CN111130401B

CN111130401B - Method and device for controlling the rotary drive of an electric machine, electric machine and storage medium

Info

Publication number: CN111130401B
Application number: CN201811289858.9A
Authority: CN
Inventors: 区达理; 王志锋; 刘经生; 雷俊; 邓家华; 冯江平; 刘志才
Original assignee: Foshan Shunde Midea Electrical Heating Appliances Manufacturing Co Ltd
Current assignee: Foshan Shunde Midea Electrical Heating Appliances Manufacturing Co Ltd
Priority date: 2018-10-31
Filing date: 2018-10-31
Publication date: 2021-07-13
Anticipated expiration: 2038-10-31
Also published as: CN111130401A

Abstract

The invention provides a method and equipment for controlling the rotation driving sealing of a motor, the motor and a storage medium, wherein the method for controlling the rotation driving sealing of the motor comprises the following steps: detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening; and when the actual rotating speed is detected to be less than the preset rotating speed threshold value, reducing the rotating speed of the motor. By the technical scheme, the situation that the torque of the motor is too large when the motor is about to block the rotor can be effectively reduced, the temperature of a power device of the motor is prevented from suddenly rising due to the too large torque, and the fault rate of the motor is further reduced.

Description

Method and device for controlling the rotary drive of an electric machine, electric machine and storage medium

Technical Field

The invention relates to the technical field of motor control, in particular to a method for controlling the rotation driving sealing of a motor, equipment for controlling the rotation driving sealing of the motor, the motor and a computer readable storage medium.

Background

In order to simplify the operation steps of the user and shorten the cooking waiting time, an automatic rice cooker is developed, which can automatically execute the processes of rice feeding, water feeding, rice washing water discharging, rice feeding into a pot, heating cooking, heat preservation and the like.

In the correlation technique, the rice storage box bottom of automatic rice cooker is equipped with the motor, the motor is at the sealed open-ended process of drive structure, because of the compressibility of sealing member, need continuously keep the motor to rotate, until detecting the motor stall, in order to guarantee sealed validity, but in time, the great rotation control volume of continuously exporting to the motor can lead to the moment of torsion of motor too big, and then cause mechanical shock to open-ended seal assembly, simultaneously, because great rotation control volume can lead to the load current swell of motor usually, and the swell of load current probably leads to the power device of motor to be burnt out, this all seriously has influenced automatic rice cooker's life and fault rate.

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, it is an object of the present invention to provide a method for controlling the rotational drive of an electric motor.

Another object of the invention is to provide a control device for the rotational drive of an electric motor.

It is another object of the present invention to provide an electric machine.

It is another object of the present invention to provide a computer-readable storage medium.

In order to achieve the above object, according to an embodiment of a first aspect of the present invention, there is provided a control method for rotation drive sealing of a motor, including: detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening; and when the actual rotating speed is detected to be less than the preset rotating speed threshold value, reducing the rotating speed of the motor.

In the technical scheme, when the motor drives the opening to be closed according to the specified rotation control quantity, the actual rotating speed of the motor is detected, whether the motor has an operation fault or not can be detected in time, and when the actual rotating speed is detected to be smaller than a preset rotating speed threshold value, the rotating speed of the motor is reduced, so that the fault rate of the motor can be effectively reduced.

In any one of the above technical solutions, preferably, when it is detected that the actual rotation speed is less than a preset rotation speed threshold, reducing the rotation speed of the motor specifically includes: when the motor drives the opening to be closed according to the specified rotation control quantity, detecting a load signal of the motor; when the motor is determined not to be locked according to the load signal, determining the actual rotating speed of the motor according to the corresponding relation among the load signal, the preset load signal and the rotating speed and the preset time interval; and after detecting that the actual rotating speed of the motor starts to decrease, adjusting the offset of the decrease of the rotation control quantity output to the motor according to the preset corresponding relation between the decrease of the rotation control quantity and the rotating speed.

In the technical scheme, after the actual rotating speed of the motor is detected to start to be reduced, the offset of the reduction of the rotation control quantity output to the motor is adjusted according to the corresponding relation between the preset reduction of the rotation control quantity and the rotating speed, namely, the torque of the motor is reduced by adjusting the offset, so that the impact on a sealing member when a motor driving opening is closed is reduced, meanwhile, the heat of a power device on the motor is reduced, and the fault rate of the motor can be effectively reduced.

Wherein the load signal is a feedback sampling signal for determining the rotation speed of the motor, and preferably, the load signal may be at least one of a load current, an operation frequency and a pulse signal of the motor.

In addition, the rotation control amount may be any one of a torque control amount, a rotation speed control amount, or a load signal input amount.

In any of the above technical solutions, preferably, the method further includes: after detecting that the actual rotating speed of the motor starts to decrease, adjusting the offset of the decrease of the rotation control amount output to the motor according to the corresponding relation between the preset decrease of the rotation control amount and the rotating speed, specifically comprising: comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; and when the actual rotating speed is determined to be less than the first preset rotating speed threshold value and is greater than or equal to the second preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be zero according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed.

In the technical scheme, after the actual rotating speed of the motor is detected to start to be reduced, the size relation between the actual rotating speed and the preset rotating speed threshold value is compared, and when the actual rotating speed is determined to be smaller than the first preset rotating speed threshold value and is larger than or equal to the second preset rotating speed threshold value, that is, the motor does not start to block rotation yet can be judged based on the actual rotating speed, and impact on the sealing element can not be caused.

In any of the above technical solutions, preferably, after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a preset correspondence between the decrease of the rotation control amount and the rotation speed, and specifically, the method further includes: comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; and when the actual rotating speed is determined to be less than the second preset rotating speed threshold value and is greater than or equal to the third preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is reduced along with the reduction of the actual rotating speed.

In the technical scheme, after the actual rotating speed of the motor is detected to start to reduce, the magnitude relation between the actual rotating speed and the preset rotating speed threshold is compared, and when the actual rotating speed is determined to be smaller than the second preset rotating speed threshold and is larger than or equal to the third preset rotating speed threshold, namely the motor starts to extrude the sealing member based on the actual rotating speed, therefore, the offset of the reduction of the rotation control amount is adjusted to be a negative offset according to the corresponding relation between the reduction of the preset rotation control amount and the rotating speed, namely the rotating speed of the motor is controlled to reduce, so as to reduce the impact on the sealing member and the heat dissipation amount of the power element, because the rotating speed is still larger at the moment, the absolute value of the change rate of the rotation control amount is set to be reduced along with the reduction of the actual rotating speed, namely the rotating speed of the motor is controlled to be reduced slowly, and the impact on the sealing member caused by the overlarge torque is reduced, the method and the device have the advantages that the rotating speed of the motor is gently reduced to the minimum threshold value of the rotation control quantity, so that the possibility of ripple current in a driving circuit of the motor is reduced, and the reliability of the driving circuit of the motor is improved.

In any of the above technical solutions, preferably, after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a preset correspondence between the decrease of the rotation control amount and the rotation speed, and specifically, the method further includes: comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; and when the actual rotating speed is determined to be less than the third preset rotating speed threshold value and is greater than or equal to the fourth preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is increased along with the reduction of the actual rotating speed.

In the technical scheme, after the actual rotating speed of the motor is detected to start to reduce, comparing the magnitude relation between the actual rotating speed and the preset rotating speed threshold value, and when the actual rotating speed is determined to be less than the third preset rotating speed threshold value and is greater than or equal to the fourth preset rotating speed threshold value, namely when the motor is judged to press the sealing member for a period of time based on the actual rotating speed, the interaction force between the motor and the sealing member is increased, therefore, the offset of the reduction of the rotation control amount is adjusted to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, namely, the rotating speed of the motor is further controlled to reduce, so as to further reduce the impact on the sealing member and the heat dissipation amount of the power element, and because the rotating speed is reduced for a period of time, the absolute value of the change rate of the rotation control amount is increased along with the reduction of the actual rotating speed, that is, the rotational speed of the control motor is reduced relatively quickly, thereby further reducing the impact of excessive torque on the seal.

In any of the above technical solutions, preferably, after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a preset correspondence between the decrease of the rotation control amount and the rotation speed, and specifically, the method further includes: comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; when the actual rotating speed is determined to be less than the fourth preset rotating speed threshold value and is greater than or equal to the fifth preset rotating speed threshold value, the rotation control quantity is adjusted according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed so as to enable the specified negative slope to be reduced to reach the minimum threshold value of the rotation control quantity; when the actual rotating speed is detected to be smaller than a fifth preset rotating speed threshold value, the motor is kept to operate at the minimum rotating control quantity threshold value until the motor stalling is detected; and when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

In the technical scheme, after the actual rotating speed of the motor is detected to start to reduce, the magnitude relation between the actual rotating speed and the preset rotating speed threshold is compared, and when the actual rotating speed is determined to be smaller than the fourth preset rotating speed threshold and the actual rotating speed is larger than or equal to the fifth preset rotating speed threshold, namely the motor is determined to be close to stalling based on the actual rotating speed, the rotating control quantity is adjusted according to the corresponding relation between the reduction quantity of the preset rotating control quantity and the rotating speed to enable the negative slope to be reduced to reach the minimum threshold of the rotating control quantity, so that the impact of the motor on the sealing element is further reduced on the premise that the opening can be sealed, in addition, when the actual rotating speed is detected to be smaller than the fifth preset rotating speed threshold, the motor is kept to operate at the minimum threshold of the rotating control quantity until the motor stalling is detected, the impact of the motor on the sealing element can be minimized, meanwhile, when the motor stalling is detected, the rotation control quantity output to the motor is adjusted to be zero, and the rotation of the motor is stopped in time, so that the driving circuit of the motor is prevented from being broken down.

According to a second aspect of the present invention, there is provided a control apparatus for controlling a rotational drive of a motor, comprising: the detection module is used for detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening; and the adjusting module is used for reducing the rotating speed of the motor when the actual rotating speed is detected to be less than the preset rotating speed threshold value.

In any one of the above technical solutions, preferably, the detection module is further configured to: the detection module is used for detecting a load signal of the motor when the motor drives the opening to be closed according to the specified rotation control quantity; the rotation drive closed control device of the motor further comprises: the determining module is used for determining the actual rotating speed of the motor according to the corresponding relation among the load signal, the preset load signal and the rotating speed and the preset time interval when the motor is determined not to be locked according to the load signal; the adjustment module is further configured to: and after detecting that the actual rotating speed of the motor starts to decrease, adjusting the offset of the decrease of the rotation control quantity output to the motor according to the preset corresponding relation between the decrease of the rotation control quantity and the rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module is used for comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; the adjustment module is further configured to: and when the actual rotating speed is determined to be less than the first preset rotating speed threshold value and is greater than or equal to the second preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be zero according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module is used for comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; the adjustment module is further configured to: and when the actual rotating speed is determined to be less than the second preset rotating speed threshold value and is greater than or equal to the third preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is reduced along with the reduction of the actual rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module is used for comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; the adjustment module is further configured to: and when the actual rotating speed is determined to be less than the third preset rotating speed threshold value and is greater than or equal to the fourth preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is increased along with the reduction of the actual rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module is used for comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce; the adjustment module is further configured to: when the actual rotating speed is determined to be less than the fourth preset rotating speed threshold value and is greater than or equal to the fifth preset rotating speed threshold value, the rotation control quantity is adjusted according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed so as to enable the specified negative slope to be reduced to reach the minimum threshold value of the rotation control quantity; the adjustment module is further configured to: when the actual rotating speed is detected to be smaller than a fifth preset rotating speed threshold value, the motor is kept to operate at the minimum rotating control quantity threshold value until the motor stalling is detected; the adjustment module is further configured to: and when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

According to an aspect of the third aspect of the present invention, there is provided a motor including: a memory, a processor and a program stored in the memory and capable of running on the processor, wherein the program realizes the steps of the control method for the rotating drive sealing of the motor defined by any one of the technical schemes when being executed by the processor; and/or the rotation of the motor defined in any one of the above technical solutions drives the closed control device.

The motor provided by the embodiment of the third aspect of the present invention has all the advantages of any of the embodiments of the second aspect, and therefore, the description thereof is omitted here.

According to an aspect of the fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program, when executed, implementing the method for controlling the rotating drive sealing of the motor as defined in any one of the above aspects.

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 flow chart of a control method for a rotary drive seal of a motor according to a first embodiment of the invention;

fig. 2 is a schematic diagram showing a correspondence relationship between a rotation control amount and a rotation speed in a control method of a rotation drive sealing of a motor according to a second embodiment of the present invention;

fig. 3 shows a schematic flow chart of a control method of a rotary drive containment of a motor according to a third embodiment of the invention;

fig. 4 shows a schematic block diagram of a rotation-driven closed control device of a motor according to a fourth embodiment of the present invention;

fig. 5 shows a schematic block diagram of a motor according to embodiment five 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 and features of the embodiments of the present application 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 by the specific embodiments disclosed below.

The first embodiment is as follows:

fig. 1 shows a schematic flow chart of a control method for a rotational drive seal of a motor according to a first embodiment of the invention.

As shown in fig. 1, a method for controlling a rotation driving seal of a motor according to a first embodiment of the present invention includes: step S102, detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening; and step S104, when the actual rotating speed is detected to be less than the preset rotating speed threshold value, reducing the rotating speed of the motor.

Example two:

fig. 2 is a schematic diagram illustrating a correspondence relationship between a rotation control amount and a rotation speed in a control method for rotating and driving a motor according to a second embodiment of the present invention.

As shown in fig. 2, the method for controlling the sealing of the rotation drive of the motor according to the second embodiment of the present invention includes the following six stages:

(1) when it is determined that the actual rotation speed is less than the first preset rotation speed threshold value S1 and the actual rotation speed is greater than or equal to the second preset rotation speed threshold value S2, the offset amount of the decrease amount of the rotation control amount is adjusted to zero according to the correspondence relationship between the preset decrease amount of the rotation control amount and the rotation speed, that is, when it is detected that the rotation speed belongs to the section AB of the curve, the rotation control amount is maintained at C4, and preferably, C4 may be set as the rotation control amount maximum threshold value.

(2) When the actual rotating speed is determined to be less than the second preset rotating speed threshold value S2 and the actual rotating speed is greater than or equal to the third preset rotating speed threshold value S3, the offset of the reduction of the rotation control quantity is adjusted to be a negative offset according to the corresponding relation between the preset reduction of the rotation control quantity and the rotating speed, wherein the absolute value of the change rate of the rotation control quantity is reduced along with the reduction of the actual rotating speed, namely when the rotating speed is detected to belong to the segment BC of the curve, the rotation control quantity is kept to be reduced from C4 to C3, and the absolute value of the reduction slope is gradually reduced.

(3) When the actual rotating speed is determined to be less than the third preset rotating speed threshold value S3 and the actual rotating speed is greater than or equal to the fourth preset rotating speed threshold value S4, the offset of the reduction of the rotation control amount is adjusted to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is increased along with the decrease of the actual rotating speed, namely when the rotating speed is detected to belong to the section of the curve CD, the rotation control amount is kept to be reduced from C3 to C2, and the absolute value of the reduction slope is gradually increased.

(4) When the actual rotating speed is determined to be less than the fourth preset rotating speed threshold value S4 and the actual rotating speed is determined to be greater than or equal to the fifth preset rotating speed threshold value S5, the rotation control quantity is adjusted according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed to enable the negative slope to be reduced to reach the minimum threshold value of the rotation control quantity, namely when the rotating speed is detected to belong to the DE section of the curve, the rotation control quantity is kept reduced from C2 to C1, and the reduction slope is a preset constant value.

(5) When the actual rotating speed is detected to be less than the fifth preset rotating speed threshold value S5, namely when the rotating speed is detected to belong to the section of the curve EF, the motor is kept to operate at the minimum rotating control threshold value C1 until the motor stalling is detected.

(6) And when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

Example three:

fig. 3 shows a schematic flow chart of a control method for the rotational drive sealing of the motor according to a third embodiment of the present invention.

As shown in fig. 3, a method for controlling the sealing of the rotation drive of the motor according to the third embodiment of the present invention includes: step S302, detecting whether the motor is locked according to a load signal of the motor, if so, ending, otherwise, executing step S304; step S304, determining the actual rotating speed of the motor according to the corresponding relation among the load signal, the preset load signal and the rotating speed and the preset time interval; step S306, judging whether the actual rotating speed is greater than the preset rotating speed Sadj, if so, executing step S304, and if not, executing step S310; step S308, keeping the actual rotating speed of the motor unchanged; step S310, judging whether the preset rotating speed Smin is less than the actual rotating speed and less than the preset rotating speed Sadj, if so, executing step S312, otherwise, executing step S310 in a circulating manner; step S312, controlling the actual rotating speed of the motor to be reduced; step S314, judging whether the actual rotating speed is less than the preset rotating speed Smin, if so, executing step S316, otherwise, executing step S312; and step S316, controlling the actual rotating speed of the motor to be reduced to the preset minimum rotating speed.

In summary, the control method for the rotation driving sealing of the motor described in the third embodiment can be understood as the following three control stages:

(1) after the motor is started, the control module (such as an MCU, a DSP, a singlechip, an embedded device and the like) detects whether the motor is locked, the locked rotor detection comprises (load information fed back by current, frequency, pulse and the like), and after the condition that the locked rotor judgment is met is detected, the control module controls the motor to stop running.

(2) If the locked-rotor detection is not established, the motor operates according to the initially controlled rotating speed (generally, the maximum rotating speed Smax) and detects the current rotating speed in real time, and when the actual rotating speed detected in real time is smaller than the preset rotating speed Sadj (herein, Sadj < Smax) preset by the control module, the rotation control quantity C input to the motor starts to be reduced, wherein the rotation control quantity C can be control signals such as level, pulse width, frequency and the like.

(3) When the actual rotating speed detected in real time is smaller than the preset rotating speed Sadj preset by the control module, the motor starts to enter a sealed blocked state at the moment, the torque is increased, the actual rotating speed is gradually reduced, the control module reduces the rotation control quantity at the moment until the rotation control quantity reaches the minimum threshold value Cmin of the rotation control quantity, after the rotation control quantity reaches the minimum threshold value Cmin of the rotation control quantity, the minimum threshold value Cmin of the rotation control quantity is kept until the locked rotor detection is established, and at the moment, the rotation control quantity input to the motor is zero.

Example four:

fig. 4 shows a schematic block diagram of a rotation-driven closed control apparatus of a motor according to a fourth embodiment of the present invention.

As shown in fig. 4, the rotation driving hermetic control apparatus 400 of the motor according to the fourth embodiment of the present invention includes: a detection module 402, configured to detect an actual rotation speed of the motor when the motor is driven to close the opening according to a specified rotation control amount; and an adjusting module 406, configured to reduce the rotation speed of the motor when the actual rotation speed is detected to be less than the preset rotation speed threshold.

In any of the above technical solutions, preferably, the detecting module 402 is further configured to: the detection module is used for detecting a load signal of the motor when the motor drives the opening to be closed according to the specified rotation control quantity; the control apparatus 400 for driving the sealing by the rotation of the motor further includes: a determining module 404, configured to determine, when it is determined that the motor is not locked up according to the load signal, an actual rotational speed of the motor according to a preset time interval according to a corresponding relationship between the load signal, a preset load signal, and the rotational speed; the adjustment module 406 is further configured to: and after detecting that the actual rotating speed of the motor starts to decrease, adjusting the offset of the decrease of the rotation control quantity output to the motor according to the preset corresponding relation between the decrease of the rotation control quantity and the rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module 408 is configured to compare a magnitude relationship between the actual rotation speed and a preset rotation speed threshold after detecting that the actual rotation speed of the motor starts to decrease; the adjustment module 406 is further configured to: and when the actual rotating speed is determined to be less than the first preset rotating speed threshold value and is greater than or equal to the second preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be zero according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module 408 is configured to compare a magnitude relationship between the actual rotation speed and a preset rotation speed threshold after detecting that the actual rotation speed of the motor starts to decrease; the adjustment module 406 is further configured to: and when the actual rotating speed is determined to be less than the second preset rotating speed threshold value and is greater than or equal to the third preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is reduced along with the reduction of the actual rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module 408 is configured to compare a magnitude relationship between the actual rotation speed and a preset rotation speed threshold after detecting that the actual rotation speed of the motor starts to decrease; the adjustment module 406 is further configured to: and when the actual rotating speed is determined to be less than the third preset rotating speed threshold value and is greater than or equal to the fourth preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed, wherein the absolute value of the change rate of the rotation control amount is increased along with the reduction of the actual rotating speed.

In any of the above technical solutions, preferably, the method further includes: the comparison module 408 is configured to compare a magnitude relationship between the actual rotation speed and a preset rotation speed threshold after detecting that the actual rotation speed of the motor starts to decrease; the adjustment module 406 is further configured to: when the actual rotating speed is determined to be less than the fourth preset rotating speed threshold value and is greater than or equal to the fifth preset rotating speed threshold value, the rotation control quantity is adjusted according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed so as to enable the specified negative slope to be reduced to reach the minimum threshold value of the rotation control quantity; the adjustment module 406 is further configured to: when the actual rotating speed is detected to be smaller than a fifth preset rotating speed threshold value, the motor is kept to operate at the minimum rotating control quantity threshold value until the motor stalling is detected; the adjustment module 406 is further configured to: and when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

Example five:

As shown in fig. 5, a motor 500 according to a fifth embodiment of the present invention includes: a memory, a processor and a program stored in the memory and capable of running on the processor, wherein the program realizes the steps of the control method for the rotating drive sealing of the motor defined by any one of the technical schemes when being executed by the processor; and/or the rotation of the motor as defined in any of the above claims drives the closed control device 400.

The closed control device 400 driven by the rotation of the motor is compatible with controllers such as an MCU, a CPU, a DSP, a single chip microcomputer, and an embedded device, the detection module 402, the determination module 404, and the adjustment module 406 may include logic computing devices, general I/O interfaces, rectifiers, filters, inverters, power switches, and the like, and the comparison module 408 may include electronic devices such as a comparator and a memory.

Example six:

according to a sixth embodiment of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program, when executed, implementing the steps of: detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening; and when the actual rotating speed is detected to be less than the preset rotating speed threshold value, reducing the rotating speed of the motor.

The technical scheme of the invention is explained in detail in the above with reference to the accompanying drawings, and the invention provides a method, equipment, a motor and a storage medium for controlling the rotation driving sealing of the motor, wherein after the actual rotation speed of the motor is detected to start to reduce, the offset of the reduction of the rotation control quantity output to the motor is adjusted according to the corresponding relation between the preset reduction of the rotation control quantity and the rotation speed, namely, the torque of the motor is reduced by adjusting the offset, so that the impact on a sealing member when a motor driving opening is sealed is reduced, meanwhile, the heat generation of a power device on the motor is reduced, and the fault rate of the motor can be effectively reduced.

The steps in the method of the invention can be sequentially adjusted, combined and deleted according to actual needs.

The modules in the device of the invention can be merged, divided and deleted according to actual needs.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

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.

Claims

1. A method for controlling the rotation driving sealing of a motor is characterized by comprising the following steps:

detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening;

when the actual rotating speed is detected to be smaller than a preset rotating speed threshold value, reducing the rotating speed of the motor;

when detecting that the actual rotating speed is less than a preset rotating speed threshold value, reducing the rotating speed of the motor, specifically comprising:

when the motor drives the opening to be closed according to the specified rotation control quantity, detecting a load signal of the motor;

when the motor is determined not to be locked according to the load signal, determining the actual rotating speed of the motor according to the corresponding relation among the load signal, a preset load signal and the rotating speed and a preset time interval;

after the actual rotating speed of the motor is detected to start to decrease, adjusting the offset of the decrease of the rotation control quantity output to the motor according to the corresponding relation between the preset decrease of the rotation control quantity and the rotating speed;

wherein an absolute value of a rate of change of the rotation control amount changes with a decrease in the actual rotation speed.

2. The method for controlling a rotation drive seal of a motor according to claim 1, wherein after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to the corresponding relationship between the preset decrease of the rotation control amount and the rotation speed, and specifically comprises:

and when the actual rotating speed is determined to be less than a first preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a second preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be zero according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed.

3. The method for controlling a rotation drive seal of a motor according to claim 1, wherein after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a corresponding relationship between a preset decrease of the rotation control amount and the rotation speed, and further comprising:

when the actual rotating speed is determined to be less than a second preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a third preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed,

wherein an absolute value of a rate of change of the rotation control amount decreases as the actual rotation speed decreases.

4. The method for controlling a rotation drive sealing of a motor according to claim 3, wherein after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a corresponding relationship between a preset decrease of the rotation control amount and the rotation speed, and further comprising:

when the actual rotating speed is determined to be less than a third preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a fourth preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed,

wherein an absolute value of a rate of change of the rotation control amount increases with a decrease in the actual rotation speed.

5. The method for controlling a rotation drive sealing of a motor according to any one of claims 1 to 4, wherein after detecting that the actual rotation speed of the motor starts to decrease, the offset of the decrease of the rotation control amount output to the motor is adjusted according to a preset correspondence relationship between the decrease of the rotation control amount and the rotation speed, and specifically comprises:

when the actual rotating speed is determined to be smaller than a fourth preset rotating speed threshold value and is greater than or equal to a fifth preset rotating speed threshold value, adjusting the rotation control quantity according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed to enable the negative slope to be reduced to reach a rotation control quantity minimum threshold value;

when the actual rotating speed is detected to be smaller than the fifth preset rotating speed threshold value, the motor is kept to operate at the minimum rotating control quantity threshold value until the motor stalling is detected;

and when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

6. A rotary drive closed control apparatus for an electric motor, comprising:

the detection module is used for detecting the actual rotating speed of the motor when the motor is driven according to the specified rotation control quantity to seal the opening;

the adjusting module is used for reducing the rotating speed of the motor when the actual rotating speed is detected to be smaller than a preset rotating speed threshold value;

the detection module is further configured to: when the motor drives the opening to be closed according to the specified rotation control quantity, detecting a load signal of the motor;

the rotation drive closed control device of the motor further comprises:

the determining module is used for determining the actual rotating speed of the motor according to a preset time interval according to the corresponding relation among the load signal, a preset load signal and the rotating speed when the motor is determined not to be locked according to the load signal;

the adjustment module is further configured to: after the actual rotating speed of the motor is detected to start to decrease, adjusting the offset of the decrease of the rotation control quantity output to the motor according to the corresponding relation between the preset decrease of the rotation control quantity and the rotating speed;

7. The motor rotation drive closed control apparatus according to claim 6, further comprising:

the comparison module is used for comparing the magnitude relation between the actual rotating speed and a preset rotating speed threshold value after detecting that the actual rotating speed of the motor begins to reduce;

the adjustment module is further configured to: and when the actual rotating speed is determined to be less than a first preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a second preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be zero according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed.

8. The motor rotation drive closed control apparatus according to claim 6, further comprising:

the adjustment module is further configured to: when the actual rotating speed is determined to be less than a second preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a third preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed,

9. The motor rotation drive closed control apparatus according to claim 6, further comprising:

the adjustment module is further configured to: when the actual rotating speed is determined to be less than a third preset rotating speed threshold value and the actual rotating speed is determined to be greater than or equal to a fourth preset rotating speed threshold value, adjusting the offset of the reduction of the rotation control amount to be a negative offset according to the corresponding relation between the preset reduction of the rotation control amount and the rotating speed,

10. The rotation-driven-closed control apparatus of the motor according to any one of claims 6 to 9, characterized by further comprising:

the adjustment module is further configured to: when the actual rotating speed is determined to be smaller than a fourth preset rotating speed threshold value and is greater than or equal to a fifth preset rotating speed threshold value, adjusting the rotation control quantity according to the corresponding relation between the reduction quantity of the preset rotation control quantity and the rotating speed to enable the negative slope to be reduced to reach a rotation control quantity minimum threshold value;

the adjustment module is further configured to: when the actual rotating speed is detected to be smaller than the fifth preset rotating speed threshold value, the motor is kept to operate at the minimum rotating control quantity threshold value until the motor stalling is detected;

the adjustment module is further configured to: and when the motor stalling is detected, adjusting the rotation control quantity output to the motor to be zero.

11. An electric machine, comprising:

a memory, a processor and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing the steps of the method of controlling a rotation-driven containment of an electric motor according to any one of claims 1 to 5; and/or the presence of a gas in the gas,

rotation of the motor according to any of claims 6 to 10 drives a closed control device.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the steps of a method of controlling a rotary drive containment of an electric machine according to any one of claims 1 to 5.