阅读说明：本技术 电机控制方法、电机控制装置、电机装置和衣物处理装置 (Motor control method, motor control device, motor device and clothes treatment device ) 是由 李晋 于 2020-04-30 设计创作，主要内容包括：本发明提出了一种电机控制方法、电机控制装置、电机装置和衣物处理装置。其中,电机控制方法包括：开启观测器以输出估算速度,开启速度闭环控制以根据速度指令值与估算速度的差值输出电流指令值；开启电流闭环控制以根据电流指令值与电流检测值的差值输出电压指令值；根据电压指令值控制电机启动。本申请的技术方案,去除速度开环阶段(开环阶段电流指令值为给定值),使得电流指令值一直由速度闭环控制输出,且观测器的估算速度始终进入电流指令值的计算,避免相关技术中开环控制切换为闭环控制导致电流指令与速度指令的切换,从而避免切换所引起的转矩抖动、速度抖动等问题,使电机启动更加平滑平顺。(The invention provides a motor control method, a motor control device, a motor device and a clothes treatment device. The motor control method comprises the following steps: starting an observer to output an estimated speed, and starting speed closed-loop control to output a current instruction value according to a difference value of a speed instruction value and the estimated speed; starting current closed-loop control to output a voltage instruction value according to a difference value of the current instruction value and the current detection value; and controlling the motor to start according to the voltage command value. According to the technical scheme, a speed open-loop stage (the current instruction value is a given value in the open-loop stage) is removed, so that the current instruction value is always output by speed closed-loop control, the estimated speed of the observer always enters the calculation of the current instruction value, the switching of the current instruction and the speed instruction caused by the fact that the open-loop control is switched to the closed-loop control in the related art is avoided, the problems of torque jitter, speed jitter and the like caused by switching are avoided, and the motor is started more smoothly.)

1. A motor control method, comprising:

starting an observer to output an estimated speed, and starting speed closed-loop control to output a current instruction value according to a difference value of a speed instruction value and the estimated speed;

starting current closed-loop control to output a voltage instruction value according to the difference value of the current instruction value and the current detection value;

and controlling the motor to start according to the voltage command value.

2. The method according to claim 1, characterized in that said observer acquires said estimated speed, in particular comprising:

the estimated speed is calculated based on the back emf and the compensation factor.

3. The motor control method according to claim 2, further comprising:

and calculating the compensation coefficient according to the initial value of the back electromotive force and the estimated speed of the last sampling period.

4. The motor control method according to claim 2, further comprising:

obtaining α axial back electromotive force observed value and β axial back electromotive force observed value, and calculating the back electromotive force according to the α axial back electromotive force observed value and the β axial back electromotive force observed value, or

And taking the observed value of the q-axis counter electromotive force as the counter electromotive force.

5. The motor control method according to any one of claims 1 to 4, further comprising, before the opening observer to output the estimated speed:

and acquiring an initial value of the speed instruction value.

6. The motor control method according to any one of claims 1 to 4, wherein the controlling the motor to start according to the voltage command value specifically includes:

and controlling the motor to start according to the voltage command value until the estimated speed is in a speed threshold range.

7. A motor control apparatus, comprising:

a memory storing a computer program;

a controller implementing the motor control method of any one of claims 1 to 6 when executing the computer program.

8. An electric motor apparatus, comprising:

the motor control device of claim 7.

9. A laundry treating apparatus, comprising:

a motor;

a memory storing a computer program;

a controller implementing the motor control method of any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a motor control method according to any one of claims 1 to 6.

Technical Field

The present invention relates to the field of motor technology, and in particular, to a motor control method, a motor control device, a motor device, a laundry treatment device, and a computer-readable storage medium.

Background

Starting of a direct current motor (including a brushless direct current motor and a permanent magnet synchronous motor) generally adopts a three-stage starting mode: (1) a positioning stage: and giving an initial angle of the rotor and an initial control current, and starting current loop control at the same time. (2) A speed open loop stage: the speed open-loop motor is started from the initial speed and then is accelerated, the control current is a given value, and the angle instruction is obtained by integrating the speed and the time. (3) A speed closed loop stage: when the speed is increased to a certain range, the speed closed-loop control is started, and the control current of the output motor is calculated and output by the speed closed-loop control. And the current loop controls the whole-course starting to generate a voltage control instruction required by the inverter, so that the motor is controlled to start.

The three-section starting mode has a complex process, especially conditions for switching from open loop to closed loop control are difficult to master, the speed loop needs to be switched, angle control needs to be switched to an estimated value of an observer through instruction calculation, motor jitter or current large fluctuation is easy to generate, even motor starting failure is generated, and the three-section starting mode is a difficulty in practical application.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the invention proposes a motor control method.

A second aspect of the present invention is to provide a motor control apparatus.

A third aspect of the present invention is to provide an electric machine apparatus.

A fourth aspect of the present invention is to provide a laundry treating apparatus.

A fifth aspect of the present invention is directed to a computer-readable storage medium.

In view of the above, according to an aspect of the present invention, there is provided a motor control method including: starting an observer to output an estimated speed, and starting speed closed-loop control to output a current instruction value according to a difference value of a speed instruction value and the estimated speed; starting current closed-loop control to output a voltage instruction value according to a difference value of the current instruction value and the current detection value; and controlling the motor to start according to the voltage command value.

According to the motor control method provided by the invention, the observer is started to observe the estimated speed, the speed closed-loop control is started, the current instruction value is output by the speed closed-loop control, the current closed-loop control is started so as to output the voltage instruction value according to the difference value of the current instruction value and the current detection value, and further, the motor is controlled to be started according to the voltage instruction value. According to the technical scheme, a speed open-loop stage (the current instruction value is a given value in the open-loop stage) is removed, so that the current instruction value is always output by speed closed-loop control, the estimated speed of the observer always enters the calculation of the current instruction value, the switching of the current instruction and the speed instruction caused by the fact that the open-loop control is switched to the closed-loop control in the related art is avoided, the problems of torque jitter, speed jitter and the like caused by switching are avoided, and the motor is started more smoothly.

According to the above motor control method of the present invention, the following technical features may be further provided:

in the above technical solution, the method further comprises: and acquiring an estimated rotor angle output by the observer, and controlling the motor according to the estimated rotor angle.

In the technical scheme, the angle value calculated by the observer is the rotor angle instruction value from the start of the closed loop, the motor is controlled according to the rotor angle instruction value, and the problem that the angle control needs to be calculated and switched to the observer estimation value by the instruction due to the fact that the open-loop control is switched to the closed-loop control in the related art is solved, so that the angle jitter problem caused by switching is avoided.

In any of the above technical solutions, the obtaining, by the observer, the estimated speed specifically includes: and calculating the estimated speed according to the back electromotive force and the compensation coefficient.

In the technical scheme, the estimated speed, namely the actual rotating speed of the motor, is calculated according to the relation between the back electromotive force, the compensation coefficient and the estimated speed, and the calculation formula is speed L pf equal to E/Ke, wherein speed L pf is the estimated speed, E is the back electromotive force, and Ke is the compensation coefficient.

In any of the above technical solutions, the method further includes: and calculating a compensation coefficient according to the initial value of the back electromotive force and the estimated speed of the last sampling period.

In the technical scheme, the compensation coefficient is calculated according to the initial value of the back electromotive force and the estimated speed of the last sampling period, the compensation coefficient is not a fixed value but is related to the estimated speed of the last sampling period, and the control of the motor can be more accurate.

In any of the above technical solutions, the method further comprises the steps of obtaining α axis counter electromotive force observed values and β axis counter electromotive force observed values, and calculating counter electromotive force according to α axis counter electromotive force observed values and β axis counter electromotive force observed values, or taking q axis counter electromotive force observed values as counter electromotive force.

In the technical scheme, the counter electromotive force has two calculation schemes, one is that an observer calculates an α -axis counter electromotive force observation value and a β -axis counter electromotive force observation value under a static coordinate system according to a current and voltage equation to further calculate the counter electromotive force, and the other is that a q-axis counter electromotive force observation value under a rotating coordinate system is used as the counter electromotive force (the q-axis counter electromotive force observation value is 0).

In any of the above technical solutions, before the observer is turned on to output the estimated speed, the method further includes: an initial value of the speed command value is acquired.

In the technical scheme, the positioning stage comprises the steps of obtaining an initial value of a speed instruction value, an initial value of a current instruction value and an initial value of a rotor angle. After the speed closed-loop control is started, the speed instruction value is accelerated at a certain acceleration from the initial speed, the initial current is changed into a current instruction value output by the speed closed-loop control, and the initial value of the rotor angle is changed into an estimated rotor angle output by an observer.

In any one of the above technical solutions, controlling the motor to start according to the voltage command value specifically includes: and controlling the motor to start according to the voltage command value until the estimated speed is in the speed threshold range.

In the technical scheme, when the estimated speed output by the observer reaches a certain speed threshold range, the motor is determined to enter normal operation control, namely the starting is completed, the inner ring of the normal operation control is current closed-loop control, and the outer ring of the normal operation control is speed closed-loop control.

According to a second aspect of the present invention, there is provided a motor control device comprising: a memory storing a computer program; and the controller realizes the motor control method according to any one of the technical schemes when executing the computer program.

In the motor control device provided by the invention, the computer program is executed by the controller to realize the steps of the motor control method in any one of the above technical schemes, so that the motor control device has all the beneficial effects of the motor control method in any one of the above technical schemes.

According to a third aspect of the present invention, there is provided a motor apparatus including the above motor control apparatus.

The motor device provided by the invention comprises the motor control device, so that the motor device has all the beneficial effects of the motor control device in the technical scheme.

According to a fourth aspect of the present invention, there is provided a laundry treating apparatus comprising: a motor; a memory storing a computer program; and the controller realizes the motor control method according to any one of the technical schemes when executing the computer program.

In the clothes treatment device provided by the invention, the computer program is executed by the controller to realize the steps of the motor control method in any one of the technical schemes, so that the clothes treatment device has all the beneficial effects of the motor control method in any one of the technical schemes.

According to a fifth aspect of the present invention, a computer-readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a processor, realizes the motor control method according to any one of the above-mentioned technical solutions.

The computer-readable storage medium provided by the present invention, when being executed by a processor, implements the steps of the motor control method according to any of the above-mentioned technical solutions, and therefore, the computer-readable storage medium includes all the advantageous effects of the motor control method according to any of the above-mentioned technical solutions.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic flow chart of a motor control method of a first embodiment of the present invention;

fig. 2 is a schematic flow chart showing a motor control method according to a second embodiment of the present invention;

fig. 3 shows a flow chart of a motor control method of a third embodiment of the present invention;

FIG. 4 is a flow chart illustrating a motor control method according to an embodiment of the present invention;

FIG. 5 illustrates a motor start control schematic of an embodiment of the present invention;

FIG. 6 shows a schematic block diagram of a motor control apparatus of an embodiment of the present invention;

FIG. 7 shows a schematic block diagram of an electromechanical machine of an embodiment of the present invention;

fig. 8 shows a schematic block diagram of a laundry treating apparatus according to an embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

In an embodiment of the first aspect of the present invention, a motor control method is provided, and fig. 1 shows a schematic flow chart of the motor control method according to the first embodiment of the present invention. Wherein, the method comprises the following steps:

step 102, starting an observer to output an estimated speed, and starting speed closed-loop control to output a current instruction value according to a difference value of a speed instruction value and the estimated speed;

104, starting current closed-loop control to output a voltage instruction value according to a difference value of the current instruction value and the current detection value;

and 106, controlling the motor to start according to the voltage command value.

According to the motor control method provided by the invention, the observer is started to observe the estimated speed, the speed closed-loop control is started, the current instruction value is output by the speed closed-loop control, the current closed-loop control is started so as to output the voltage instruction value according to the difference value of the current instruction value and the current detection value, and further, the motor is controlled to be started according to the voltage instruction value. According to the embodiment of the application, a speed open-loop stage (the current instruction value is a given value in the open-loop stage) is removed, so that the current instruction value is always output by speed closed-loop control, the estimated speed of the observer always enters the calculation of the current instruction value, the switching between the current instruction and the speed instruction caused by switching the open-loop control into the closed-loop control in the related art is avoided, the problems of torque jitter, speed jitter and the like caused by switching are avoided, and the motor is started more smoothly.

The motor of the present embodiment may include B L DC (direct current brushless motor), SPMSM (surface mount permanent magnet synchronous motor), IPMSM (embedded permanent magnet synchronous motor), PMSM (permanent magnet synchronous motor), etc. the observer may employ a back electromotive force observer, a state observer, a slip film observer, a luneberg observer, etc.

In the embodiment, the estimated speed is calculated according to the relation between the back electromotive force, the compensation coefficient and the estimated speed, namely the actual rotating speed of the motor, and the calculation formula is speed L pf which is E/Ke, wherein speed L pf is the estimated speed, E is the back electromotive force, and Ke is the compensation coefficient.

In any of the above embodiments, further comprising: and calculating a compensation coefficient according to the initial value of the back electromotive force and the estimated speed of the last sampling period. In this embodiment, the compensation factor is calculated based on the initial value of the back emf and the estimated speed of the previous sampling period, and the compensation factor is not a fixed value but is related to the estimated speed of the previous sampling period, enabling more accurate control of the motor.

In any of the above embodiments, α -axis counter electromotive force observation value and β -axis counter electromotive force observation value are obtained, and counter electromotive force is calculated according to α -axis counter electromotive force observation value and β -axis counter electromotive force observation value, or q-axis counter electromotive force observation value is used as counter electromotive force.

The observer can calculate the back electromotive force voltage by adopting a back electromotive force observer, a state observer, a sliding film observer, a Roeberg observer and the like.

In any of the above embodiments, step 106, controlling the motor to start according to the voltage command value specifically includes: and controlling the motor to start according to the voltage command value until the estimated speed is in the speed threshold range. In this embodiment, when the estimated speed output by the observer reaches a certain speed threshold range, it is determined that the motor enters normal operation control, i.e., the start is completed, the inner loop of the normal operation control is current closed-loop control, and the outer loop is speed closed-loop control.

Fig. 2 shows a flow chart of a motor control method according to a second embodiment of the present invention. Wherein, the method comprises the following steps:

step 202, starting an observer to output an estimated speed, starting speed closed-loop control to output a current instruction value according to a difference value between the speed instruction value and the estimated speed, starting current closed-loop control to output a voltage instruction value according to a difference value between the current instruction value and a current detection value, and obtaining an estimated rotor angle output by the observer, and controlling a motor according to the estimated rotor angle;

and step 204, controlling the motor to start according to the voltage command value and the estimated rotor angle.

In this embodiment, starting from the start of the closed loop, the angle value calculated by the observer becomes the rotor angle command value, and the motor is controlled according to the rotor angle command value, so that the problem that the angle control needs to be calculated and switched from the command to the observer estimation value due to the fact that the open-loop control is switched to the closed-loop control in the related art is avoided, and the problem of angle jitter caused by switching is avoided.

Fig. 3 shows a flow chart of a motor control method of a third embodiment of the present invention. Wherein, the method comprises the following steps:

step 302, acquiring an initial value of a speed instruction value, an initial value of a current instruction value and an initial value of a rotor angle;

step 304, starting the observer to output an estimated speed, starting speed closed-loop control to output a current instruction value according to a difference value between the speed instruction value and the estimated speed, starting current closed-loop control to output a voltage instruction value according to a difference value between the current instruction value and the current detection value, and obtaining an estimated rotor angle output by the observer, and controlling the motor according to the estimated rotor angle;

and step 306, controlling the motor to start according to the voltage command value and the estimated rotor angle.

In this embodiment, the positioning phase includes obtaining an initial value of a speed command value, an initial value of a current command value, and an initial value of a rotor angle. After the speed closed-loop control is started, the speed instruction value is accelerated at a certain acceleration from the initial speed, the initial current is changed into a current instruction value output by the speed closed-loop control, and the initial value of the rotor angle is changed into an estimated rotor angle output by an observer.

It should be noted that the initial value of the rotor angle may be a given value (i.e., a fixed value) or a calculated value, and may be calculated by algorithms such as a high-frequency voltage or current injection method, a short pulse current excitation method, and the like.

In the embodiment of the present application, a motor start control method is provided, which may be applied to a three-phase dc permanent magnet synchronous motor without a position sensor, and as shown in fig. 4, the motor start control method includes: a start-up positioning phase, a closed-loop start-up phase, a closed-loop control phase and a shutdown phase (shutting down the inverter). Wherein, the positioning starting stage comprises: starting inverter control, setting current, setting an initial angle, starting a current loop and calculating control voltage, wherein the closed loop starting stage comprises the following steps: observer work, speed loop work, get control angle, electric current loop work, calculation control voltage, the closed-loop control stage includes: starting an observer, starting a speed loop, taking a control angle, working a current loop and calculating a control voltage.

FIG. 5 shows a motor start control schematic diagram according to an embodiment of the present invention, where the motor start control schematic includes that a speed command speed and an estimated speed L pf are input to a speed PI (proportional integral) controller, the output speed PI controller outputs a current command iq, the current command iq and a current detection value iqFeed are input to a current PI controller, the current PI controller outputs a voltage command, the voltage command is transformed by voltage coordinates (dq, αβ, uvw), and the motor is controlled by an inverter through space vector pulse width modulation SVPWM (space vector pulse width modulation), the current detection module detects an inverter current, the current command is transformed by coordinates (dq, αβ, uvw) and input to a state observer (speed and angle observer), and the state observer outputs an estimated speed L pf and an estimated angle θ.

(1) And a positioning starting stage: giving a rotor angle or estimating an initial rotor angle, and giving an initial control current; opening a current loop PI controller; and starting the speed and angle observer.

(2) A closed loop starting stage: starting a speed PI controller, wherein a speed instruction is accelerated at a certain acceleration from an initial speed, and the difference value between the speed instruction and the estimated speed output by the speed position observer is used as the input of the speed PI controller; the output of the speed PI controller is a motor torque current instruction iq; the difference between the current command iq and the current detection value iqFeed is an input of a current PI controller, and the output value of the current PI controller is a voltage command for generating inverter control.

(3) And (3) a closed-loop control stage: and entering normal operation control when the speed and the estimated speed of the angle observer reach a certain range condition: the inner loop is current PI control, and the outer loop is speed PI control.

In the stage of starting a closed loop, the speed and angle observer starts working, the speed and angle observer calculates counter electromotive force, and then the estimated rotating speed (namely the actual rotating speed of the motor) is calculated according to the counter electromotive force and a counter electromotive force coefficientAnd in the scheme II, a q-axis counter electromotive voltage observed value Eq under a rotating coordinate system dq is used as the counter electromotive force E, and further an estimated speed L pf is calculated, speed L pf is E/Ke, wherein Ke is a compensation coefficient, Ke0+ k × speed L pf (n-1), Ke0 is a counter electromotive force initial value, and speed L pf (n-1) is the speed of the last sampling calculation period and the estimated speed of an angle observer.

Note that the estimated speed L pf is a value obtained by low-pass filtering the speed value speed calculated by the observer, and the filter coefficient is K.

In this embodiment, the speed closed loop starts to operate at the beginning of the start of the speed PI controller and the speed and angle observer, and then the torque current command iq is output from the speed loop. The torque control angle command also employs an angle estimate of a speed and angle observer while starting. After the open-loop stage is removed, the switching processes of the current instruction, the speed instruction and the angle instruction which need to be controlled particularly when the original open loop is switched to the closed loop are cancelled, so that the problems of torque jitter, speed jitter, angle change and the like caused by the switching processes are not existed, and the motor is smoother and smoother to start.

In a second aspect of the present invention, a motor control apparatus is provided, and fig. 6 shows a schematic block diagram of a motor control apparatus 600 according to an embodiment of the present invention. Wherein, this motor control device 600 includes:

a memory 602, the memory 602 storing a computer program;

a controller 604, the controller 604 implementing the motor control method according to any of the above embodiments when executing a computer program.

In the motor control apparatus 600 provided by the present invention, the computer program is executed by the controller 604 to implement the steps of the motor control method according to any of the above embodiments, so that the motor control apparatus 600 includes all the advantages of the motor control method according to any of the above embodiments.

In embodiments of the third aspect of the present invention, a motor apparatus is provided, and fig. 7 shows a schematic block diagram of a motor apparatus 700 according to an embodiment of the present invention. Wherein, this motor device 700 includes: the motor control device 600.

The motor apparatus 700 provided by the present invention includes the motor control apparatus 600, so that the motor apparatus 700 can achieve all the advantages of the motor control apparatus 600 of the above embodiment.

In an embodiment of a fourth aspect of the present invention, a laundry treating apparatus is provided, and fig. 8 shows a schematic block diagram of a laundry treating apparatus 800 according to an embodiment of the present invention. Wherein the laundry treating apparatus 800 includes:

a motor 802;

a memory 804, the memory 804 storing a computer program;

the controller 806, the controller 806 implementing the motor control method according to any of the above embodiments when the controller 806 executes a computer program.

In the laundry treating apparatus 800 of the present invention, the computer program is executed by the controller 806 to implement the steps of the motor control method according to any of the above embodiments, so that the laundry treating apparatus 800 can achieve all the advantages of the motor control method according to any of the above embodiments.

The motor of the embodiment may include B L DC (direct current brushless motor), SPMSM (surface mounted permanent magnet synchronous motor), IPMSM (interior permanent magnet synchronous motor), PMSM (permanent magnet synchronous motor), etc.

An embodiment of the fifth aspect of the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the motor control method according to any one of the above embodiments.

The present invention provides a computer-readable storage medium, which when executed by a processor implements the steps of the motor control method according to any of the above embodiments, and therefore includes all the advantages of the motor control method according to any of the above embodiments.

In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.