Method and system for preventing electric motor from stalling during sensorless startup, and drum washing machine and storage medium
Patent Information
- Application Number
- PCT/CN2026/079017
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-18
- Filing Date
- 2026-02-12
- Publication Date
- 2026-08-27
Smart Images
Figure CN2026079017_27082026_PF_FP_ABST
Abstract
Description
Methods and systems for preventing motor stall during sensorless start, drum washing machines and storage media
[0001] Related applications
[0002] This application claims priority to Chinese patent application No. 202510181600.0, filed on February 18, 2025, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application relates to the field of motor control technology, and in particular to a method, system, drum washing machine and storage medium for sensorless motor start-up and anti-stall operation. Background Technology
[0004] Sensorless control technology for permanent magnet synchronous motors has been widely used in the home appliance industry due to its advantages of low cost and high reliability. In drum washing machine applications, the motor operates in two modes: washing and spin-drying. During washing mode, the motor needs to run at low speed, requiring it to output higher torque, thus placing higher demands on the performance of sensorless start-up.
[0005] To meet the performance requirements for sensorless starting, a flux observer technique based on a motor model can be used, which offers advantages such as low noise and a wide speed range. However, this technique is highly dependent on motor parameters. When the motor parameters deviate significantly, it will reduce motor control performance and may even cause the motor to stall. This not only reduces motor performance but may also lead to safety issues. Summary of the Invention
[0006] The main objective of this application is to provide a method, system, drum washing machine, and storage medium for preventing motor stalling during sensorless start-up, thereby improving motor performance and safety.
[0007] To achieve the above objectives, this application provides a method for preventing motor stall during sensorless starting, the method comprising:
[0008] After the motor is detected to be starting up, the motor speed detected by the position observer is obtained.
[0009] If the motor speed is less than a preset speed threshold, then the duration during which the motor speed detected by the position observer is less than the preset speed threshold is obtained;
[0010] If the duration exceeds a preset duration threshold, the output angle of the position observer is compensated, and the process returns to the step of obtaining the motor speed detected by the position observer until the motor speed detected by the position observer is greater than or equal to the preset speed threshold, at which point the anti-stall control of the motor ends.
[0011] In one embodiment, the step of compensating the output angle of the position observer includes:
[0012] Adjust the resistance value of the position observer to compensate for the output angle of the position observer.
[0013] In one embodiment, the step of adjusting the resistance value of the position observer includes:
[0014] Obtain the stator resistance value of the motor;
[0015] The resistance adjustment value is obtained by multiplying the motor stator resistance value by the preset adjustment step size;
[0016] The resistance value of the position observer is adjusted by subtracting the resistance adjustment value from the resistance value.
[0017] In one embodiment, prior to the step of obtaining the motor speed detected by the position observer, the method further includes:
[0018] Obtain the stator resistance value of the motor;
[0019] The position observer is controlled to detect the motor speed using the motor stator resistance value as the initial resistance value.
[0020] In one embodiment, the step of obtaining the motor stator resistance value includes:
[0021] Two different first preset direct-axis currents and second preset direct-axis currents are injected into the motor, and the first direct-axis voltage corresponding to the first preset direct-axis current and the second direct-axis voltage corresponding to the second preset direct-axis current are determined.
[0022] Calculate the difference between the first preset direct-axis current and the second preset direct-axis current to obtain the direct-axis current difference, and calculate the difference between the first direct-axis voltage and the second direct-axis voltage to obtain the direct-axis voltage difference;
[0023] The ratio of the direct-axis voltage difference to the direct-axis current difference is calculated to obtain the stator resistance value of the motor.
[0024] In one embodiment, the step of compensating the output angle of the position observer includes:
[0025] Obtain the quadrature-axis current of the motor;
[0026] The target angle compensation value of the position observer is determined based on the polarity of the quadrature current.
[0027] The target angle compensation value is added to the output angle of the position observer to compensate for the output angle of the position observer.
[0028] In one embodiment, the step of determining the target angle compensation value of the position observer based on the polarity of the quadrature-axis current includes:
[0029] Obtain the target coefficient value corresponding to the polarity of the quadrature-axis current;
[0030] The target angle compensation value of the position observer is obtained by multiplying the target coefficient value by the preset angle compensation value.
[0031] In addition, to achieve the above objectives, this application also provides a motor control system, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the motor sensorless start anti-stall method as described above.
[0032] In addition, to achieve the above objectives, this application also provides a drum washing machine, which includes the motor control system described above.
[0033] In addition, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the motor sensorless start anti-stall method as described above.
[0034] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the motor sensorless start anti-stall method as described above.
[0035] This application provides a method for preventing motor stall during sensorless starting. After detecting that the motor has entered the starting process, the method first acquires the motor speed detected by the position observer. If the motor speed is less than a preset speed threshold, it indicates that there is a risk of abnormal motor starting. Then, the method acquires the duration for which the motor speed detected by the position observer is less than the preset speed threshold. If the duration is greater than the preset duration threshold, it indicates that the motor has started abnormally and there is a risk of stall. In this case, the method can compensate for the output angle of the position observer to reduce the angle error caused by the parameter deviation of the motor parameters. Then, the method returns to the step of acquiring the motor speed detected by the position observer until the motor speed detected by the position observer is greater than or equal to the preset speed threshold. That is, after ensuring that the motor can start normally and there is no risk of stall, the method ends the anti-stall control of the motor.
[0036] Therefore, as can be seen from the above, this application can reduce the angle error caused by parameter deviation of the motor by compensating the output angle of the position observer when there is a risk of motor stalling, thereby effectively preventing the motor from stalling during sensorless start-up and improving the performance and safety of the motor. Attached Figure Description
[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 is a schematic diagram of the sensorless starting principle of the motor provided in an embodiment of this application;
[0040] Figure 2 is a flowchart illustrating the motor sensorless start anti-stall method provided in the first embodiment of this application;
[0041] Figure 3 is a graph showing the relationship between resistance deviation and angle error provided in the embodiments of this application;
[0042] Figure 4 is an example diagram of successful derailment provided in an embodiment of this application;
[0043] Figure 5 is a schematic diagram of the resistance identification principle provided in an embodiment of this application;
[0044] Figure 6 is a waveform diagram of motor torque and angle error under orthogonal axis current provided in the embodiment of this application;
[0045] Figure 7 is a waveform diagram of motor torque and angle error under negative quadrature axis current provided in the embodiment of this application;
[0046] Figure 8 is a schematic diagram of the hardware operating environment involved in the embodiments of this application.
[0047] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Embodiments of the present invention
[0048] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.
[0049] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.
[0050] Sensorless control technology for permanent magnet synchronous motors has been widely used in the home appliance industry due to its advantages of low cost and high reliability. In drum washing machine applications, the motor operates in two modes: washing and spin-drying. During washing mode, the motor needs to run at low speed, requiring it to output higher torque, thus placing higher demands on the performance of sensorless start-up.
[0051] Traditional washing machine starting methods include two types: three-stage and high-frequency injection. The three-stage method uses current to drive the start-up, which is complex, difficult to adjust parameters, has poor compatibility, and is prone to starting failure. The high-frequency injection method, on the other hand, offers high-performance torque output and is easy to adjust parameters, but it is dependent on the motor type and has significant noise issues.
[0052] Building upon the above, to meet the performance requirements for sensorless starting, a flux observer technique based on a motor model can be used, which offers advantages such as low noise and a wide speed range, to achieve sensorless motor starting. However, this technique is highly dependent on motor parameters. When the motor parameters deviate significantly, it will reduce motor control performance and may even lead to motor stalling. This not only degrades motor performance but may also cause safety issues.
[0053] The sensorless starting principle of the motor can be specifically referred to in Figure 1, which states that a speed command is given. After being input into the system, it will be compared with the actual rotational speed fed back by the velocity observer (i.e., the position observer). The speed deviation is obtained through comparison; the PI (Proportional-Integral) controller calculates the quadrature-axis current reference value based on this speed deviation. Direct-axis current reference value Then set it to zero; The actual quadrature-axis current obtained from the motor side after coordinate transformation The quadrature-axis current deviation is obtained by comparison, and the quadrature-axis current deviation is processed by a PI controller to obtain the quadrature-axis voltage reference value. ,at the same time, It will also be related to the actual direct-axis current obtained after coordinate transformation from the motor side. The direct-axis current deviation is obtained by comparison, and the direct-axis current deviation is processed by a PI controller to obtain the direct-axis voltage reference value. ;then, and After inverse Park transformation, the voltage reference value in the two-phase stationary coordinate system can be obtained. and Then, and After processing with SVPWM (Space Vector Pulse Width Modulation), a PWM (Pulse Width Modulation) signal is generated to control the switching state of the inverter. Based on the PWM signal, the inverter converts DC power into three-phase AC power to drive the PMSM motor. The three-phase current output by the PMSM motor... After Clarke transformation, the current in the two-phase stationary coordinate system can be obtained. and Then, after Park transformation, we get and This information is fed back to the PI controller; simultaneously, the speed observer estimates the actual rotational speed based on relevant motor parameters and feedback current. and rotor position This feedback is sent to the PI controller to form a closed-loop control, thereby continuously adjusting the motor's operating state to achieve sensorless starting and stable operation of the motor.
[0054] Based on this, this application provides a method for preventing motor stall during sensorless starting. After detecting that the motor has entered the starting process, the method first obtains the motor speed detected by the position observer. If the motor speed is less than a preset speed threshold, it indicates that there is a risk of abnormal motor starting. Then, the method obtains the duration for which the motor speed detected by the position observer is less than the preset speed threshold. If the duration is greater than the preset duration threshold, it indicates that the motor has started abnormally and there is a risk of stall. In this case, the method can reduce the angle error caused by the parameter deviation of the motor by compensating the output angle of the position observer, and return to the step of obtaining the motor speed detected by the position observer. This process continues until the motor speed detected by the position observer is greater than or equal to the preset speed threshold, that is, after ensuring that the motor can start normally without the risk of stall, the method ends the anti-stall control of the motor.
[0055] Therefore, as can be seen from the above, this application can reduce the angle error caused by parameter deviation of the motor by compensating the output angle of the position observer when there is a risk of motor stalling, thereby effectively preventing the motor from stalling during sensorless start-up and improving the performance and safety of the motor.
[0056] The subject of the motor sensorless start anti-stall method of this application can be a household appliance (such as a drum washing machine), industrial equipment, etc. with data processing, network communication and program operation functions, or a control system, control circuit, etc. that can realize the above functions, or a motor control system. This embodiment does not specifically limit it.
[0057] The following description uses a motor control system as the main actuator to illustrate the various embodiments.
[0058] Based on this, this application proposes a first embodiment of a motor sensorless start anti-stall method. Referring to Figure 2, the motor sensorless start anti-stall method includes steps S10 to S30:
[0059] Step S10: After the motor is detected to have entered the start-up process, the motor speed detected by the position observer is obtained;
[0060] It should be noted that after the motor enters the startup process, it will begin the startup-related procedures. Whether the motor has entered the startup process can be determined by monitoring the state of the startup flag; for example, the startup flag will be set to "1" after the motor receives a startup signal. The position observer is a motor model-based observer, which may include, but is not limited to, model reference adaptation, Luneburger observers, etc., and this embodiment does not specifically limit it. When acquiring the motor speed detected by the position observer, it can be acquired in real time or periodically at certain time intervals; this embodiment does not specifically limit it either.
[0061] Step S20: If the motor speed is less than the preset speed threshold, then obtain the duration for which the motor speed detected by the position observer is less than the preset speed threshold.
[0062] It should be noted that the preset speed threshold is the minimum motor speed that the motor must reach to start normally. The preset speed threshold can be a default value or can be flexibly set by the user according to actual conditions; this embodiment does not impose specific limitations on it. When obtaining the duration for which the motor speed detected by the position observer is less than the preset speed threshold, the process shown in Formula 1 below can be used as follows:
[0063] Formula 1;
[0064] in, The duration during which the motor speed detected by the position observer is less than a preset speed threshold is the motor speed obtained up to this point. The duration during which the motor speed detected by the position observer is less than a preset speed threshold up to the last time the position observer has acquired the motor speed. This is the time interval for each acquisition of the motor speed detected by the position observer.
[0065] Step S30: If the duration exceeds the preset duration threshold, compensate the output angle of the position observer and return to the step of obtaining the motor speed detected by the position observer until the motor speed detected by the position observer is greater than or equal to the preset speed threshold, then end the anti-stall control of the motor.
[0066] It should be noted that when compensating for the output angle of the position observer, the output angle can be compensated directly, or it can be indirectly compensated by adjusting the parameters of the position observer itself (such as the resistance value). This embodiment does not specifically limit the specific compensation method. The operations involved in steps S10 to S30 above are the anti-stall control of the motor. Therefore, the anti-stall control of the motor ends, that is, the step of obtaining the motor speed detected by the position observer is no longer executed.
[0067] This embodiment provides a method for preventing motor stall during sensorless start-up. After detecting that the motor has entered the start-up process, the motor speed detected by the position observer is first acquired. If the motor speed is less than a preset speed threshold, it indicates that there is a risk of abnormal motor start-up. Then, the duration for which the motor speed detected by the position observer is less than the preset speed threshold is acquired. If the duration is greater than the preset duration threshold, it indicates that the motor has started abnormally and there is a risk of stall. The angle error caused by the parameter deviation of the motor parameters can be reduced by compensating the output angle of the position observer. The step of acquiring the motor speed detected by the position observer is then repeated until the motor speed detected by the position observer is greater than or equal to the preset speed threshold. That is, after ensuring that the motor can start normally and there is no risk of stall, the anti-stall control of the motor ends.
[0068] Therefore, as can be seen from the above, this embodiment can reduce the angle error caused by parameter deviation of the motor by compensating the output angle of the position observer when there is a risk of motor stalling, thereby effectively preventing the motor from stalling during sensorless start-up and improving the performance and safety of the motor.
[0069] Based on the first embodiment described above, a second embodiment of the motor sensorless start anti-stall method of this application is proposed. In the second embodiment, step S30 may include step S31:
[0070] Step S31: Adjust the resistance value of the position observer to compensate for the output angle of the position observer.
[0071] It should be noted that, referring to the relationship between resistance deviation and angle error shown in Figure 3, it can be seen that resistance deviation and angle error are positively correlated; that is, the smaller the resistance deviation, the smaller the angle error; and the larger the resistance deviation, the larger the angle error. Therefore, by adjusting the resistance value used by the position observer in the direction of angle advancement, i.e., by reducing the resistance value used by the position observer, the angle error caused by parameter deviations in the motor parameters can be reduced, thereby effectively preventing motor stall. Therefore, when adjusting the resistance value of the position observer, the resistance value can be subtracted from the fixed resistance adjustment value to adjust the resistance value; alternatively, the resistance adjustment value can be flexibly determined based on relevant motor parameters (e.g., motor stator resistance value), and then the resistance value of the position observer can be subtracted from the flexibly determined resistance adjustment value to adjust the resistance value. The specific implementation process can be referred to steps S311~S313 below. This embodiment does not specifically limit the specific implementation of step S31.
[0072] Step S311: Obtain the motor stator resistance value;
[0073] Step S312: Calculate the product of the motor stator resistance value and the preset adjustment step size to obtain the resistance adjustment value;
[0074] It should be noted that the preset adjustment step size can be a default value or can be flexibly set by the user according to the actual situation. This embodiment does not impose any specific limitations on this.
[0075] In other implementations, the resistance adjustment values corresponding to different motor stator resistance values can be calculated in advance and recorded using a relational table. This allows for the rapid determination of the resistance adjustment value by directly looking up the table, thereby improving the efficiency of resistance adjustment value determination.
[0076] Step S313: Subtract the resistance value of the position observer from the resistance adjustment value to adjust the resistance value of the position observer.
[0077] It should be noted that the implementation process of the above steps S311~S313 can be expressed as the following formula 2:
[0078] Formula 2;
[0079] in, The adjusted resistance value. The resistance value before adjustment. To preset the adjustment step size, This is the stator resistance value of the motor.
[0080] Understandably, by using the resistance adjustment value to flexibly determine the resistance adjustment value, the resistance value of the position observer can be adjusted to match the actual operating conditions of the motor. This allows the resistance value of the position observer to be adjusted to a value that can eliminate the risk of motor stalling with fewer adjustments.
[0081] In this embodiment, the output angle of the position observer is indirectly compensated by adjusting the resistance value of the position observer, thereby reducing the angle error caused by the parameter deviation of the motor parameters. This effectively prevents the motor from stalling during sensorless start-up, thus improving the performance and safety of the motor.
[0082] For example, to help understand that "adjusting the resistance value of the position observer can effectively prevent the motor from stalling during sensorless start-up," please refer to Figure 4 for a successful example of stall removal. As shown in Figure 4, after reducing the resistance value of the position observer, the angle error also decreases, which in turn reduces the quadrature-axis current (i.e., q-axis current) and direct-axis current (i.e., d-axis current) of the motor, thereby causing the motor to exit stall.
[0083] Based on the second embodiment described above, a third embodiment of the motor sensorless start anti-stall method of this application is proposed. In the third embodiment, before step S10, the motor sensorless start anti-stall method may further include steps S01~S02:
[0084] Step S01: Obtain the motor stator resistance value;
[0085] In one feasible implementation, step S01 may include steps S011 to S013:
[0086] Step S011: Inject two different first preset direct-axis currents and second preset direct-axis currents into the motor, and determine the first direct-axis voltage corresponding to the first preset direct-axis current and the second direct-axis voltage corresponding to the second preset direct-axis current.
[0087] It should be noted that the first preset direct-axis current and the second preset direct-axis current are different. Both the first preset direct-axis current and the second preset direct-axis current can be a default current, or they can be flexibly set by the user according to the actual situation. This embodiment does not make specific limitations on this.
[0088] Step S012: Calculate the difference between the first preset direct-axis current and the second preset direct-axis current to obtain the direct-axis current difference; and calculate the difference between the first direct-axis voltage and the second direct-axis voltage to obtain the direct-axis voltage difference.
[0089] Step S013: Calculate the ratio of direct-axis voltage difference to direct-axis current difference to obtain the motor stator resistance value.
[0090] It should be noted that the implementation process of the above steps S011~S013 can be expressed as the following formula 3:
[0091] Formula 3;
[0092] in, This is the stator resistance value of the motor. For the first preset direct-axis current, For the second preset direct-axis current, The voltage across the first straight axis. This is the second direct-axis voltage. The resistance identification principle illustrated in Formula 3 can be specifically referred to Figure 5, where i represents current, V represents voltage, and t represents time.
[0093] Step S02: The control position observer uses the motor stator resistance value as the initial resistance value to detect the motor speed.
[0094] It should be noted that the initial resistance value is the resistance value initially used by the position observer.
[0095] In this embodiment, the stator resistance value of the motor is used as the initial resistance value of the position observer. This allows the resistance value of the position observer to be adjusted to a value that eliminates the risk of motor stalling with fewer adjustments when the motor is at risk of stalling. Therefore, this embodiment can more effectively prevent motor stalling during sensorless start-up, thereby further improving motor performance and safety.
[0096] Based on the first embodiment described above, a fourth embodiment of the motor sensorless start anti-stall method of this application is proposed. In the fourth embodiment, step S30 may include steps S32 to S34:
[0097] Step S32: Obtain the quadrature-axis current of the motor;
[0098] Step S33: Determine the target angle compensation value of the position observer based on the polarity of the quadrature axis current;
[0099] It should be noted that the polarity of the quadrature-axis current can be positive, negative, or zero. When the quadrature-axis current is positive (i.e., the quadrature-axis current is greater than zero), the motor outputs positive torque; when the quadrature-axis current is negative (i.e., the quadrature-axis current is less than zero), the motor outputs reverse torque; and when the quadrature-axis current is zero (i.e., the quadrature-axis current is equal to zero), the motor outputs no torque. The target angle compensation value is used to compensate for the output angle of the position observer.
[0100] In one feasible implementation, step S33 may include steps S331 to S332:
[0101] Step S331: Obtain the target coefficient value corresponding to the polarity of the quadrature-axis current;
[0102] It should be noted that the target coefficient value is used as the basis for determining the target angle compensation value. Generally speaking, the quadrature-axis current will correspond to different target coefficient values under different polarities. For example, the target coefficient values corresponding to the quadrature-axis current under different polarities can be referred to in the following formula 4:
[0103] Formula 4;
[0104] in, For quadrature axis current, This is the target coefficient value.
[0105] Step S332: Calculate the product of the target coefficient value and the preset angle compensation value to obtain the target angle compensation value of the position observer.
[0106] It should be noted that the preset angle compensation value is used as the basis for determining the target angle compensation value. It can be a default value or can be flexibly set by the user according to the actual situation. This embodiment does not impose specific limitations on this. The preset angle compensation value can generally be set to 90°, and its setting basis can refer to the following formula 5:
[0107] Formula 5;
[0108] in, This is the motor torque. This represents the number of pole pairs of the motor. For rotor flux linkage, It is a direct-axis inductor. It is a quadrature axis inductor. For angular error, This refers to the quadrature-axis current. As shown in Formula 5, the direction of the increase in motor torque is related to the polarity of the quadrature-axis current. Based on this, and referring to Figures 6 and 7, it can be seen that the stable error angle for the positive current polarity is 90°, and the stable error angle for the negative current polarity is -90°. Therefore, the preset angle compensation value can be set to 90°.
[0109] Step S34: Add the target angle compensation value to the output angle of the position observer to compensate for the output angle of the position observer.
[0110] It should be noted that the implementation process of steps S33 and S34 above can be expressed as the following formula 6:
[0111] Formula 6;
[0112] in, The output angle after compensation, The output angle before compensation. For the target coefficient value, This is the preset angle compensation value.
[0113] In this embodiment, the target angle compensation value for compensating the output angle of the position observer is determined by utilizing the polarity of the motor's quadrature-axis current. The output angle of the position observer is then compensated by directly adding the target angle compensation value to the output angle of the position observer. This reduces the angle error in the position observer caused by parameter deviations in the motor parameters, effectively preventing motor stall during sensorless start-up and improving motor performance and safety.
[0114] This application also provides a motor control system, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the motor sensorless start anti-stall method in the above embodiments.
[0115] Referring now to Figure 8, a schematic diagram of a motor control system suitable for implementing embodiments of this application is shown. The motor control system shown in Figure 8 is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0116] As shown in Figure 8, the motor control system may include a processing unit 101 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 102 or a program loaded from a storage device 103 into a random access memory 104. The random access memory 104 also stores various programs and data required for the operation of the motor control system. The processing unit 101, the read-only memory 102, and the random access memory 104 are interconnected via a bus 105. An input / output interface 106 is also connected to the bus 105. Typically, the following systems can be connected to the input / output interface 106: input devices 107 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 108 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 103 including, for example, magnetic tape, hard disk, etc.; and communication devices 109. The communication device 109 allows the motor control system to communicate wirelessly or wiredly with other devices to exchange data. Although the diagram shows a motor control system with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.
[0117] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 103, or installed from read-only memory 102. When the computer program is executed by processing device 101, it performs the functions defined in the methods of the embodiments of this application.
[0118] The motor control system provided in this application adopts the motor non-sensory start anti-stall method in the above embodiments, which can prevent the motor from stalling during non-sensory start-up, thereby improving the performance and safety of the motor. Compared with the prior art, the beneficial effects of the motor control system provided in this application are the same as those of the motor non-sensory start anti-stall method provided in the above embodiments, and other technical features in this motor control system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.
[0119] It should be understood that various parts of the embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.
[0120] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the above claims.
[0121] This application also provides a drum washing machine, which includes the motor control system provided in the above embodiments. This motor control system prevents motor stalling during sensorless start-up, thereby improving motor performance and safety. Compared with the prior art, the beneficial effects of the drum washing machine provided in this application are the same as those of the motor control system provided in the above embodiments, and will not be repeated here.
[0122] This application also provides a computer-readable storage medium storing a computer program that can run on a processor. The computer program is used to execute the motor sensorless start anti-stall method in the above embodiments.
[0123] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.
[0124] The aforementioned computer-readable storage medium may be included in the motor control system; or it may exist independently and not be assembled into the motor control system.
[0125] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the motor control system, the motor control system causes the following: after detecting that the motor has entered the starting process, it acquires the motor speed detected by the position observer; if the motor speed is less than a preset speed threshold, it acquires the duration for which the motor speed detected by the position observer is less than the preset speed threshold; if the duration is greater than the preset duration threshold, it compensates the output angle of the position observer and returns to the step of acquiring the motor speed detected by the position observer until the motor speed detected by the position observer is greater than or equal to the preset speed threshold, and then terminates the anti-stall control of the motor.
[0126] Computer program code for performing the operations of this disclosure can be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, and C++, and conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0127] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0128] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.
[0129] The computer-readable storage medium provided in this application embodiment stores computer-readable program instructions for executing the above-described motor sensorless start anti-stall method, which can prevent the motor from stalling during sensorless start-up, thereby improving the motor's performance and safety. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application embodiment are the same as the beneficial effects of the motor sensorless start anti-stall method provided in the above embodiments, and will not be repeated here.
[0130] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described motor sensorless start anti-stall method.
[0131] The computer program product provided in this application can prevent motor stalling during sensorless starting, thereby improving motor performance and safety. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the motor stall prevention method provided in the above embodiments, and will not be repeated here.
[0132] The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.
Claims
1. A method for preventing locked-rotor of an electric motor during inductive starting, wherein, The method includes: After the motor is detected to be starting up, the motor speed detected by the position observer is obtained. If the motor speed is less than a preset speed threshold, then the duration during which the motor speed detected by the position observer is less than the preset speed threshold is obtained; If the duration exceeds a preset duration threshold, the output angle of the position observer is compensated, and the process returns to the step of obtaining the motor speed detected by the position observer until the motor speed detected by the position observer is greater than or equal to the preset speed threshold, at which point the anti-stall control of the motor ends.
2. The method of freewheeling prevention for inductive starting of an electric machine as recited in claim 1, wherein, The step of compensating the output angle of the position observer includes: Adjust the resistance value of the position observer to compensate for the output angle of the position observer.
3. The method of freewheeling prevention for inductive starting of an electric machine as recited in claim 2, wherein, The step of adjusting the resistance value of the position observer includes: Obtain the stator resistance value of the motor; The resistance adjustment value is obtained by multiplying the motor stator resistance value by the preset adjustment step size; The resistance value of the position observer is adjusted by subtracting the resistance adjustment value from the resistance value.
4. The method of freewheeling prevention for inductive starting of an electric machine according to claim 2 or 3, wherein, Before the step of obtaining the motor speed detected by the position observer, the method further includes: Obtain the stator resistance value of the motor; The position observer is controlled to detect the motor speed using the motor stator resistance value as the initial resistance value.
5. The method of freewheeling prevention for inductive starting of an electric machine according to claim 3 or 4, wherein, The step of obtaining the stator resistance value of the motor includes: Two different first preset direct-axis currents and second preset direct-axis currents are injected into the motor, and the first direct-axis voltage corresponding to the first preset direct-axis current and the second direct-axis voltage corresponding to the second preset direct-axis current are determined. Calculate the difference between the first preset direct-axis current and the second preset direct-axis current to obtain the direct-axis current difference, and calculate the difference between the first direct-axis voltage and the second direct-axis voltage to obtain the direct-axis voltage difference; The ratio of the direct-axis voltage difference to the direct-axis current difference is calculated to obtain the stator resistance value of the motor.
6. The motor freewheeling prevention method of any one of claims 1 to 5, wherein, The step of compensating the output angle of the position observer includes: Obtain the quadrature-axis current of the motor; The target angle compensation value of the position observer is determined based on the polarity of the quadrature current. The target angle compensation value is added to the output angle of the position observer to compensate for the output angle of the position observer.
7. The method of motor inrush prevention against locked-rotor of claim 6, wherein, The step of determining the target angle compensation value of the position observer based on the polarity of the quadrature-axis current includes: Obtain the target coefficient value corresponding to the polarity of the quadrature-axis current; The target angle compensation value of the position observer is obtained by multiplying the target coefficient value by the preset angle compensation value.
8. An electric motor control system wherein, The motor control system includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor sensorless start anti-stall method as described in any one of claims 1 to 7.
9. A drum-type washing machine, wherein, The drum washing machine includes the motor control system as described in claim 8.
10. A storage medium, wherein, The storage medium is a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by the processor to implement the steps of the motor non-inductive starting anti-blocking method in any one of claims 1 to 7.