technical field]

[0001] This disclosure claims priority to a Chinese patent application filed with the China Patent Office on April 21, 2021, bearing application number 202110431079.3 and entitled "Motor-equipped equipment, and method and device for improving stopping noise thereof," the entire contents of which are incorporated herein by reference. The present disclosure relates to the field of motor control technology, and more particularly to a motor-equipped device and a method and device for improving stopping noise thereof. [Background technology]

[0002] The high-speed motor of a vacuum cleaner has a high rotation speed during operation. After the power supply of the vacuum cleaner is turned off, the motor goes through a free-running stop process, which generates a long noise during the process. The braking method can effectively solve the noise problem. For example, the current braking method often adopts an energy consumption braking method, which short-circuits the motor windings by turning on the lower arm switching element, generating a short-circuit current to heat the windings, and converting the kinetic energy of the motor into thermal energy to quickly stop the motor.

[0003] However, in battery-powered devices, such as handheld vacuum cleaners, after the device is stopped, the battery management system cuts off the battery power supply, and the power supply voltage of the battery power supply drops rapidly. If the voltage of the battery power supply is too low, the driving voltage of the power switching element will be insufficient, and the chip will be powered down, making it difficult to effectively maintain the brake function. In particular, when the motor rotation speed is high, a longer brake time is required, and the motor will enter a free-running stop state after braking fails, and the noise after stopping cannot be effectively improved. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of this, the embodiments of the present disclosure provide a motor-equipped device, and a method and device for improving stopping noise thereof, to solve the problem that in the prior art, when improving stopping noise by energy consumption braking, problems occur such as insufficient driving voltage of the power switching element or power down of the chip, and stopping noise cannot be effectively improved after braking fails. [Means for solving the problem]

[0005] A first aspect of an embodiment of the present disclosure is a method for improving stopping noise of a motorized device, comprising: When the motor is about to enter a stopped state, an external power supply is cut off, and a bus voltage for driving the motor is collected at a preset collection period; When the bus voltage is equal to or greater than a first threshold voltage, controlling the motor to operate in an energy consumption braking state and converting the kinetic energy of the motor into thermal energy in a motor winding; When the bus voltage is equal to or lower than a second threshold voltage, returning the kinetic energy of the motor to a power supply end to increase a bus voltage at the power supply end of the motor; The first threshold voltage is greater than the second threshold voltage.

[0006] A first embodiment of the first aspect comprises: the motor is connected to a DC power supply via a three-phase inverter circuit; When the bus voltage is equal to or greater than a first threshold voltage, controlling the motor to operate in an energy consumption braking state and converting kinetic energy of the motor into thermal energy in a motor winding includes: The method includes a step of controlling a power switch of a lower arm of a three-phase inverter circuit to be on when the bus voltage is equal to or higher than a predetermined first threshold voltage, so that a current generated by the kinetic energy of the motor generates thermal energy in the motor winding in a short circuit through a short circuit formed by the motor winding and the power switch of the lower arm.

[0007] A second embodiment of the first aspect is a method for producing a composition comprising the steps of: the motor is connected to a DC power supply via a three-phase inverter circuit, and a free wheel diode is connected in parallel to a position of a power switch of the three-phase inverter circuit; The step of returning the kinetic energy of the motor to a power supply end and increasing a bus voltage at the power supply end of the motor includes: The method includes controlling a power switch in the three-phase inverter circuit to an off state, forming a boost circuit with a freewheel diode in the three-phase inverter circuit, and increasing a bus voltage of the motor.

[0008] A third embodiment of the first aspect is a method for producing a composition comprising the steps of: The second threshold voltage is greater than the voltage on the bus at which the motor's power switches can be effectively driven, or the first threshold voltage is less than the voltage on the bus at which the drive circuitry and power supply are damaged.

[0009] A second aspect of the embodiment of the present disclosure is a method for improving stopping noise of a motorized device, comprising: When the motor is about to enter a stopped state, the external power supply is cut off, a predetermined desired stopping time is obtained, and one or more braking periods included in the desired stopping time are determined; converting kinetic energy of the motor into thermal energy in a motor winding by energy consumption braking during a first period of the braking cycle based on a set desired stopping time; and returning the kinetic energy of the motor to the power supply end by regenerative braking during a second period within the braking cycle based on the set desired stopping time, thereby increasing the bus voltage at the power supply end of the motor.

[0010] A first embodiment of the second aspect comprises: The method for improving stopping noise of a motor-equipped device comprises: obtaining an actual downtime of the equipment; if the actual stopping time is greater than the desired stopping time, increasing an energy consuming braking period and decreasing a regenerative braking period in the braking cycle; If the actual stopping time is less than the desired stopping time, decreasing an energy consuming braking period and increasing a regenerative braking period in the braking cycle.

[0011] A second embodiment of the second aspect comprises: The method for improving stopping noise of a motor-equipped device comprises: receiving a command to adjust the desired dwell time; adjusting one or more of the energy consumption braking period, the regenerative braking period, and the braking cycle based on the adjustment command for the desired stop time.

[0012] A third aspect of the present disclosure is a device for improving stopping noise of a motorized device, comprising: a bus voltage collection unit for cutting off an external power supply when the motor is about to enter a stopped state and collecting a bus voltage for driving the motor at a preset collection period; an energy-consuming braking unit for controlling the motor to operate in an energy-consuming braking state when the bus voltage is equal to or greater than a first threshold voltage, and converting kinetic energy of the motor into thermal energy in a motor winding; a regenerative braking unit that returns kinetic energy of the motor to a power supply end and increases a bus voltage at the power supply end of the motor when the bus voltage is equal to or lower than a second threshold voltage that is preset; The first threshold voltage is greater than the second threshold voltage.

[0013] A fourth aspect of the embodiment of the present disclosure is a motorized device, A computer program comprising: a memory; a processor; and a computer program stored in the memory and executable by the processor; When the processor executes the computer program, it performs the steps of the method according to any one of the first aspects.

[0014] A fifth aspect of the present disclosure is a computer-readable storage medium having a computer program stored therein, When the computer program is executed by a processor, the steps of the method according to any one of the first aspects are achieved. Effect of the Invention

[0015] The advantage of the embodiments of the present disclosure over the prior art is that when the motor of the present disclosure is about to enter a stopped state, the external power supply side power source is cut off, and the detected bus voltage is compared with a first threshold voltage and a second threshold voltage that are preset, and when the bus voltage is high, the kinetic energy of the motor can be converted into thermal energy through energy consumption braking, and when the bus voltage is low, the kinetic energy of the motor is converted into thermal energy through regenerative braking so that it can be used to improve the bus voltage, thereby ensuring the drive of the power switch and the power supply to the chip for a longer period of time, and thereby more effectively improving stopping noise. [Brief description of the drawings]

[0016] In order to more clearly describe the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings that need to be used in the embodiments or exemplary technical description. Needless to say, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings based on these drawings without creative efforts. [Figure 1] FIG. 1 is a schematic diagram of a motor equipment system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram of energy conversion in a device according to an embodiment of the present disclosure. [Diagram 3] 1 is a flowchart illustrating a method for improving stopping noise of a motorized device according to an embodiment of the present disclosure. [Figure 4] 10 is a flowchart illustrating another method for improving stopping noise of a motorized device according to an embodiment of the present disclosure. [Diagram 5]10 is a flowchart illustrating another method for improving stopping noise of a motorized device according to an embodiment of the present disclosure. [Figure 6] 1 is a schematic diagram of a device for improving stopping noise of a motorized device according to an embodiment of the present disclosure. [Figure 7] 1 is a schematic diagram of a motorized device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The following description provides specific details, such as specific system configurations, techniques, etc., for purposes of explanation and not limitation, to thoroughly understand the embodiments of the present disclosure. However, it should be understood by those skilled in the art that the present disclosure can be implemented in other embodiments that do not have these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary details.

[0018] Hereinafter, specific examples will be used to explain the technical solutions of the present disclosure.

[0019] At present, in devices with motors, including common handheld vacuum cleaners, the rotation speed of the motor is very high, so when the device is stopped, a large stopping noise is generated in the process of the motor's rotation speed gradually decreasing from a high speed. In order to overcome the defect of stopping noise, a method is currently commonly used in which the kinetic energy of the motor is converted by energy consumption braking, and the kinetic energy caused by the operation of the motor is converted into thermal energy of the motor windings to brake the rotation speed of the motor. However, when the device is turned off, the voltage drops rapidly, so the driving voltage of the power switch may be insufficient or the chip may be powered down, making it difficult to effectively maintain the braking function. After the motor brake function of adjusting the operation fails, the motor enters a relatively long free-running stop state, and the motor noise cannot be effectively improved.

[0020] Based on the above problems, the embodiment of the present disclosure provides a motorized device and a method for improving stopping noise thereof. Fig. 1 is a system schematic diagram of a motorized device according to the embodiment of the present disclosure, the system of the motorized device includes a power supply, a control unit, a voltage collecting unit, a driving unit and a motor.

[0021] Here, the power supply may be, for example, a DC power supply including a rechargeable battery. In one embodiment, the power supply is provided with a filter capacitor. After the power supply is cut off, the kinetic energy of the motor is returned to the busbar at the power supply end to charge the filter capacitor at the power supply end, thereby improving the power supply end voltage.

[0022] The voltage collecting unit collects the bus voltage at the power supply end. The bus voltage in the embodiment of the present disclosure may be the voltage of the power supply line of the power supply located on the motor equipment side of the equipment stop switch. The bus voltage may be collected by a voltage sensor, and the bus voltage may be identified by a voltage detection circuit, and the voltage detection circuit may be configured with a chip such as MIC833.

[0023] The control unit compares the collected bus voltage with a preset voltage threshold. The preset voltage threshold includes a first threshold voltage and a second threshold voltage, and the voltage value of the first threshold voltage is greater than the voltage value of the second threshold voltage. In one embodiment, the first threshold voltage is less than a maximum safe voltage of the device, which is the bus voltage at the power supply just before the driving circuit or power supply is damaged. By setting the first threshold voltage to be less than the maximum safe voltage of the device, components in the device are not damaged when the device is in an energy consumption braking mode. The voltage value of the second threshold voltage is greater than a minimum driving voltage, which is the minimum voltage at the bus that effectively drives the normal operation of electronic components in the device. The electronic components to be driven include power switches in the device, etc. By setting the voltage value of the second threshold voltage to be greater than the minimum driving voltage, when the bus voltage is less than the second threshold voltage, the bus voltage can be instantly boosted, ensuring that the power switches in the device can be effectively driven, and ensuring that the chip does not power down.

[0024] In one embodiment, the control unit may further receive an adjustment command inputted from a user, and adjust the pre-stored threshold voltage according to the adjustment command.

[0025] The driving unit converts the power supply so that the power supply can drive the motor to operate. The driving unit may include a plurality of power switches, the control ends of which are connected to the control unit, and the power switches in the driving unit can be controlled to be turned on and off by a control command sent from the control unit.

[0026] In one embodiment, the drive unit may be a three-phase inverter circuit. Here, the three-phase inverter circuit may include a plurality of power switches. The plurality of power switches may be grouped according to their positions, and include an upper arm switch group (power switches located in an upper portion of the three-phase inverter circuit and corresponding freewheel switch diodes) and a lower arm switch group (power switches located in a lower portion of the three-phase inverter circuit and corresponding freewheel switch diodes).

[0027] The motor may include a three-phase input port connected to motor windings in the motor, the motor windings being a stator of the motor, and when a magnetic motor rotor rotates, the rotor's magnetic field cuts the motor windings in the stator, thereby converting the motor's kinetic energy into electrical energy.

[0028] When the device receives a stop command, the device cuts off the voltage of the power supply, and the bus voltage supplying the motor gradually drops. The embodiment of the present disclosure monitors the bus voltage and performs a different type of conversion on the kinetic energy of the motor according to the bus voltage, so as to realize a more sustained and effective braking process for the motor and further improve the noise of the motor.

[0029] 2 is a schematic diagram of the energy conversion for noise reduction of a motor-equipped device according to an embodiment of the present disclosure. As shown in FIG. 2, when the device receives a stop command, the kinetic energy generated by the motor rotation can be converted into energy in two ways: regenerative braking and energy consumption braking.

[0030] The energy consumption braking includes shorting the motor windings, so that the motor windings generate heat energy in the short circuit, thereby realizing the motor brake function. The manner of shorting the motor windings can be achieved by adjusting the on-off state of the power switch in the driving circuit. Needless to say, the manner is not limited thereto, and the circuit in which the motor windings are located can also be directly shorted by connecting other controllable switches.

[0031] In the regenerative braking, the bus voltage of the motor can be increased by boosting the electric energy converted from the kinetic energy of the motor rotation with a boost circuit. When boosting the electric energy, the on-off state of the power switch in the driving unit can be controlled to boost the capacitor of the bus voltage of the motor, for example, including a boost chopper circuit. Alternatively, the bus voltage can be increased by boosting the electric energy converted from the kinetic energy of the motor with another boost circuit. After the bus voltage is increased, the power switch of the driving unit can be normally and effectively driven, and the power down of the chip can be prevented, so that the brake function can be effectively maintained and the stopping noise of the equipment can be improved. Here, the boost circuit can be boosted by a boost chip or a typical boost circuit.

[0032] 3 is a flowchart illustrating an implementation of a method for improving noise when shutting down an equipment according to an embodiment of the present disclosure. The method includes the following steps:

[0033] In S301, when the motor is about to enter a stopped state, the external power supply side power source is cut off, and the bus voltage driving the motor is collected at a preset collection period.

[0034] In the embodiment of the present disclosure, the time when the motor is about to enter the stopped state may be when the device receives a stop command or when the device triggers a stop. The stop command may include a device stop command triggered by a stop button of the device. It may also include, but is not limited to, a device stop command triggered when the device battery power drops to a preset off power. Or, it may include a device stop command triggered when the device is disconnected from the power source.

[0035] The bus voltage in the embodiment of the present disclosure may be a voltage of a power supply line of a power supply located on the electric equipment side of the equipment stop switch. The bus voltage may be collected by a voltage sensor, and the bus voltage may be identified by a voltage detection circuit, and the voltage detection circuit may be configured with a chip such as MIC833.

[0036] Here, the frequency of collecting the bus voltage or the collection period of the bus voltage may be preset, or the collection frequency may be adjusted based on the magnitude of the collected bus voltage. For example, the closer the bus voltage is to the first threshold voltage or the closer it is to the second threshold voltage, the more frequently the bus voltage is collected.

[0037] In S302, if the bus voltage is equal to or greater than a first preset threshold voltage, the motor is controlled to operate in an energy consuming braking state, and the kinetic energy of the motor is converted into thermal energy in the motor windings.

[0038] Here, the preset first threshold voltage is used to detect whether or not energy consumption braking is required. When the bus voltage is equal to or greater than the first threshold, energy consumption braking is initiated. In order to avoid damaging electrical components and the power supply when energy consumption braking is initiated, the first threshold voltage is less than a maximum safe voltage, which is a maximum bus voltage corresponding to a case where the driving circuit and the power supply can operate normally. When the bus voltage is greater than the first threshold voltage, the motor is controlled to operate in a braking energy consumption state, thereby reducing the bus voltage and avoiding damage to circuit components and the power supply due to an excessively large bus voltage.

[0039] When the motor is in an energy consumption braking state, the method may include placing a line in which a motor winding is located in a short circuit, and dissipating electrical energy due to rotation of the motor as heat via the motor winding in the short circuit.

[0040] The method of configuring the motor winding as a short circuit can be controlled in relation to the on / off of a power switch in the drive unit. For example, when the drive unit is a three-phase inverter circuit, the power switch in the three-phase inverter circuit is controlled to turn on the power switch of the lower arm in the three-phase inverter circuit, and the power switch of the upper arm in the three-phase inverter circuit is controlled to turn off, so that the power switch of the lower arm and the motor winding can form a short circuit.

[0041] In one embodiment, a pin of the motor winding is connected to an energy consuming switch, and when it is detected that the bus voltage is greater than a first preset threshold voltage, the energy consuming switch is controlled to be turned on, so that the motor winding forms a short circuit. Current generates thermal energy through the motor winding in the short circuit, thereby realizing the conversion between kinetic energy and thermal energy, and ensuring the braking function of the motor.

[0042] In S303, if the bus voltage is equal to or lower than a preset second threshold voltage, the kinetic energy of the motor is returned to the power supply end, and the bus voltage at the power supply end of the motor is increased.

[0043] Here, the first threshold voltage is greater than the second threshold voltage.

[0044] Here, the second threshold voltage should be greater than a minimum drive voltage, which is the voltage at the bus when the power switch can be normally driven, so that the power switch can be effectively driven even when the bus voltage is detected to be equal to or less than the second threshold voltage.

[0045] When the bus voltage is equal to or lower than the preset second threshold voltage, the boost chopper can boost the electric energy in the motor winding, and the boosted voltage is used to increase the voltage in the bus, so that the power switch in the device can be normally and effectively driven, and the chip can be ensured to operate normally without powering down, so that the device can perform the braking function continuously and stably. At the same time, the kinetic energy of the motor is converted into the electric energy of the device, and the power supply or capacitor of the device is charged, thereby realizing the conversion between kinetic energy and electric energy.

[0046] FIG. 4 is a flowchart illustrating another method for improving noise in a motor-equipped device according to an embodiment of the present disclosure, in which S401 to S403 are substantially the same as S301 to S303 in FIG. 3, and in S404, if the bus voltage is smaller than the first threshold voltage and larger than the second threshold voltage, the current braking method is maintained.

[0047] For example, when the current braking method detects that the bus voltage is smaller than the first threshold voltage and larger than the second threshold voltage while the motor is in the energy dissipation braking state, the motor will maintain its current operating state, i.e., operating in the energy dissipation braking state, in which the motor bus voltage gradually decreases, and when it decreases to the second threshold voltage, the motor will switch to the regenerative braking state and increase the bus voltage.

[0048] In the current braking method, when the motor operates in a regenerative braking state, i.e., the kinetic energy of the motor is fed back to the power supply source or the power supply end including the capacitor at the power supply end, and the bus voltage at the power supply end is increased. If it is detected that the bus voltage is smaller than the first threshold voltage and larger than the second threshold voltage, the regenerative braking state is maintained. In this state, the bus voltage may continue to rise until it reaches or exceeds the preset first threshold voltage, and the motor switches to an energy consumption braking state. A braking operation for braking the motor in response to the detection of the bus voltage is continued until the motor is stopped.

[0049] Motorized appliances according to embodiments of the present disclosure may include appliances equipped with a motor that regulates operation, such as a handheld vacuum cleaner.

[0050] FIG. 5 is a flowchart illustrating a method for improving stopping noise of a motorized device according to an embodiment of the present disclosure.

[0051] In S501, when the motor is about to enter a stopped state, the external power supply side power source is cut off, a preset desired stopping time is obtained, and one or more braking periods included in the desired stopping time are determined.

[0052] In an embodiment of the present disclosure, the desired downtime is a desired time from when the equipment enters a stopped state to when the equipment is completely stopped. The desired downtime can be determined based on parameters such as production requirements of the equipment and usage requirements of the user.

[0053] Based on the obtained desired stopping time, the desired stopping time can be divided into one or more braking periods in a uniform division manner. For example, the stopping time may be 1 second, and the divided braking periods may be 10. The duration of each braking period is 1 second / 10=100 milliseconds.

[0054] When determining the braking cycle, the desired stopping time may be divided based on a preset number of braking cycles, or based on the duration of the braking cycle. For example, if the desired stopping time is 1.5 seconds based on a preset braking cycle of 100 milliseconds, the desired stopping time can be divided into 15 braking cycles.

[0055] In S502, based on a set desired stopping time, during a first period within the braking cycle, a kinetic energy of the motor is converted into thermal energy in a motor winding by an energy consuming braking method.

[0056] In order to complete the stopping of the equipment within a set desired stopping time, it is necessary to determine the energy consumption braking period and the regenerative braking period in each braking cycle.

[0057] Here, dissipative braking refers to converting the kinetic energy of the motor into thermal energy in the motor windings, for example, the current due to the kinetic energy of the motor can be used to generate thermal energy through the motor windings, while regenerative braking refers to converting the kinetic energy into electrical energy in the motor bus by increasing the bus voltage of the motor.

[0058] The braking cycle includes a first period and a second period. The braking cycle may be composed of the first period and the second period, and in one embodiment, the sum of the first period and the second period may be a constant period in the braking cycle.

[0059] In the braking cycle, the stopping time of the motor can be shortened by energy consuming braking in a first period, so that the equipment can be stopped according to a set desired stopping time.

[0060] In S503, based on the set desired stopping time, in a second period within the braking cycle, the kinetic energy of the motor is returned to the power supply end by a regenerative braking method, and the bus voltage of the power supply end of the motor is increased.

[0061] Regenerative braking allows the kinetic energy of the motor to be converted into electrical energy and fed back to the motor bus, thereby extending the stopping time of the motor and allowing the motor to stop according to a set desired stopping time.

[0062] In the embodiment of the present disclosure, the desired stop time can be modified according to a setting requirement, and when the desired stop time is modified, the energy consumption braking period, the regenerative braking period, and the duration and number of braking cycles in the braking cycle are adjusted accordingly so that the stop time of the equipment matches the desired stop time.

[0063] During the use of the equipment, the actual stopping time may not match the desired stopping time due to changes in the motor or circuit performance of the equipment. The actual stopping time of the equipment can be collected and compared with the desired stopping time, and the regenerative braking period and the energy consuming braking period in the braking cycle of the equipment can be adjusted based on the comparison result.

[0064] For example, if it is detected that the actual stopping time of the equipment is longer than the desired stopping time during the Nth stopping process, the energy consumption braking period in the braking cycle can be adjusted, and the energy consumption braking period can be increased to achieve a reduction in the actual stopping time during the stopping process after the Nth stopping. For example, in a preset scheme, the braking cycle is 100 milliseconds, the energy consumption braking period is 50 milliseconds, and the regenerative braking period is 50 milliseconds. If it is detected that the actual stopping time is longer than the desired stopping time, the energy consumption braking period can be adjusted to 70 milliseconds, and the regenerative braking period can be adjusted to 30 milliseconds. In actual use, the adjustment can be updated based on the adjustment result until the actual stopping time after adjustment matches the desired stopping time.

[0065] Similarly, if the actual stopping time is less than the desired stopping time, an increase in the actual stopping time can be achieved by increasing the period of regenerative braking and decreasing the period of energy expending braking.

[0066] In one embodiment, the adjustment of the actual stopping time can be achieved by adjusting one of the parameters of the energy consumption braking period and the regenerative braking period.

[0067] It should be understood that the magnitude of the numbers of each step in the above embodiments does not indicate the order of execution, and the order of execution of each process should be determined by its function and internal logic, and is not a limitation on the implementation process of the embodiments of the present disclosure.

[0068] FIG. 6 is a schematic diagram of an apparatus for improving stopping noise of an equipment according to an embodiment of the present disclosure, the apparatus comprising: a bus voltage collection unit 601 for cutting off an external power supply when the motor is about to enter a stopped state and collecting a bus voltage for driving the motor at a preset collection period; an energy-consuming braking unit 602 for receiving the bus voltage collected by the bus voltage collecting unit, and controlling the motor to operate in an energy-consuming braking state when the bus voltage is equal to or greater than a first preset threshold voltage, and converting the kinetic energy of the motor into thermal energy in a motor winding; a regenerative braking unit 603 for receiving the bus voltage collected by the bus voltage collecting unit, and returning the kinetic energy of the motor to a power supply end and increasing the bus voltage of the power supply end of the motor when the bus voltage is equal to or lower than a second threshold voltage; The first threshold voltage is greater than the second threshold voltage.

[0069] The equipment stop noise improving device shown in FIG. 6 corresponds to the equipment stop noise improving device shown in FIG.

[0070] Fig. 7 is a schematic diagram of a motorized device according to an embodiment of the present disclosure. As shown in Fig. 7, the motorized device 7 of this embodiment includes a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable by the processor 70, such as a program for improving stopping noise of a motorized device. When the processor 70 executes the computer program 72, it realizes steps in the embodiments of the method for improving stopping noise of the motorized device. Alternatively, when the processor 70 executes the computer program 72, it realizes the functions of each module / unit in the embodiments of each device described above.

[0071] Exemplarily, the computer program 72 may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to accomplish the present disclosure. The one or more modules / units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program 72 in the motorized equipment 7.

[0072] The motorized device may include, but is not limited to, a processor 70 and a memory 71. As one skilled in the art will appreciate, Figure 7 is merely an example of a motorized device 7, and is not a limitation on the motorized device 7, which may include more or fewer components than shown, some components may be combined, or different components may be included. For example, the motorized device may further include input / output devices, network access devices, buses, etc.

[0073] The processor 70 may be a Central Processing Unit (CPU) or other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic component, a discrete gate or transistor logic component, a discrete hardware component, etc. A general purpose processor may be a microprocessor, the processor may be any common processor, etc.

[0074] The memory 71 may be an internal storage unit of the motorized device 7, such as a hard disk or memory of the motorized device 7. The memory 71 may be an external storage device of the motorized device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., provided in the motorized device 7. Furthermore, the memory 71 may include both an internal storage unit of the motorized device 7 and an external storage device. The memory 71 stores the computer program and other programs and data required by the motorized device. The memory 71 may also temporarily store data that has been output or is to be output.

[0075] As will be understood by those skilled in the art, the division of each of the above functional units and modules is merely an example given for convenience and conciseness of description, and in actual application, the above function allocation can be realized by different functional units and modules as necessary, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the above functions. Each functional unit and module in the embodiment may be integrated into one processing unit, each unit may exist physically alone, or two or more units may be integrated into one unit, and the integrated unit may be realized in the form of hardware or software functional unit. In addition, the specific names of each functional unit and module are used to distinguish each other, and do not limit the scope of protection of the present disclosure. For the specific operation process of the units and modules in the above system, reference may be made to the corresponding process in the embodiment of the method, and the description will be omitted here.

[0076] In the above embodiments, the description of each embodiment is focused on, and for the parts not detailed or described in an embodiment, reference can be made to the relevant descriptions of other embodiments.

[0077] As those skilled in the art can understand, each exemplary unit and algorithm step described in the embodiments disclosed herein can be realized 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. Experts can implement the described functions using different methods for each specific application, but such implementation should not be considered as going beyond the scope of the present disclosure.

[0078] In the embodiments of the present disclosure, it should be understood that the disclosed device / terminal device and method may be realized in other ways. For example, the above-described embodiments of the device / terminal device are merely illustrative, and the division of the modules or units is merely a division of logical functions, and in actual implementation, other division methods may be used, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. Meanwhile, the illustrated or described mutual couplings, direct couplings, or communication connections may be indirect couplings or communication connections via some interfaces, devices, or units, and may be in electrical, mechanical, or other forms.

[0079] The units described above as separate components may or may not be physically separated, and the components described as units may or may not be physical units, i.e., they may be located in one place or distributed among multiple network units. According to actual needs, some or all of the units can be selected to achieve the objective of the technical solution of the embodiment.

[0080] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be realized in the form of hardware or in the form of a software functional unit.

[0081] The integrated module / unit may be realized as a software functional unit and stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the present disclosure is that the realization of all or part of the processes in the above-mentioned embodiment methods may be completed by hardware associated with computer program instructions, and the computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned embodiment methods can be realized. The computer program includes a computer program code, and the computer program code may be in a source code format, an object code format, an executable file, or some intermediate format, etc. The computer-readable medium may include any entity or device capable of storing the computer program code, a recording medium, a USB disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier wave signal, an electric communication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may vary as required by legislation and patent practice in a jurisdiction; for example, in some jurisdictions, legislation and patent practice requires that computer-readable media does not include electrical carrier signals and telecommunications signals.

[0082] It should be understood that the above embodiments are only for illustrating the technical solutions of the present disclosure, and are not limiting. Although the present disclosure has been described in detail with reference to the above embodiments, those skilled in the art may still modify the technical solutions described in the above embodiments or equivalently replace some technical features therein, and such modifications or replacements should all be included in the protection scope of the present disclosure without departing from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for improving stopping noise in a motor-equipped device, comprising: an external power supply that supplies power to a motor to operate the motor; a filter capacitor connected to the external power supply; a three-phase inverter circuit that is composed of a plurality of power switches and is connected in parallel to the filter capacitor; and a motor that is connected to the three-phase inverter circuit, wherein a positive electrode of the external power supply is connected to a positive electrode of the filter capacitor, and a negative electrode of the external power supply is connected to a negative electrode of the filter capacitor, and the three-phase inverter circuit drives the motor, When the motor is about to enter a stopped state, cutting off the external power supply, obtaining a preset desired stopping time, and determining one or more braking periods included in the desired stopping time; converting kinetic energy of the motor into thermal energy in a motor winding by an energy consumption braking method during a first period of the braking cycle based on a set desired stopping time; and returning the kinetic energy of the motor to the filter capacitor by a regenerative braking method during a second period of the braking cycle based on a set desired stopping time, thereby increasing a bus voltage which is a voltage across the filter capacitor. obtaining an actual downtime of the equipment; if the actual stopping time is greater than the desired stopping time, increasing an energy consuming braking period and decreasing a regenerative braking period in the braking cycle; if the actual stopping time is less than the desired stopping time, decreasing an energy-consuming braking period and increasing a regenerative braking period in the braking cycle. How to improve stopping noise in motor-driven equipment.

2. receiving a command to adjust the desired dwell time; adjusting one or more of an energy consumption braking period, a regenerative braking period, and the braking cycle based on the adjustment command for the desired stop time. A method for improving stopping noise of a motor-equipped device according to claim 1.

3. A motorized machine further comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, comprising: When the processor executes the computer program, the steps of the method for improving stopping noise of a motor-equipped device according to claim 1 or 2 are realized. Equipment with motors.

4. A computer-readable storage medium on which a computer program is stored, When the computer program is executed by a processor, the steps of the method for improving stopping noise of a motorized device according to claim 1 or 2 are realized. A computer-readable storage medium.

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