Motor, motor control method and apparatus, storage medium, and circulating pump

Abstract

The present application provides a motor, a motor control method and apparatus, a storage medium, and a circulating pump. The motor control method comprises: when a motor is in a locked-rotor state, on the basis of a set current instruction, controlling the motor to operate for a preset duration, wherein the set current instruction is used for indicating that a direct-axis given current is a first current, and is used for indicating that a quadrature-axis given current is a second current within a first duration and a third current within a second duration in a same preset period, the direction of the second current is different from that of the third current, and the preset duration comprises at least one preset period.

Description

Motor, control method, device, storage medium and circulation pump thereof

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on July 20, 2023, with application number "202310895523.6" and application name "Motor and its control method, device, storage medium and circulation pump", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of motor control technology, and in particular to a motor and a control method, device, storage medium, and circulating pump thereof. Background Art

[0003] At present, the circulating pumps in the related technology are generally used in heating systems such as household hot water circulation systems and HVAC systems.

[0004] In heating systems, the circulating pump, as a component of the entire system, is typically installed outdoors. However, in some regions, where winter temperatures are low, the circulating pump's motor can easily freeze due to moisture in the air, even if the pipes are carrying antifreeze. This can prevent the motor from starting quickly, affecting the pump's reliable operation. Technical Solutions

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, the first aspect of the present application is to propose a method for controlling a motor.

[0007] A second aspect of the present application is to provide a control device for a motor.

[0008] A third aspect of the present application is to provide a control device for a motor.

[0009] A fourth aspect of the present application is to provide a readable storage medium.

[0010] A fifth aspect of the present application is to provide a motor.

[0011] The sixth aspect of the present application is to propose a circulation pump.

[0012] In view of this, according to the first aspect of the present application, a method for controlling a motor is proposed, and the method for controlling the motor includes: when the motor is in a stalled state, controlling the motor to run for a preset time based on a set current instruction; wherein the set current instruction is used to indicate that the direct-axis given current is a first current, and to indicate that the quadrature-axis given current is a second current within a first time length and a third current within a second time length within the same preset period, the second current and the third current have different directions, and the preset time length includes at least one preset cycle.

[0013] In addition, the motor control method according to the above technical solution provided by this application may also have the following additional technical features:

[0014] In some technical solutions, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the given current of the quadrature axis changes to a second current at a first speed within a first time period, and runs at the second current for a first set time period, and the given current of the quadrature axis changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0015] In some technical solutions, optionally, when the motor is running with a set current instruction, the motor's A-phase current i a is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0016] In some technical solutions, optionally, the first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

[0017] In some technical solutions, optionally, the control method also includes: after controlling the motor to run for a preset time based on the set current instruction, determining whether the motor is still in a stalled state; if the motor is still in a stalled state, controlling the motor to run for a preset time again based on the set current instruction; if the motor is not in a stalled state, controlling the motor to start normally.

[0018] In some technical solutions, optionally, the control method further includes: after controlling the motor to run a preset number of times based on the set current command, if the motor is still in a stalled state, determining that the motor has a stalled fault.

[0019] In some technical solutions, optionally, before controlling the motor to run for a preset time based on the set current command, it also includes: determining the maximum value of the motor's back electromotive force; and determining whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0020] In some technical solutions, optionally, whether the motor is in a stalled state is determined based on the maximum value of the back electromotive force, specifically including: when the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; when the maximum value of the back electromotive force is greater than or equal to the preset threshold, determining that the motor is not in a stalled state.

[0021] In some technical solutions, optionally, the calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0022] In some technical solutions, optionally, determining the maximum value of the back electromotive force of the motor specifically includes: determining the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0023] In some technical solutions, optionally, the maximum value E2 of the back electromotive force is calculated as follows: E2=max( -I s R s );in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0024] In some technical solutions, optionally, when the motor is running with a set current instruction, the motor can generate heat and vibrate.

[0025] In some technical solutions, optionally, the control method further includes: when the motor is running with a set current instruction, the given angle of the motor rotor is a constant value.

[0026] According to the second aspect of the present application, the present application provides a control device for a motor, the control device for the motor includes a processing unit, the processing unit is used to control the motor to run for a preset time based on a set current instruction when the motor is in a stalled state; wherein the set current instruction is used to indicate that the direct-axis given current is a first current, and to indicate that the quadrature-axis given current is a second current within a first time and a third current within a second time within the same preset period, the second current and the third current have different directions, and the preset time includes at least one preset cycle.

[0027] In addition, the motor control device according to the above technical solution provided by this application may also have the following additional technical features:

[0028] In some technical solutions, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the given current of the quadrature axis changes to a second current at a first speed within a first time period, and runs at the second current for a first set time period, and the given current of the quadrature axis changes from the second current to a third current at a second speed within a second time period, and runs at the third current for a second set time period; wherein the first set time period is less than the first time period, and the second set time period is less than the second time period.

[0029] In some technical solutions, optionally, when the motor is running with a set current instruction, the motor's A-phase current i a is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0030] In some technical solutions, optionally, the first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

[0031] In some technical solutions, optionally, the processing unit is also used to determine whether the motor is still in a stalled state after controlling the motor to run for a preset time based on a set current instruction; the processing unit is also used to control the motor to run for a preset time based on the set current instruction again when the motor is still in a stalled state; the processing unit is also used to control the motor to start normally when the motor is not in a stalled state.

[0032] In some technical solutions, optionally, the processing unit is further configured to determine that the motor is in a stalled state if the motor is still in a stalled state after the motor is controlled to run for a preset number of times based on a set current instruction.

[0033] In some technical solutions, optionally, the processing unit is further used to determine the maximum value of the back electromotive force of the motor; the processing unit is further used to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0034] In some technical solutions, optionally, the processing unit is further used to determine that the motor is in a stalled state when the maximum value of the back electromotive force is less than a preset threshold; the processing unit is further used to determine that the motor is not in a stalled state when the maximum value of the back electromotive force is greater than or equal to a preset threshold.

[0035] In some technical solutions, optionally, the calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0036] In some technical solutions, optionally, the processing unit is further configured to determine the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0037] In some technical solutions, optionally, the maximum value E2 of the back electromotive force is calculated as follows: E2=max( -I s R s );in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0038] In some technical solutions, optionally, when the motor is running with a set current instruction, the motor can generate heat and vibrate.

[0039] In some technical solutions, optionally, the processing unit is also used to set the given angle of the motor rotor to a constant value when the motor runs with a set current instruction.

[0040] According to a third aspect of the present application, a motor control device is provided, comprising: a controller and a memory, wherein the memory stores a program or instructions, and the controller implements the steps of any of the above-described methods when executing the program or instructions in the memory. Therefore, the motor control device has all the beneficial effects of any of the above-described motor control methods.

[0041] According to a fourth aspect of the present application, a readable storage medium is provided, wherein the readable storage medium stores a program or instructions, which, when executed by a processor, implements the steps of any of the above-described methods. Therefore, the readable storage medium has all the beneficial effects of any of the above-described motor control methods.

[0042] According to a fifth aspect of the present application, a motor is provided, comprising: a motor control device as described in any of the above items; or a readable storage medium as described in the fourth aspect. Thus, the motor has all the advantages of the motor control device as described in any of the above items or the readable storage medium as described in the fourth aspect.

[0043] According to a sixth aspect of the present application, the present application provides a circulation pump, comprising: the motor provided in the fifth aspect. Therefore, the circulation pump has all the beneficial effects of the motor in the fifth aspect.

[0044] Additional aspects and advantages of the present application will become apparent in the following description or may be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0046] FIG1 shows a flow chart of a method for controlling a motor according to an embodiment of the present application;

[0047] FIG2 shows a second flow chart of a method for controlling a motor according to an embodiment of the present application;

[0048] FIG3 shows a third flow chart of a method for controlling a motor according to an embodiment of the present application;

[0049] FIG4 shows a fourth flow chart of a method for controlling a motor according to an embodiment of the present application;

[0050] FIG5 shows a fifth flow chart of a method for controlling a motor according to an embodiment of the present application;

[0051] FIG6 shows a schematic block diagram of a control device for a motor according to an embodiment of the present application;

[0052] FIG7 shows a schematic diagram of a direct-axis current setting method for controlling a motor according to an embodiment of the present application;

[0053] FIG8 is a schematic diagram showing a quadrature-axis current setting method of a motor control method according to an embodiment of the present application;

[0054] FIG9 shows a three-phase current waveform diagram of a motor according to a method for controlling a motor according to an embodiment of the present application. Modes for Carrying Out the Invention

[0055] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0056] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0057] The following describes a motor and its control method, device, storage medium, and circulating pump according to some embodiments of the present application with reference to Figures 1 to 9.

[0058] In one embodiment of the present application, as shown in FIG1 , FIG7 and FIG8 , a method for controlling a motor is proposed. The method includes:

[0059] Step 102 : When the motor is in a stalled state, control the motor to run for a preset time based on a set current command.

[0060] The motor control method provided in this application starts the motor, that is, after the motor is powered on, first determines whether the motor is in a stalled state. If the motor is stalled, it indicates that the inside of the motor is likely frozen. Therefore, the motor needs to be thawed to ensure that the motor can start smoothly. It is understood that if the motor is not stalled, the motor can start normally.

[0061] Understandably, in heating systems, the circulating pump, as a component of the entire system, is typically installed outdoors. However, in some regions, where winter temperatures are low, even if the pipes are transporting antifreeze, the circulating pump's motor can easily freeze due to moisture in the air. This can prevent the motor from starting quickly, affecting the pump's reliable operation.

[0062] When the motor is determined to be stalled, a set current command is output to cause the motor to operate for a preset duration at the set current command. Specifically, the set current command indicates that the direct-axis set current is a first current, and within the same preset cycle, the quadrature-axis set current is a second current for the first duration and a third current for the second duration, with the second and third currents having different directions. The first current is a constant value.

[0063] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, the direct-axis current is given. At the same time, in each preset cycle of at least one preset cycle, the quadrature-axis current is given alternately to heat and vibrate the motor. Therefore, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0064] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0065] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to improve the heating and shaking effect on the motor.

[0066] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0067] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor's back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0068] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0069] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0070] In some embodiments, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes from the second current to the second current at a first speed within a first time length, and runs at the second current for a first set time length, and the cross-axis given current changes from the second current to a third current at a second speed within a second time length, and runs at the third current for a second set time length; wherein the first set time length is less than the first time length, and the second set time length is less than the second time length.

[0071] In this embodiment, within the first time length of the same preset cycle, the quadrature-axis given current changes to the second current at a first speed. It can be understood that the quadrature-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the quadrature-axis current before the motor is controlled based on the set current instruction, and the initial current can be 0 or other currents.

[0072] That is, during the first time period, the quadrature-axis given current is ramped to the second current. That is, during the process of the quadrature-axis given current changing to the second current, the rate of change of the current is constant. This improves the stability and reliability of the motor during heating and dithering.

[0073] During the second duration, the quadrature-axis given current changes from the second current to the third current at a second speed. That is, during the second duration, the quadrature-axis given current changes from the second current ramp to the third current. In other words, during the process of changing from the second current to the third current, the rate of change of the quadrature-axis given current remains constant. This improves the stability and reliability of the motor during heating and vibration.

[0074] It can be understood that, within the first duration of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0075] In some embodiments, optionally, when the motor is running with a set current instruction, the motor's A-phase current i a is the fourth current; in the same preset cycle, the motor's B phase current i b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0076] In this embodiment, when the motor is running based on the set current instruction, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC flow.

[0077] In the same preset cycle, the motor's B phase current i b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0078] In a specific embodiment, optionally, when the motor executes the set current instruction, the three-phase stator current waveform of the motor changes, as shown in FIG9 . Specifically, the A-phase current i a is a constant DC current (the fourth current); the B phase current i b The phase C current i c The current first ramps down to a negative value (the seventh current) within t2 / 2 (the first duration), and then ramps up to a positive value (the eighth current) after t2 / 2. This cycle repeats with t2 (the preset period) for t1 (the preset duration).

[0079] In some embodiments, optionally, the first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

[0080] In this technical solution, the calculation formula of the first current is I d =k1I max , where k1 is a coefficient. Specifically, the value range of k1 is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0081] The calculation formula of the second current is I q =k1I max , where k1 is a coefficient. Specifically, the value range of k1 is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0082] Among them, the second current is I q When the third current is -I qThat is to say, the direction of the second current is opposite to that of the third current, that is, when the motor is running with the set current instruction, the quadrature-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be quickly started in a short time when it is in a frozen state.

[0083] In one embodiment of the present application, as shown in FIG2 , a method for controlling a motor is proposed. The method further includes:

[0084] Step 202, after controlling the motor to run for a preset time based on the set current command, determining whether the motor is still in a stalled state;

[0085] Step 204 , when the motor is still in the stalled state, controlling the motor to run for a preset time based on the set current command again;

[0086] Step 206: If the motor is not in a stalled state, control the motor to start normally.

[0087] In this embodiment, after the motor executes the set current instruction and continues to run for the preset time period t1, it is re-determined whether the motor is still stalled, that is, whether the motor has been thawed.

[0088] If the motor is thawed, it can be started normally. If it is determined that the motor is still in a stalled state, the motor is controlled again based on the set current command to heat and vibrate the motor again until it thaws. This allows the internal ice of the motor to melt quickly, thus achieving a quick and reliable start when the motor is frozen, thereby ensuring the reliable operation of the circulation pump equipped with this motor and improving the system performance of the liquid circulation in the heating system.

[0089] In one embodiment of the present application, as shown in FIG3 , a method for controlling a motor is proposed. The method further includes:

[0090] Step 302 : After the motor is controlled to run for a preset number of times based on the set current command, if the motor is still in a stalled state, it is determined that the motor has a stalled fault.

[0091] In this embodiment, when the motor is still stalled after executing the set current instruction for a preset number of times N, it means that the motor may have other stall faults, and a stall fault is reported.

[0092] Optionally, the specific number of the preset number N can be set according to actual needs.

[0093] In one embodiment of the present application, as shown in FIG4 , a motor control method is proposed. Before step 102 , the method further includes:

[0094] Step 402, determining the maximum value of the back electromotive force of the motor;

[0095] Step 404: Determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0096] In this embodiment, before controlling the motor's operation based on the set current command, the maximum value of the motor's back electromotive force is used to determine whether the motor is stalled. It is understood that if the motor is stalled, it is likely that the inside of the motor is frozen, and therefore, the motor needs to be thawed to ensure a smooth start. It is also understood that if the motor is not stalled, the motor can start normally.

[0097] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is stalled. In the event of motor icing, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0098] In some embodiments, optionally, whether the motor is in a stalled state is determined based on the maximum value of the back electromotive force, specifically including: when the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; when the maximum value of the back electromotive force is greater than or equal to the preset threshold, determining that the motor is not in a stalled state.

[0099] In this embodiment, the determined maximum back electromotive force is compared with a set threshold value (preset threshold value). If the maximum back electromotive force is less than the set threshold value, it indicates that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0100] Understandably, in heating systems, the circulating pump, as a component of the entire system, is typically installed outdoors. However, in some regions, where winter temperatures are low, even if the pipes are transporting antifreeze, the circulating pump's motor can easily freeze due to moisture in the air. This can prevent the motor from starting quickly, affecting the pump's reliable operation.

[0101] Specifically, when it is determined that the motor is stalled, a set current instruction is output to cause the motor to run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is a first current, and within the same preset period, the quadrature-axis given current is a second current within the first time length, and a third current within the second time length, and the directions of the second current and the third current are different. Among them, the first current is a constant. This allows the motor to be heated and vibrated, so that when the motor is in a frozen state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0102] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not stalled. At this time, the motor can be started normally.

[0103] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled. In the event of motor icing, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0104] In some embodiments, optionally, the calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0105] In this embodiment, the calculation formula of the preset threshold (set threshold) is E1=2k2πf e ψ f , where k2 is a coefficient. Specifically, the value range of k2 is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0106] In some embodiments, optionally, determining the maximum value of the back electromotive force of the motor specifically includes: determining the maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0107] In this embodiment, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is , that is, obtaining a given voltage instruction can obtain a given voltage value .

[0108] The maximum value of the motor's back electromotive force is calculated based on the given voltage of the motor, the sampled value of the motor's phase current, and the stator resistance of the motor. Then, based on the maximum value of the motor's back electromotive force, it is quickly determined whether the motor is stalled, thereby enabling the motor to be quickly started when the motor is frozen.

[0109] In some embodiments, optionally, the maximum value E2 of the back electromotive force is calculated as follows: E2=max( -I s R s );in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0110] In this embodiment, the calculation formula for the maximum value of the back electromotive force is E2=max( -I s R s ).in, is the given voltage of the motor. s is the sampling value of the motor phase current. s is the stator resistance of the motor. It is understood that within a preset time period after the motor is powered on, multiple sampled values ​​of a given voltage and phase current are obtained, and after being substituted into the formula, the maximum back EMF calculated is the maximum back EMF value. Based on the maximum back EMF value of the motor, it is quickly determined whether the motor is stalled, thereby enabling rapid startup in the event of motor icing.

[0111] In some embodiments, optionally, when the motor is running at a set current command, the motor can generate heat and vibrate.

[0112] In this embodiment, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in an ice state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0113] In some embodiments, optionally, the control method further includes: when the motor is running with a set current instruction, setting a given angle of the rotor of the motor to a fixed value.

[0114] In this embodiment, when the motor is running with a set current command, that is, during the motor's defrosting operation, the motor's rotor's given angle is a fixed value. Specifically, the motor's rotor's given angle can be 0 degrees, 90 degrees, or 180 degrees. This value can be set based on actual needs.

[0115] By setting the given angle of the motor rotor to a fixed value during the motor defrosting operation, the stability and reliability of the motor defrosting operation can be ensured.

[0116] In one embodiment of the present application, as shown in FIG5 , a method for controlling a motor is proposed. The method further includes:

[0117] Step 502, calculating the maximum value of the motor back electromotive force;

[0118] Step 504, comparing the maximum back electromotive force value with a set threshold;

[0119] Step 506: When the maximum value of the back electromotive force is less than the set threshold, it is determined that the motor is in a stalled state;

[0120] Step 508, enter the defrost control program and continue running for t1 time;

[0121] Step 510: After time t1, re-determine whether the rotor is blocked. If it is thawed, start normally. If it is blocked, re-enter the thaw control program;

[0122] Step 512: After executing the defrost control program N times, if the motor is still stalled, a stall fault is reported.

[0123] In this embodiment, the maximum value of the motor's back EMF is calculated using a given voltage command and motor phase current sampling values. This calculated maximum back EMF value is then compared with a set threshold (preset threshold) to determine whether the motor is stalled. Upon determining stall, a defrost control program (executing a set current command) is initiated and continues for a preset duration of t1. This defrost control program primarily implements motor vibration and heating functions to quickly melt ice inside the motor. After t1, the motor is re-determined to determine whether it is stalled. If it is defrosted, the circulation pump starts normally. If it is stalled, the defrost control program is re-entered. After executing the defrost control program N times (preset number of times), if the motor is still stalled, a stall fault is reported. This method, by calculating the maximum back EMF value, can quickly determine whether the motor is stalled. Combined with the designed defrost control program (setting the current command), this method solves the problem of rapid motor startup in the event of motor icing, significantly improving the performance of liquid circulation systems.

[0124] The thawing control program (setting current instructions) specifically includes setting the direct-axis given current to a first current, and within the same preset period, setting the quadrature-axis given current to a second current for a first duration and a third current for a second duration, wherein the second and third currents have different directions. The first current is a constant value.

[0125] According to the second aspect of the present application, the present application provides a control device for a motor, which includes a processing unit, which is used to determine the maximum value of the back electromotive force of the motor; the processing unit is also used to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force; the processing unit is also used to control the thawing of the motor when the motor is in a stalled state.

[0126] According to the second aspect of the present application, the present application provides a control device for a motor, the control device for the motor includes a processing unit, the processing unit is used to control the motor to run for a preset time based on a set current instruction when the motor is in a stalled state; wherein the set current instruction is used to indicate that the direct-axis given current is a first current, and to indicate that the quadrature-axis given current is a second current within a first time and a third current within a second time within the same preset period, the second current and the third current have different directions, and the preset time includes at least one preset cycle.

[0127] The technical solution of this application proposes a motor control device, which includes a processing unit. Specifically, when starting the motor, that is, after the motor is powered on, the processing unit first determines whether the motor is in a stalled state. If the motor is stalled, it indicates that the inside of the motor is likely frozen. Therefore, the motor needs to be thawed to ensure that the motor can start smoothly. It is understood that if the motor is not stalled, the motor can start normally.

[0128] Understandably, in heating systems, the circulating pump, as a component of the entire system, is typically installed outdoors. However, in some regions, where winter temperatures are low, even if the pipes are transporting antifreeze, the circulating pump's motor can easily freeze due to moisture in the air. This can prevent the motor from starting quickly, affecting the pump's reliable operation.

[0129] When the motor is determined to be stalled, the processor outputs a set current command to cause the motor to operate for a preset duration at the set current command. Specifically, the set current command indicates that the direct-axis set current is a first current, and within the same preset cycle, the quadrature-axis set current is a second current for the first duration and a third current for the second duration, with the second and third currents having different directions. The first current is a constant value.

[0130] That is to say, when it is determined that the inside of the motor is likely to be in a frozen state, the direct-axis current is given. At the same time, in each preset cycle of at least one preset cycle, the quadrature-axis current is given alternately to heat and vibrate the motor. Therefore, when the motor is in a frozen state, the ice inside can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0131] The duration of each preset period is equal to the sum of the first duration and the second duration. The preset duration includes at least one preset period.

[0132] Optionally, the second current and the third current have opposite directions, that is, the second current is I q When the third current is -I q , the second current is -I q When the third current is I q , to improve the heating and shaking effect on the motor.

[0133] Optionally, the first duration and the second duration may be the same or different and may be set according to actual needs.

[0134] Optionally, it is possible to quickly determine whether the motor is stalled based on the maximum value of the motor's back electromotive force, thereby enabling the motor to be quickly started when the motor is frozen.

[0135] It is worth noting that the processor of the motor generates a set current instruction according to the determined direct-axis given current and quadrature-axis given current, and controls the motor based on the set current instruction.

[0136] Optionally, the set current instruction may include a direct-axis current instruction and a quadrature-axis current instruction, wherein the direct-axis current instruction characterizes that the direct-axis given current is a first current, and the quadrature-axis current instruction characterizes that the quadrature-axis given current is a second current within a first time length within the same preset cycle and a third current within a second time length.

[0137] In some embodiments, optionally, the set current instruction is specifically used to indicate that within the same preset cycle, the cross-axis given current changes from the second current to the second current at a first speed within a first time length, and runs at the second current for a first set time length, and the cross-axis given current changes from the second current to a third current at a second speed within a second time length, and runs at the third current for a second set time length; wherein the first set time length is less than the first time length, and the second set time length is less than the second time length.

[0138] In this embodiment, within the first time length of the same preset cycle, the quadrature-axis given current changes to the second current at a first speed. It can be understood that the quadrature-axis given current changes from the initial current to the second current at the first speed, wherein the initial current is the quadrature-axis current before the motor is controlled based on the set current instruction, and the initial current can be 0 or other currents.

[0139] That is, during the first time period, the quadrature-axis given current is ramped to the second current. That is, during the process of the quadrature-axis given current changing to the second current, the rate of change of the current is constant. This improves the stability and reliability of the motor during heating and dithering.

[0140] During the second duration, the quadrature-axis given current changes from the second current to the third current at a second speed. That is, during the second duration, the quadrature-axis given current changes from the second current ramp to the third current. In other words, during the process of changing from the second current to the third current, the rate of change of the quadrature-axis given current remains constant. This improves the stability and reliability of the motor during heating and vibration.

[0141] It can be understood that, within the first duration of the next preset cycle, the quadrature-axis given current changes from the third current to the second current at a third speed, wherein the third speed may be the same as the first speed.

[0142] In some embodiments, optionally, when the motor is running with a set current instruction, the motor's A-phase current i a is the fourth current; in the same preset cycle, the motor's B phase current i bThe fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0143] In this embodiment, when the motor is running based on the set current instruction, the three-phase stator current waveform of the motor changes to the A-phase current i of the motor. a is the fourth current, where the A phase current i a is a constant DC flow.

[0144] In the same preset cycle, the motor's B phase current i b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i c The seventh current is in the first time period and the eighth current is in the second time period; wherein, the directions of the fifth current and the seventh current are opposite, and the direction of the sixth current is opposite to the direction of the eighth current.

[0145] In some embodiments, optionally, the first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

[0146] In this embodiment, the calculation formula of the first current is I d =k1I max , where k1 is a coefficient. Specifically, the value range of k1 is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0147] The calculation formula of the second current is I q =k1I max , where k1 is a coefficient. Specifically, the value range of k1 is between 0 and 1. It can be set according to actual needs. max is the maximum current of the motor.

[0148] Among them, the second current is I q When the third current is -I qThat is to say, the direction of the second current is opposite to that of the third current, that is, when the motor is running with the set current instruction, the quadrature-axis current is given alternately within a preset cycle, thereby improving the heating and shaking effects of the motor, so that the motor can be quickly started in a short time when it is in a frozen state.

[0149] In some embodiments, optionally, the processing unit is also used to determine whether the motor is still in a stalled state after controlling the motor to run for a preset time based on a set current instruction; the processing unit is also used to control the motor to run for a preset time based on the set current instruction again when the motor is still in a stalled state; the processing unit is also used to control the motor to start normally when the motor is not in a stalled state.

[0150] In this embodiment, after the motor executes the set current instruction and continues to run for the preset time period t1, it is re-determined whether the motor is still stalled, that is, whether the motor has been thawed.

[0151] If the motor is thawed, it can be started normally. If it is still stalled, the motor is controlled again based on the set current command to cause it to heat up and vibrate until it thaws. This allows the motor to quickly melt any ice inside it, enabling it to start quickly and reliably even when frozen. This ensures the reliable operation of the circulating pump equipped with this motor and improves the performance of the liquid circulation system in the heating system.

[0152] In some embodiments, optionally, the processing unit is further configured to determine that the motor is in a stalled state if the motor is still in a stalled state after the motor is controlled to run for a preset number of times based on the set current command.

[0153] In this embodiment, after the motor executes the set current instruction for a preset number of times N, if the motor is still stalled, it means that the motor may have other stall faults, and a stall fault is reported.

[0154] Optionally, the specific number of the preset number N can be set according to actual needs.

[0155] In some embodiments, optionally, the processing unit is further configured to determine a maximum value of the back electromotive force of the motor; and the processing unit is further configured to determine whether the motor is in a stalled state based on the maximum value of the back electromotive force.

[0156] In this embodiment, before controlling the motor's operation based on the set current command, the maximum value of the motor's back electromotive force is used to determine whether the motor is stalled. It is understood that if the motor is stalled, it is likely that the inside of the motor is frozen, and therefore, the motor needs to be thawed to ensure a smooth start. It is also understood that if the motor is not stalled, the motor can start normally.

[0157] The maximum value of the back electromotive force can be used to quickly and accurately determine whether the motor is stalled. In the event of motor icing, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0158] In some embodiments, optionally, the processing unit is further used to determine that the motor is in a stalled state when the maximum value of the back electromotive force is less than a preset threshold value; the processing unit is further used to determine that the motor is not in a stalled state when the maximum value of the back electromotive force is greater than or equal to a preset threshold value.

[0159] In this embodiment, the determined maximum back electromotive force is compared with a set threshold value (preset threshold value). If the maximum back electromotive force is less than the set threshold value, it indicates that the motor is stalled and the inside of the motor is likely to be in an ice state.

[0160] Understandably, in heating systems, the circulating pump, as a component of the entire system, is typically installed outdoors. However, in some regions, where winter temperatures are low, even if the pipes are transporting antifreeze, the circulating pump's motor can easily freeze due to moisture in the air. This can prevent the motor from starting quickly, affecting the pump's reliable operation.

[0161] Specifically, when it is determined that the motor is stalled, a set current instruction is output to cause the motor to run for a preset time under the set current instruction. Specifically, the set current instruction represents that the direct-axis given current is a first current, and within the same preset period, the quadrature-axis given current is a second current within the first time length, and a third current within the second time length, and the directions of the second current and the third current are different. Among them, the first current is a constant. This allows the motor to be heated and vibrated, so that when the motor is in a frozen state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0162] If the maximum value of the back electromotive force is greater than or equal to the set threshold, it means that the motor is not stalled and can be started normally.

[0163] By determining the maximum value of the back electromotive force, it is possible to quickly and accurately determine whether the motor is stalled. In the event of motor icing, the motor can be heated and shaken to ensure that the motor can start quickly and reliably.

[0164] In some embodiments, optionally, the calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0165] In this embodiment, the calculation formula of the preset threshold (set threshold) is E1=2k2πf e ψ f , where k2 is a coefficient. Specifically, the value range of k2 is between 0 and 1. It can be set according to actual needs. e The frequency of the given current is the open-loop drag current, ψ f is the permanent magnet flux of the motor.

[0166] In some embodiments, optionally, the processing unit is further configured to determine a maximum value of the back electromotive force of the motor according to a given voltage, a phase current sampling value, and a stator resistance.

[0167] In this embodiment, after the motor is powered on, the given voltage instruction of the motor, the sampled value of the motor phase current and the stator resistance of the motor are obtained, wherein the given voltage instruction is used to indicate that the given voltage is , that is, obtaining a given voltage instruction can obtain a given voltage value .

[0168] The maximum value of the motor's back electromotive force is calculated based on the given voltage of the motor, the sampled value of the motor's phase current, and the stator resistance of the motor. Then, based on the maximum value of the motor's back electromotive force, it is quickly determined whether the motor is stalled, thereby enabling the motor to be quickly started when the motor is frozen.

[0169] In some embodiments, optionally, the maximum value E2 of the back electromotive force is calculated as follows: E2=max( -I s R s );in, For a given voltage, I s is the phase current sampling value, R s is the stator resistance.

[0170] In this embodiment, the calculation formula for the maximum value of the back electromotive force is E2=max( -I s R s ).in, is the given voltage of the motor. s is the sampling value of the motor phase current. s is the stator resistance of the motor. It is understood that within a preset time period after the motor is powered on, multiple sampled values ​​of a given voltage and phase current are obtained, and after being substituted into the formula, the maximum back EMF calculated is the maximum back EMF value. Based on the maximum back EMF value of the motor, it is quickly determined whether the motor is stalled, thereby enabling rapid startup in the event of motor icing.

[0171] In some embodiments, optionally, when the motor is running at a set current command, the motor can generate heat and vibrate.

[0172] In this embodiment, when the motor is running with the set current instruction, the motor can generate heat and vibrate, so that when the inside of the motor is in an ice state, the internal ice can melt quickly, allowing the motor to start quickly and reliably, thereby ensuring the reliable operation of the circulation pump with the motor and improving the system performance of the liquid circulation in the heating system.

[0173] In some embodiments, optionally, the processing unit is further configured to set the given angle of the motor rotor to a constant value when the motor is running with a set current command.

[0174] In this embodiment, when the motor is running with a set current command, that is, during the motor's defrosting operation, the motor's rotor's given angle is a fixed value. Specifically, the motor's rotor's given angle can be 0 degrees, 90 degrees, or 180 degrees. This value can be set based on actual needs.

[0175] By setting the given angle of the motor rotor to a fixed value during the motor defrosting operation, the stability and reliability of the motor defrosting operation can be ensured.

[0176] As shown in FIG6 , according to a third aspect of the present application, a motor control device 600 is provided, comprising: a controller 602 and a memory 604, wherein the memory 604 stores a program or instruction, and the controller 602 implements the steps of any of the above-described methods when executing the program or instruction in the memory 604. Therefore, the motor control device 600 has all the beneficial effects of any of the above-described motor control methods.

[0177] According to a fourth aspect of the present application, a readable storage medium is provided, wherein the readable storage medium stores a program or instructions, which, when executed by a processor, implements the steps of any of the above-described methods. Therefore, the readable storage medium has all the beneficial effects of any of the above-described motor control methods.

[0178] According to a fifth aspect of the present application, a motor is provided, comprising: a motor control device as described in any of the above items; or a readable storage medium as described in the fourth aspect. Thus, the motor has all the advantages of the motor control device as described in any of the above items or the readable storage medium as described in the fourth aspect.

[0179] According to a sixth aspect of the present application, the present application provides a circulation pump, comprising: the motor provided in the fifth aspect. Therefore, the circulation pump has all the beneficial effects of the motor in the fifth aspect.

[0180] In this specification, all quantities involving temperature, including expressions, are expressed in degrees Celsius. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connect," "install," and "fixed" should be understood broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0181] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0182] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for controlling a motor, wherein: The control method comprises: When the motor is in a stalled state, controlling the motor to run for a preset time based on a set current command; Among them, the set current instruction is used to indicate that the direct-axis given current is the first current, and is used to indicate that the quadrature-axis given current is the second current within a first time length within the same preset cycle and is the third current within a second time length, the second current and the third current have different directions, and the preset time length includes at least one of the preset cycles.

2. The method for controlling a motor according to claim 1, wherein: The set current instruction is specifically used to indicate that within the same preset cycle, the quadrature-axis given current changes to the second current at a first speed within the first time period, and runs at the second current for a first set time period, and the quadrature-axis given current changes from the second current to the third current at a second speed within the second time period, and runs at the third current for a second set time period; The first set duration is shorter than the first duration, and the second set duration is shorter than the second duration.

3. The method for controlling a motor according to claim 1 or 2, wherein: When the motor is running the set current command, the A-phase current i a is the fourth current; within the same preset cycle, the B-phase current i of the motor b The fifth current is used in the first time period and the sixth current is used in the second time period. The C-phase current i of the motor c A seventh current is applied during the first time period and an eighth current is applied during the second time period; The fifth current and the seventh current are in opposite directions, and the sixth current and the eighth current are in opposite directions.

4. The method for controlling a motor according to any one of claims 1 to 3, wherein: The first current I d The calculation formula is as follows: d =k1I max ; The second current I q The calculation formula is as follows: q =k1I max ; The third current is -I q ; Among them, k1 is the coefficient, I max is the maximum current of the motor.

5. The method for controlling a motor according to any one of claims 1 to 4, wherein: The control method further comprises: After controlling the motor to run for the preset time period based on the set current command, determining whether the motor is still in a stalled state; When the motor is still in a stalled state, controlling the motor to run for the preset time period again based on the set current command; When the motor is not in a stalled state, the motor is controlled to start normally.

6. The method for controlling a motor according to claim 5, wherein: The control method further comprises: After the motor is controlled to run a preset number of times based on the set current command, if the motor is still in a stalled state, it is determined that the motor is in a stalled state.

7. The method for controlling a motor according to any one of claims 1 to 6, wherein: Before controlling the motor to run for a preset time based on the set current command, the method further includes: determining a maximum value of a back electromotive force of the motor; Whether the motor is in a stalled state is determined according to the maximum value of the back electromotive force.

8. The method for controlling a motor according to claim 7, wherein: The step of determining whether the motor is in a stalled state according to the maximum value of the back electromotive force specifically includes: When the maximum value of the back electromotive force is less than a preset threshold, determining that the motor is in a stalled state; When the maximum value of the back electromotive force is greater than or equal to the preset threshold, it is determined that the motor is not in a stalled state.

9. The method for controlling a motor according to claim 8, wherein: The calculation formula of the preset threshold E1 is as follows: E1=2k2πf e ψ f ; Among them, k2 is the coefficient, f e The frequency of the given current is the open-loop drag, ψ f is the permanent magnet flux of the motor.

10. The method for controlling a motor according to any one of claims 7 to 9, wherein: Determining the maximum value of the back electromotive force of the motor specifically includes: The maximum value of the back electromotive force of the motor is determined according to the given voltage, the phase current sampling value and the stator resistance.

11. The method for controlling a motor according to claim 10, wherein: The maximum value E2 of the back electromotive force is calculated as follows: E2=max( -I s R s ); in, For the given voltage, I s is the phase current sampling value, R s is the stator resistance.

12. The method for controlling a motor according to any one of claims 1 to 11, wherein: When the motor runs with the set current command, the motor may generate heat and vibrate.

13. The method for controlling a motor according to any one of claims 1 to 12, wherein: The control method further comprises: When the motor is running with the set current command, the given angle of the motor rotor is a fixed value.

14. A control device for a motor, wherein: include: a processing unit, configured to control the motor to run for a preset time period based on a set current command when the motor is in a stalled state; Among them, the set current instruction is used to indicate that the direct-axis given current is the first current, and is used to indicate that the quadrature-axis given current is the second current within a first time length within the same preset cycle and is the third current within a second time length, the second current and the third current have different directions, and the preset time length includes at least one of the preset cycles.

15. A control device for a motor, wherein: include: A controller and a memory, wherein the memory stores a program or instruction, and the controller implements the steps of the method according to any one of claims 1 to 13 when executing the program or instruction in the memory.

16. A readable storage medium, wherein: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

17. A motor, wherein: include: A control device for a motor as claimed in claim 14 or 15; or The readable storage medium of claim 16.

18. A circulation pump, wherein: Comprising the motor as claimed in claim 17.

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