阅读说明：本技术 电机的控制装置、方法、系统、家用电器及存储介质 (Motor control device, method and system, household appliance and storage medium ) 是由 刘锦泉 于 2019-08-23 设计创作，主要内容包括：本发明提出了一种电机的控制装置、方法、系统、家用电器及存储介质。其中,电机的控制装置包括：功率因数校正电路,功率因数校正电路包括功率开关；过零检测电路,过零检测电路的输出端与功率因数校正电路的输入端相连接,过零检测电路的输出端与功率开关的控制端相连接,用于在供电电压的过零点所对应的时刻控制功率开关导通；电机控制电路,电机控制电路与功率因数校正电路的输出端相连接,基于功率开关导通,功率因数校正电路向电机控制电路输出供电电压,以驱动电机运行,从而保持母线电压恒定输出,增加电流带载能力,实现低频到高频大扭矩输出,提高电机效率和稳定性。(The invention provides a control device, a control method and a control system of a motor, a household appliance and a storage medium. Wherein, the controlling means of motor includes: the power factor correction circuit comprises a power switch; the output end of the zero-crossing detection circuit is connected with the input end of the power factor correction circuit, and the output end of the zero-crossing detection circuit is connected with the control end of the power switch and used for controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage; and the motor control circuit is connected with the output end of the power factor correction circuit, and based on the conduction of the power switch, the power factor correction circuit outputs power supply voltage to the motor control circuit to drive the motor to operate, so that the constant output of bus voltage is kept, the current loading capacity is increased, the low-frequency to high-frequency large-torque output is realized, and the motor efficiency and stability are improved.)

1. A control device of a motor, characterized by comprising:

a power factor correction circuit comprising a power switch;

the output end of the zero-crossing detection circuit is connected with the input end of the power factor correction circuit, and the output end of the zero-crossing detection circuit is connected with the control end of the power switch and used for controlling the power switch to be conducted at the moment corresponding to the zero-crossing point of the power supply voltage;

and the motor control circuit is connected with the output end of the power factor correction circuit, and based on the conduction of the power switch, the power factor correction circuit outputs power supply voltage to the motor control circuit so as to drive the motor to operate.

2. The control device of the motor according to claim 1, further comprising:

and the parameter acquisition circuit is connected with the motor control circuit and is used for detecting the operation parameters of the motor and feeding the operation parameters back to the motor control circuit so that the motor control circuit determines the position of the rotor of the motor according to the operation parameters.

3. The control device of an electric motor according to claim 2,

the parameter acquisition circuit comprises a current detection circuit and a voltage detection circuit, and the operation parameters comprise phase current of the motor and phase voltage of the motor;

the current detection circuit is used for detecting the phase current of the motor and feeding back the phase current of the motor to the motor control circuit;

the voltage detection circuit is used for detecting phase voltage of the motor and feeding back the phase voltage of the motor to the motor control circuit;

the motor control circuit is specifically configured to:

and determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor.

4. The control device of an electric motor according to any one of claims 1 to 3, wherein the motor control circuit is specifically configured to:

generating a compensation matrix according to the phase current of the motor;

and determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor.

5. The control device of the motor according to claim 4, wherein the motor control circuit is further configured to:

adjusting the rotation speed of the motor; and

and correcting the position of the rotor according to the rotating speed of the motor.

6. The control device of the motor according to any one of claims 1 to 3, wherein the power factor correction circuit further includes:

the first end of the inductor is connected with a high-voltage bus of the power supply circuit;

the second end of the inductor is respectively connected with the anode of the diode and the first end of the power switch, and the cathode of the diode is connected with the motor control circuit;

and the second end of the power switch is respectively connected with a low-voltage bus of the power supply circuit and the motor control circuit.

7. The control device of the motor according to claim 3, wherein the motor control circuit is further configured to:

determining a phase difference between a phase voltage of the motor and a phase current of the motor;

and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

8. The control device of the motor according to any one of claims 1 to 3, wherein the motor control circuit is further configured to:

the motor control circuit is also used for recording the number and the control parameter corresponding to the motor and controlling the motor with the corresponding number to operate according to the control parameter.

9. The control device of the motor according to claim 8, wherein the control parameters include a rotation speed of the motor and a rotation direction of the motor.

10. The control device of an electric machine according to any one of claims 1 to 9, characterized in that the electric machine comprises at least one stator and at least two rotors.

11. A method of controlling a motor, comprising:

and controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage so that the power factor correction circuit outputs the power supply voltage to the motor control circuit.

12. The control method of an electric motor according to claim 11,

the power switch is conducted according to a continuous conduction mode, a discontinuous conduction mode, a critical conduction mode or a transition mode.

13. The control method of the motor according to claim 11, further comprising:

receiving operation parameters of a motor; and

and determining the rotor position of the motor according to the operation parameters.

14. The control method of an electric motor according to claim 13, wherein the operating parameters of the electric motor include: phase current of the motor and phase voltage of the motor;

the step of determining the rotor position of the motor according to the operating parameters specifically includes:

determining a phase difference between a phase current of the motor and a phase voltage of the motor;

and determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor.

15. The control method of the motor according to claim 13 or 14, characterized by further comprising:

generating a compensation matrix according to the phase current of the motor;

the step of determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor specifically includes:

and determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor.

16. The control method of the motor according to claim 15, further comprising:

receiving a rotating speed adjusting instruction;

and controlling the motor to operate according to the rotating speed indicated by the rotating speed adjusting instruction.

17. The control method of the motor according to claim 16, further comprising:

acquiring the observed rotating speed of the motor;

and correcting the position of the rotor of the motor according to the observed rotating speed and the rotating speed indicated by the rotating speed adjusting instruction.

18. The control method of an electric motor according to claim 14,

determining a phase difference between a phase voltage of the motor and a phase current of the motor;

and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

19. A control system for an electric machine, comprising:

a controller;

a memory for storing a computer program;

the controller executes a computer program stored in the memory to implement the steps of the control method of the motor according to any one of claims 11 to 18.

20. A household appliance, characterized in that it comprises:

an electric machine comprising at least one stator and at least two rotors;

the control device of an electric motor according to any one of claims 1 to 10, wherein the drive device for an electric motor drives one of the at least two rotors to operate.

21. An electric vehicle, characterized by comprising:

a motor;

a control device of an electric motor according to any one of claims 1 to 10.

22. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, carries out the steps of the method of controlling an electric machine according to any one of claims 11 to 18.

Technical Field

The invention relates to the technical field of household appliances, in particular to a control device of a motor, a control method of the motor, a control system of the motor, the household appliance, an electric vehicle and a computer readable storage medium.

Background

In the traditional household appliance, along with the increase of the operating frequency of the motor, the resistance borne by the motor in the operating process is correspondingly increased, namely, the motor needs larger torque when operating at high frequency, the driving voltage of the motor comes from a bus, however, the bus voltage and the bus current can be pulled down under the condition of larger power, the load capacity is not enough, the torque output at a high frequency section is not enough, so that the motor cannot operate at high frequency, the broadband control cannot be simultaneously realized by the double-motor driving, the signal width cannot be increased, and the electromagnetic Interference (EMI) is larger.

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 control device for an electric machine.

A second aspect of the present invention is to provide a control method of an electric motor.

A third aspect of the present invention is to provide a control system of an electric machine.

A fourth aspect of the invention is to propose a household appliance.

A fifth aspect of the invention is to propose an electric vehicle.

A sixth aspect of the invention is directed to a computer readable storage medium.

In view of this, according to a first aspect of the present invention, there is provided a control apparatus of a motor, comprising: the power factor correction circuit comprises a power switch; the output end of the zero-crossing detection circuit is connected with the input end of the power factor correction circuit, and the output end of the zero-crossing detection circuit is connected with the control end of the power switch and used for controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage; and the motor control circuit is connected with the output end of the power factor correction circuit, and the power factor correction circuit outputs power supply voltage to the motor control circuit based on the conduction of the power switch so as to drive the motor to operate.

The invention provides a control device of a motor, which adopts a stator and rotor separated double-motor structure, controls a power switch to be conducted at the time corresponding to the zero crossing point of a power supply voltage, directly inputs unfiltered pulsating positive half-cycle voltage into the power switch without a filter capacitor, and utilizes a series of switch working pulsation to cut the pulsating positive half-cycle voltage into discontinuous current waveforms, wherein the envelope curve and the voltage waveform of the current waveforms are the same, and the phases of the envelope curve and the voltage waveform are in the same phase. Through the control device, the constant output of bus voltage can be kept, the current loading capacity is increased, the low-frequency to high-frequency (low-speed-high-speed) large torque output is realized, and the torque pulsation is reduced, so that the vibration is reduced, the noise is reduced, in addition, the alternating current voltage and the alternating current are in the same phase, the voltage waveform and the current waveform both conform to the sine waveform, the power factor compensation problem is solved, and the Electro Magnetic Compatibility (EMC) and electromagnetic interference problems are also solved.

And further, after the output power supply voltage is smaller than a specified value, the output power supply voltage is larger than the specified value by controlling the conducting state of the power switch, wherein the specified value is larger than or equal to 380 volts and smaller than or equal to 410 volts.

The power factor correction circuit comprises the following working modes:

1. continuous Conduction Mode (CCM): the working frequency of the power switch is fixed; specifically, a chopped voltage (pulsating positive half-cycle voltage) is divided into a low-voltage region and a high-voltage region, the duty ratio of each conducting period of the high-voltage region and the low-voltage region is different, the conducting duty ratio (coefficient) changes along with the amplitude change of the chopped voltage, the working frequency of a power switch is not changed no matter whether the amplitude of the chopped voltage changes, and the working frequency is still unchanged when the chopped voltage is zero (no voltage), so that the Continuous Conduction Mode (CCM) is called, and the mode is generally applied to devices of 250W-2000W.

2. Discontinuous Conduction Mode (DCM): the working frequency of the power switch changes with the size of the chopped wave voltage; specifically, the "on" and "off" times in each conduction period are equal, the operating frequency of the power switch also changes correspondingly with the change of the voltage amplitude, and when the chopped voltage is 0, the power switch stops, i.e., the oscillation stops, so the power switch is called a Discontinuous Conduction Mode (DCM), i.e., the power switch with the input voltage works, and the power switch without the input voltage does not work.

3. Critical conduction mode (CRM) or transition mode (TCM): the operating frequency is between CCM and DCM, and is closer to DCM mode, after the last conduction period, and before the next conduction period, the inductor current will decay to zero, and the operating frequency varies with the line voltage and load.

In addition, according to the control device of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, preferably, the method further includes: and the parameter acquisition circuit is connected with the motor control circuit and is used for detecting the operation parameters of the motor and feeding the operation parameters back to the motor control circuit so that the motor control circuit determines the position of the rotor of the motor according to the operation parameters.

In the technical scheme, the parameter acquisition circuit can detect the operation parameters of the motor in real time, and the motor control circuit determines the position of the rotor of the motor according to the operation parameters fed back by the parameter acquisition circuit, so that the motor can be accurately controlled during speed regulation, and the working efficiency of the motor is improved.

In any of the above technical solutions, preferably, the parameter obtaining circuit includes a current detection circuit and a voltage detection circuit, and the operation parameters include a phase current of the motor and a phase voltage of the motor; the current detection circuit is used for detecting the phase current of the motor and feeding back the phase current of the motor to the motor control circuit; the voltage detection circuit is used for detecting the phase voltage of the motor and feeding back the phase voltage of the motor to the motor control circuit; the motor control circuit is specifically configured to: and determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor.

In the technical scheme, the phase current and the phase voltage of each phase of the motor are detected in real time, and the rotor position of the motor is determined according to the phase current and the phase voltage of the motor, so that the motor can be accurately controlled during speed regulation.

In any of the above technical solutions, preferably, the motor control circuit is specifically configured to: generating a compensation matrix according to the phase current of the motor; and determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor.

In the technical scheme, the compensation matrix is determined according to the phase current of the motor, the rotor position of the motor is determined according to the compensation matrix, the phase current of the motor and the phase voltage of the motor, the rotor position is determined based on the compensation matrix, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, the control precision is improved, and the motor runs at the optimal phase change point.

In any of the above technical solutions, preferably, the motor control circuit is further configured to: adjusting the rotation speed of the motor; and correcting the position of the rotor according to the rotating speed of the motor.

In the technical scheme, the motor control circuit can correct the position of the rotor according to the rotating speed of the motor while adjusting the rotating speed of the motor, so that the estimation error of the position of the rotor is reduced, the estimation precision of the position of the rotor of the motor is improved, and the motor runs at the optimal phase change point.

In any of the above technical solutions, preferably, the power factor correction circuit further includes: the first end of the inductor is connected with a high-voltage bus of the power supply circuit; the second end of the inductor is respectively connected with the anode of the diode and the first end of the power switch, and the cathode of the diode is connected with the motor control circuit; and the second end of the power switch is respectively connected with a low-voltage bus of the power supply circuit and the motor control circuit.

In the technical scheme, when the current changes, the counter potential resisting the current change is generated through the inductor, the pulsating positive half-cycle voltage is unidirectionally filtered through the diode without a filter capacitor, the unfiltered pulsating positive half-cycle voltage is directly input into the power switch, the pulsating positive half-cycle voltage is chopped into an intermittent current waveform by using the working pulsation of the power switch, and the direct current with the half-wave pulsation is converted into high-frequency alternating current under the action of chopping, so that the constant output of the bus voltage can be kept when the motor operates, the current loading capacity is increased, the high-speed high-frequency weak magnetic and full-band large torque output are realized, meanwhile, the electronic elements used by the power factor correction circuit are fewer, the connection relation among the electronic elements is simpler, the current loading capacity is improved, the cost cannot be greatly increased, and the alternating voltage and the alternating current are in phase, the voltage waveform and the current waveform both conform to the sine waveform, thereby solving the problem of power factor compensation and the problems of electromagnetic compatibility and electromagnetic interference.

In any of the above technical solutions, preferably, the motor control circuit is further configured to: determining a phase difference between a phase voltage of the motor and a phase current of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

In the technical scheme, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase difference and the phase voltage have deviation, and at the moment, the phase compensation control is executed on the phase current of the motor, so that the stability of the motor during operation is improved.

In any of the above technical solutions, preferably, the motor control circuit is further configured to: the motor control circuit is also used for recording the number and the control parameter corresponding to the motor and controlling the motor with the corresponding number to operate according to the control parameter.

In the technical scheme, the motors corresponding to the numbers are controlled to operate through the control parameters, identification and authentication are carried out on each motor, independent position judgment is achieved, the fact that each motor is controlled through an independent control algorithm is guaranteed, mutual interference is avoided, vibration and noise are reduced, therefore the driving mode is safer and more convenient, and stability and rotating efficiency of motor operation are further improved.

In any of the above technical solutions, preferably, the control parameter includes a rotation speed of the motor and a rotation direction of the motor.

In any of the above solutions, preferably, the electric machine comprises at least one stator and at least two rotors.

According to a second aspect of the present invention, there is provided a control method for a motor, which is used in the control device for a motor according to any one of the above aspects, the control method for a motor including: and controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage so that the power factor correction circuit outputs the power supply voltage to the motor control circuit.

The control method of the motor provided by the invention controls the power switch to be conducted at the time corresponding to the zero crossing point of the power supply voltage, directly inputs the pulse positive half-cycle voltage which is not filtered into the power switch without a filter capacitor, and utilizes a series of switch working pulses to cut the pulse positive half-cycle voltage into discontinuous current waveforms, wherein the envelope curve and the voltage waveform of the current waveforms are the same, and the phases of the envelope curve and the voltage waveform are the same. By the control method, the constant output of the bus voltage can be kept, the current load capacity is increased, the low-frequency to high-frequency (low-speed-high-speed) large torque output is realized, and the torque pulsation is reduced, so that the vibration is reduced, the noise is reduced, in addition, the alternating voltage and the alternating current are in the same phase, the voltage waveform and the current waveform both conform to the sine waveform, the power factor compensation problem is solved, and the electromagnetic compatibility (EMC) and electromagnetic interference problems are also solved.

And further, after the output power supply voltage is smaller than a specified value, the output power supply voltage is larger than the specified value by controlling the conducting state of the power switch, wherein the specified value is larger than or equal to 380 volts and smaller than or equal to 410 volts.

In any of the above technical solutions, preferably, the power switch is turned on according to a continuous conduction mode, a discontinuous conduction mode, a critical conduction mode or a transition mode.

In this solution, Continuous Conduction Mode (CCM): the working frequency of the power switch is fixed; specifically, a chopped voltage (pulsating positive half-cycle voltage) is divided into a low-voltage region and a high-voltage region, the duty ratio of each conducting period of the high-voltage region and the low-voltage region is different, the conducting duty ratio (coefficient) changes along with the amplitude change of the chopped voltage, the working frequency of a power switch is not changed no matter whether the amplitude of the chopped voltage changes, and the working frequency is still unchanged when the chopped voltage is zero (no voltage), so that the Continuous Conduction Mode (CCM) is called, and the mode is generally applied to devices of 250W-2000W.

Discontinuous Conduction Mode (DCM): the working frequency of the power switch changes with the size of the chopped wave voltage; specifically, the "on" and "off" times in each conduction period are equal, the operating frequency of the power switch also changes correspondingly with the change of the voltage amplitude, and when the chopped voltage is 0, the power switch stops, i.e., the oscillation stops, so the power switch is called a Discontinuous Conduction Mode (DCM), i.e., the power switch with the input voltage works, and the power switch without the input voltage does not work.

Critical conduction mode (CRM) or transition mode (TCM): the operating frequency is between CCM and DCM, and is closer to DCM mode, after the last conduction period, and before the next conduction period, the inductor current will decay to zero, and the operating frequency varies with the line voltage and load.

In any of the above technical solutions, preferably, the method further includes: receiving operation parameters of a motor; and determining a rotor position of the electric machine based on the operating parameter.

In the technical scheme, the parameter acquisition circuit can detect the operation parameters of the motor in real time, and the motor control circuit determines the position of the rotor of the motor according to the operation parameters fed back by the parameter acquisition circuit, so that the motor can be accurately controlled during speed regulation, and the working efficiency of the motor is improved.

In any of the above technical solutions, preferably, the operation parameters of the motor include: phase current of the motor and phase voltage of the motor; the step of determining the rotor position of the motor according to the operating parameters specifically comprises: determining a phase difference between a phase current of the motor and a phase voltage of the motor; and determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor.

In the technical scheme, the phase current and the phase voltage of each phase of the motor are detected in real time, and the rotor position of the motor is determined according to the phase current and the phase voltage of the motor, so that the motor can be accurately controlled during speed regulation.

In any of the above technical solutions, preferably, the method further includes: generating a compensation matrix according to the phase current of the motor; the method comprises the following steps of determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor, and specifically comprises the following steps: and determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor.

In the technical scheme, a compensation matrix is determined according to the phase current of the motor, the rotor position of the motor is determined according to the compensation matrix, the phase current of the motor and the phase voltage of the motor, the rotor position is determined based on the compensation matrix, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, and the motor runs at the optimal phase change point.

In any of the above technical solutions, preferably, the method further includes: receiving a rotating speed adjusting instruction; and controlling the motor to operate according to the rotating speed indicated by the rotating speed regulating instruction.

In this technical scheme, every motor corresponds different serial numbers, and the slew velocity independent control motor operation instructed through the rotational speed regulation instruction avoids mutual interference between the motor on the one hand, improves the stability and the rotation efficiency of motor operation, reduces vibrations and noise, and on the other hand adjusts motor power through the speed governing to be applicable to different loads, satisfy user's multiple demand.

In any of the above technical solutions, preferably, the method further includes: acquiring an observed rotating speed of a motor; and correcting the position of the rotor of the motor according to the observed rotating speed and the rotating speed indicated by the rotating speed adjusting instruction.

In the technical scheme, the rotating speed of the motor is adjusted, and the motor control circuit can correct the position of the rotor according to the fed-back rotating speed, so that the estimation error of the position of the rotor is reduced, the estimation precision of the position of the rotor of the motor is improved, and the motor runs at the optimal phase-change point.

In any of the above technical solutions, preferably, a phase difference between a phase voltage of the motor and a phase current of the motor is determined; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

In the technical scheme, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase difference and the phase voltage have deviation, and at the moment, the phase compensation control is executed on the phase current of the motor, so that the stability of the motor during operation is improved.

According to a third aspect of the present invention, there is provided a control system of an electric motor, comprising: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the control method of the motor of any of the above-described technical aspects. Therefore, the control system of the motor has all the advantages of the control method of the motor in any technical scheme.

According to a fourth aspect of the present invention, there is provided a household appliance comprising: an electric machine comprising at least one stator and at least two rotors; the control device for an electric motor according to any one of the above. Therefore, the household appliance has all the advantages of the control device of the motor in any technical scheme.

According to a fifth aspect of the present invention, there is provided an electric vehicle including: a motor; the control device for a motor according to any one of the above aspects. Therefore, the electric vehicle includes all the advantageous effects of the control device of the motor according to any one of the above-described aspects.

According to a sixth aspect of the present invention, a computer-readable storage medium is presented, on which a computer program is stored, which, when executed, carries out the steps of the method of controlling an electric machine according to any one of the above. The computer readable storage medium thus includes all the advantageous effects of the control method of the motor according to any of the above-described 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 is a schematic structural diagram showing a control apparatus of a motor according to an embodiment of the present invention;

FIG. 2 illustrates a topology of a control circuit of the motor of one embodiment of the present invention;

fig. 3 shows a hardware schematic of a control device of the motor according to an embodiment of the present invention;

FIG. 4 shows a topology diagram of an MCU control circuit of a specific embodiment of the present invention;

FIG. 5 illustrates a topology of a motor drive circuit of a specific embodiment of the present invention;

FIG. 6 illustrates a topology diagram of a zero crossing detection circuit in accordance with a specific embodiment of the present invention;

fig. 7 shows a schematic flow diagram of a control device of the motor according to an embodiment of the invention;

fig. 8 shows a schematic flow chart of a control apparatus of a motor of a further embodiment of the present invention;

fig. 9 shows a schematic flow chart of a control apparatus of a motor of a further embodiment of the present invention;

fig. 10 shows a schematic flow chart of a control apparatus of a motor of a further embodiment of the present invention;

fig. 11 shows a logic diagram of a control device of a motor of a further embodiment of the present invention;

FIG. 12 illustrates a current and voltage waveform diagram of a specific embodiment of the present invention;

FIG. 13 illustrates a current and voltage waveform diagram for a continuous conduction mode of an embodiment of the present invention;

fig. 14 illustrates a current and voltage waveform diagram of a discontinuous conduction mode of 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.

The first embodiment is as follows:

as shown in fig. 1 and 2, according to an embodiment of a first aspect of the present invention, a control device 1 for a motor is provided, including: the power factor correction circuit 10, the zero-crossing detection circuit 20 and the motor control circuit 30.

Specifically, the power factor correction circuit 10 includes a power switch Q; the output end of the zero-crossing detection circuit 20 is connected with the input end of the power factor correction circuit 10, and the output end of the zero-crossing detection circuit 20 is connected with the control end of the power switch Q and used for controlling the conduction of the power switch Q at the time corresponding to the zero crossing point of the power supply voltage; the motor control circuit 30 is connected to the output terminal of the power factor correction circuit 10, and based on the conduction of the power switch Q, the power factor correction circuit 10 outputs a supply voltage to the motor control circuit 30 to drive the motor to operate, wherein the motor includes at least one stator and at least two rotors.

And further, after the output power supply voltage is smaller than a specified value, the output power supply voltage is larger than the specified value by controlling the conducting state of the power switch, wherein the specified value is larger than or equal to 380 volts and smaller than or equal to 410 volts. Preferably, the power factor correction circuit 10 comprises the following modes of operation:

1. as shown in fig. 13, Continuous Conduction Mode (CCM): the working frequency of the power switch Q is fixed; specifically, T1 is in the low voltage region of the chopped voltage (half cycle), T2 is in the high voltage region of the chopped voltage, T1 (time) is T2 (time), it can be seen from the figure that all the switching cycle times are equal, the duty ratios in each conducting period of the high voltage region and the low voltage region are different, the conducting duty ratio (coefficient) changes with the amplitude change of the chopped voltage, the operating frequency of the power switch Q is not changed no matter whether the amplitude of the chopped voltage changes, and the operating frequency is still unchanged when the chopped voltage is zero (no voltage), so the mode is called Continuous Conducting Mode (CCM), and the mode is generally applied to devices of 250W to 2000W.

2. As shown in fig. 14, Discontinuous Conduction Mode (DCM): the working frequency of the power switch Q changes with the size of the chopped wave voltage; specifically, the "on" and "off" times in each conduction period are equal, and the T1 and T2 times are different, the operating frequency of the switch changes correspondingly with the change of the voltage amplitude, and when the chopped voltage is 0, the switch stops, i.e., the oscillation stops, so that the switch is called Discontinuous Conduction Mode (DCM), i.e., the power switch Q with the input voltage operates, and the power switch Q without the input voltage does not operate.

3. Critical conduction mode (CRM) or transition mode (TCM): the operating frequency is between CCM and DCM, and is closer to DCM mode, after the last conduction period, before the next conduction period, the inductor L current will decay to zero, and the operating frequency varies with the line voltage and load.

In the motor control device 1 according to the present embodiment, the power switch Q is controlled to be turned on at the time corresponding to the zero crossing point of the supply voltage, the unfiltered positive half-cycle voltage is directly input to the power switch Q without a filter capacitor, the positive half-cycle voltage is "chopped" into an interrupted current waveform as shown in fig. 14 by a series of switching operation ripples, wherein the envelope and the voltage waveform of the current waveform are the same and the phases of the envelope and the voltage waveform are the same, and the half-wave pulsating direct current is changed into a high-frequency alternating current due to the action of the chopping, and at this time, the Power Factor Correction (PFC) circuit outputs the supply voltage to the motor control circuit 30 to drive the motor to operate. By the control method, the constant output of the bus voltage can be kept, the current load capacity is increased, the low-frequency to high-frequency (low-speed-high-speed) large torque output is realized, and the torque pulsation is reduced, so that the vibration is reduced, the noise is reduced, in addition, the alternating voltage and the alternating current are in the same phase, the voltage waveform and the current waveform both conform to the sine waveform, the power factor compensation problem is solved, and the electromagnetic compatibility (EMC) and electromagnetic interference problems are also solved.

Example two:

as shown in fig. 1, according to an embodiment of the present invention, a control apparatus 1 of a motor includes: the power factor correction circuit 10, the zero-crossing detection circuit 20, the motor control circuit 30 and the parameter acquisition circuit 40.

Specifically, the parameter obtaining circuit 40 is connected to the motor control circuit 30, and is configured to detect an operation parameter of the motor and feed the operation parameter back to the motor control circuit 30, so that the motor control circuit 30 determines a rotor position of the motor according to the operation parameter, where the parameter obtaining circuit 40 includes a current detecting circuit 402 and a voltage detecting circuit 404, the operation parameter includes a phase current of the motor and a phase voltage of the motor, and the current detecting circuit 402 is configured to detect a phase current of the motor and feed the phase current of the motor back to the motor control circuit 30; the voltage detection circuit 404 is configured to detect a phase voltage of the motor, and feed back the phase voltage of the motor to the motor control circuit 30; the motor control circuit 30 is specifically configured to: and determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor. Wherein the control parameters include the rotation speed of the motor and the rotation direction of the motor.

In this embodiment, the parameter obtaining circuit 40 can detect the operation parameters of the motor in real time, that is, the phase current and the phase voltage of each phase of the motor, and the motor control circuit 30 determines the rotor position of the motor according to the operation parameters fed back by the parameter obtaining circuit 40, so as to commutate the stator current, and enable the rotor to continuously rotate in one direction, thereby ensuring that the motor can be accurately controlled during speed regulation, and improving the working efficiency of the motor.

Example three:

as shown in fig. 1, according to an embodiment of the present invention, a control apparatus 1 of a motor includes: the motor control circuit comprises a power factor correction circuit 10, a zero-crossing detection circuit 20, a motor control circuit 30 and a parameter acquisition circuit 40, wherein the motor control circuit 30 is specifically used for adjusting the rotating speed of a motor; and correcting the position of the rotor according to the rotating speed of the motor.

In this embodiment, while adjusting the rotation speed of the motor, the motor control circuit 30 can correct the rotor position according to the rotation speed of the motor, so as to reduce the estimation error of the rotor position, improve the estimation accuracy of the rotor position of the motor, and enable the motor to operate at the optimal phase-change point.

Example four:

according to an embodiment of the present invention, in any of the above embodiments, preferably, the motor control circuit 30 is specifically configured to: generating a compensation matrix according to the phase current of the motor; and determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor.

In the embodiment, the compensation matrix is determined according to the phase current of the motor, and the rotor position of the motor is determined according to the compensation matrix, the phase current of the motor and the phase voltage of the motor, so that the estimation of the rotor position is not affected by sudden change of the operation condition of the motor, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, the control precision is improved, and the motor operates at the optimal phase change point.

Example five:

as shown in fig. 2, according to an embodiment of the present invention, in any of the above embodiments, preferably, the power factor correction circuit 10 includes: power switch Q, inductance L, diode D.

Specifically, a first end of the inductor L is connected to a high-voltage bus of the power supply circuit; the second end of the inductor L is respectively connected with the anode of the diode and the first end of the power switch Q, and the cathode of the diode is connected with the motor control circuit 30; the second end of the power switch Q is connected to the low-voltage bus of the power supply circuit and the motor control circuit 30, respectively.

In this embodiment, when the current changes, the back electromotive force resisting the current change is generated by the inductor L, the pulsating positive half-cycle voltage is unidirectionally filtered by the diode D, the unfiltered pulsating positive half-cycle voltage is directly input to the power switch Q without the need of a filter capacitor, the pulsating positive half-cycle voltage is "chopped" into an intermittent current waveform by the operating pulsation of the power switch Q, and the direct current of the half-wave pulsation is converted into a high-frequency current due to the chopping, so that the bus voltage can be kept constantly output when the motor operates, the current carrying capacity can be increased, high-speed, high-frequency, weak magnetic, full-band and large torque output can be realized, meanwhile, the power factor correction circuit 10 uses fewer electronic components, the connection relationship among the electronic components is simpler, the current carrying capacity can be improved without greatly increasing the cost, and the alternating voltage and the alternating current are in phase, the voltage waveform and the current waveform both conform to the sine waveform, thereby solving the problem of power factor compensation and the problems of electromagnetic compatibility and electromagnetic interference.

Example six:

according to an embodiment of the present invention, in any of the above embodiments, preferably, the motor control circuit 30 is further configured to: determining a phase difference between a phase voltage of the motor and a phase current of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

In this embodiment, a phase difference between a phase current and a phase voltage of the motor is determined, and when the phase difference is greater than a predetermined value, it is indicated that there is a deviation between the phase current and the phase voltage, and at this time, phase compensation control is performed on the phase current of the motor, thereby improving the stability of the motor during operation.

Example seven:

according to an embodiment of the present invention, in any of the above embodiments, preferably, the motor control circuit 30 is further configured to: the motor control circuit 30 is further configured to record a number and a control parameter corresponding to the motor, and control the motor with the corresponding number to operate according to the control parameter.

In this embodiment, the operation of the motors with the corresponding numbers is controlled through the control parameters, and identification and authentication are performed on each motor, so that independent position judgment is realized, each motor is controlled through an independent control algorithm, mutual interference is avoided, vibration and noise are reduced, the driving mode is safer and more convenient, and the stability and the rotating efficiency of the operation of the motors are further improved.

Example eight:

as shown in fig. 3, in an embodiment of the present invention, a control apparatus for a motor includes: the display device comprises a high-frequency PFC circuit (a power factor correction circuit), a zero-crossing detection circuit, a motor control circuit, a switching power supply, a display main control circuit, an AC-DC (direct current-alternating current) circuit, a three-phase voltage (back electromotive force) detection circuit, a three-phase current detection circuit and a motor driving device (a motor).

Specifically, as shown in fig. 2, an AC-DC circuit (power supply circuit) is connected to a port 1 and a port 2 of a high-frequency PFC circuit, and a three-phase voltage detection circuit and a three-phase current detection circuit are connected between the power supply circuit and a motor control circuit, where the motor control circuit includes an MCU control circuit, and the high-frequency PFC circuit includes: the power switch Q is a triode, the diode D is a unidirectional conducting diode, and the first end of the inductor L is connected with a high-voltage bus of the power supply circuit; the second end of the inductor L is respectively connected with the anode of the diode and the first end of the triode, the cathode of the diode D is connected with output ports INT0N and CH1 of the MCU control circuit, and specifically, the output port INT0N of the MCU control circuit is used for feeding back voltage; the second end of the triode is respectively connected with a low-voltage bus of the power supply circuit and an input port of the MCU control circuit, the third end of the triode is connected with the first end of the resistor R, and the second end of the resistor R is connected with an input port UH of the MCU control circuit.

As shown in fig. 4 and 5, the motor control circuit further includes a motor driving circuit, the motor driving circuit includes three output ports U1, V1, and W1, which are respectively connected to three motor input terminals, and the number of the output ports of the motor driving circuit can be adjusted according to the number of phases input by the motor. Input ports UN1 and UP1 of the motor drive circuit are respectively connected with output ports PWM UH and PWM UL of the MCU control circuit, input ports VN1 and VP1 of the motor drive circuit are respectively connected with output ports PWM VH and PWM VL of the MCU control circuit, input ports WN1 and WP1 of the motor drive circuit are respectively connected with output ports PWM WH and PWM WL of the MCU control circuit, and the MCU control circuit outputs control signals to the motor drive circuit.

Alternatively, the ZERO-crossing detection circuit is connected with the MCU control circuit as shown in fig. 4 and fig. 6, specifically, the input end of the ZERO-crossing circuit is connected with the AC + of the AC-DC circuit, the output end CROSS _ ZERO thereof is connected with the input end CROSS _ ZERO of the MCU control circuit, and the ZERO-crossing circuit is configured to output the acquired ZERO-crossing signal to the MCU control circuit.

Example nine:

as shown in fig. 7, an embodiment of a second aspect of the present invention provides a control method for a motor, which is used for the control device for a motor in any one of the above embodiments, and the method includes:

and 502, controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage so that the power factor correction circuit outputs the power supply voltage to the motor control circuit.

In the control method of the motor provided in this embodiment, the power switch is controlled to be turned on at the time corresponding to the zero crossing point of the supply voltage, a filter capacitor is not needed, the unfiltered positive half-cycle voltage is directly input to the power switch, the positive half-cycle voltage is "chopped" into an interrupted current waveform as shown in fig. 12 by using a series of switch working pulses, wherein the envelope curve and the voltage waveform of the current waveform are the same, and the phases of the envelope curve and the voltage waveform are the same, and the direct current of the half-wave pulse is changed into a high-frequency alternating current due to the action of the chopping. By the control method, the constant output of the bus voltage can be kept, the current load capacity is increased, the low-frequency to high-frequency (low-speed-high-speed) large torque output is realized, and the torque pulsation is reduced, so that the vibration is reduced, the noise is reduced, in addition, the alternating voltage and the alternating current are in the same phase, the voltage waveform and the current waveform both conform to the sine waveform, the power factor compensation problem is solved, and the electromagnetic compatibility (EMC) and electromagnetic interference problems are also solved.

Alternatively, the specified value is related to the rotational speed of the motor and the load of the rated drive.

Preferably, the power switch is turned on in a continuous conduction mode, a discontinuous conduction mode, a critical conduction mode or a transition mode.

As shown in fig. 13, Continuous Conduction Mode (CCM): the working frequency of the power switch is fixed; specifically, T1 is in the low voltage region of the chopped voltage (half cycle), T2 is in the high voltage region of the chopped voltage, T1 (time) is T2 (time), it can be seen from the figure that all the switching cycle times are equal, the duty ratios in each conducting period of the high voltage region and the low voltage region are different, the conducting duty ratio (coefficient) changes with the amplitude change of the chopped voltage, the operating frequency of the power switch is not changed whether the amplitude of the chopped voltage changes or not, and the operating frequency remains unchanged when the chopped voltage is zero (no voltage), so the mode is called Continuous Conducting Mode (CCM), and the mode is generally applied to devices of 250W to 2000W.

As shown in fig. 14, Discontinuous Conduction Mode (DCM): the working frequency of the power switch changes with the size of the chopped wave voltage; specifically, the "on" and "off" times in each conduction period are equal, and the T1 and T2 times are different, the operating frequency of the switch changes correspondingly with the change of the voltage amplitude, and when the chopped voltage is 0, the switch stops, i.e., the oscillation stops, so that the switch is called Discontinuous Conduction Mode (DCM), i.e., the power switch with the input voltage operates, and the power switch without the input voltage does not operate.

Critical conduction mode (CRM) or transition mode (TCM): the operating frequency is between CCM and DCM, and is closer to DCM mode, after the last conduction period, and before the next conduction period, the inductor current will decay to zero, and the operating frequency varies with the line voltage and load.

Example ten:

as shown in fig. 8, according to an embodiment of the present invention, a control method of a motor includes:

step 602, receiving operation parameters of a motor;

step 604, determining a phase difference between a phase current of the motor and a phase voltage of the motor;

step 606, determining the rotor position of the motor according to the phase current of the motor and the phase voltage of the motor;

step 608, the power switch is controlled to be turned on at the time corresponding to the zero crossing point of the power supply voltage, so that the power factor correction circuit outputs the power supply voltage to the motor control circuit.

In the embodiment, the parameter acquisition circuit can detect the operation parameters of the motor in real time, namely the phase current and the phase voltage of each phase of the motor, and determine the rotor position of the motor according to the phase current and the phase voltage of the motor, so that the motor can be accurately controlled during speed regulation.

Example eleven:

as shown in fig. 9, according to an embodiment of the present invention, a control method of a motor includes:

step 702, receiving operation parameters of a motor;

step 704, determining a phase difference between a phase current of the motor and a phase voltage of the motor;

step 706, generating a compensation matrix according to the phase current of the motor;

step 708, determining the rotor position of the motor according to the compensation matrix, the phase current of the motor and the phase voltage of the motor;

and 710, controlling the power switch to be conducted at the moment corresponding to the zero crossing point of the power supply voltage, so that the power factor correction circuit outputs the power supply voltage to the motor control circuit.

In the embodiment, the compensation matrix is determined according to the phase current of the motor, the rotor position of the motor is determined according to the compensation matrix, the phase current of the motor and the phase voltage of the motor, the rotor position of the motor is determined based on the compensation matrix, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, and the motor runs at the optimal phase change point.

Example twelve:

as shown in fig. 10, according to an embodiment of the present invention, a control method of a motor includes:

step 802, controlling the power switch to be conducted at a moment corresponding to a zero crossing point of the power supply voltage so that the power factor correction circuit outputs the power supply voltage to the motor control circuit;

step 804, receiving a rotating speed adjusting instruction;

and step 806, controlling the motor to operate according to the rotating speed indicated by the rotating speed adjusting instruction.

Example thirteen:

according to an embodiment of the present invention, in any of the above embodiments, preferably, the control method of the motor further includes: acquiring an observed rotating speed of a motor; and correcting the position of the rotor of the motor according to the observed rotating speed and the rotating speed indicated by the rotating speed adjusting instruction.

In the embodiment, the motor control circuit can correct the rotor position according to the fed-back rotating speed by adjusting the rotating speed of the motor, so that the estimation error of the rotor position is reduced, the estimation precision of the rotor position of the motor is improved, and the motor runs at the optimal phase change point.

Example fourteen:

according to an embodiment of the present invention, in any of the above embodiments, preferably, the control method of the motor further includes: determining a phase difference between a phase voltage of the motor and a phase current of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.

In the embodiment, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase difference and the phase voltage have deviation, and at the moment, the phase compensation control is executed on the phase current of the motor, so that the constant output of the voltage is ensured, and the stability of the motor in operation is improved.

Example fifteen:

as shown in fig. 11, in an embodiment of the present invention, after rectification by the rectifier diode, without adding a filter capacitor, the unfiltered positive half-cycle voltage is used as a power supply of the power factor correction circuit, and a series of positive voltages which are used as "switching" operation pulses of the power factor correction circuit are "chopped" into a current waveform as shown in fig. 12, the current waveform is discontinuous, the envelope and the voltage waveform are the same, and the phase of the envelope and the voltage waveform are in the same phase, and due to the action of chopper PWM (Pulse-Width Modulation), the direct current of the half-cycle Pulse is changed into a high frequency, i.e. determined by the chopping frequency (the operating frequency of the power switch), the high frequency "alternating current" is about 100KHz, and the high frequency "alternating current" is rectified again to be used by the post-driving switching regulator, phase current and phase voltage are collected, and phase compensation is performed according to the phase difference between the phase current and the phase voltage, and identifying the position of the motor rotor by using the phase difference, and correcting the position of the rotor according to the rotating speed.

In the embodiment, a stator and rotor separated double motor is adopted, a high-frequency PFC circuit is added to drive a bus voltage, a PFC hardware drive special chip is adopted, a main chip integrates a high-frequency PFC control algorithm and is constant between DC 380 volt and 410 volt, a motor drive module respectively records two different motor parameters and numbers and stores the parameters and the numbers into a special register, the special register is used for processing different steering directions and rotating speeds of a motor device and can carry out identity identification and authentication, the position is independently judged, FOC (field oriented control) + low-frequency torque compensation technology is utilized to start low-speed high-frequency current voltage injection, high-speed high-frequency flux weakening, full-frequency-band large-torque output and no desynchronization are realized, when the external power supply is totally seen, the power utilization system does that the AC voltage and the AC current are in the same phase, and the voltage waveform and the current waveform both accord with, the problems of electromagnetic compatibility and electromagnetic interference are solved.

In one embodiment of the present invention, there is provided a control system of a motor, including: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the control method of the motor of any of the above embodiments. Therefore, the control system of the motor has all the advantages of the control method of the motor in any embodiment.

In one embodiment of the present invention, there is provided a home appliance including: an electric machine comprising at least one stator and at least two rotors; the control device for an electric motor according to any one of the above. The household appliance thus comprises all the advantages of the control device of the motor of any of the embodiments described above.

Optionally, the household appliance comprises a food processing device, wherein the food processing device is any one of a blender, a wall breaking machine, a soymilk maker, and a food processor.

Optionally, the domestic appliance comprises an air supply device, such as a fan.

In one embodiment of the present invention, there is provided an electric vehicle including: an electric vehicle comprising: a motor; the control device for a motor according to any one of the above aspects. Therefore, the electric vehicle includes all the advantageous effects of the control device of the motor according to any one of the above-described aspects.

In an embodiment of the invention, a computer-readable storage medium is proposed, on which a computer program is stored, which computer program, when executed, carries out the steps of the method of controlling an electric machine according to any one of the preceding claims. The computer readable storage medium thus includes all the advantageous effects of the control method of the motor according to any of the above-described technical solutions.

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 is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to 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.