CN112412619B - Frequency determination method and device - Google Patents

Frequency determination method and device Download PDF

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Publication number
CN112412619B
CN112412619B CN201910785851.4A CN201910785851A CN112412619B CN 112412619 B CN112412619 B CN 112412619B CN 201910785851 A CN201910785851 A CN 201910785851A CN 112412619 B CN112412619 B CN 112412619B
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electronic actuator
frequency value
frequency
real
feasible
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CN112412619A (en
Inventor
曾斌
谢正海
王旻
陈如彬
杨庆刚
高寅马
严嵘
朱国华
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
    • F02B37/12—Control of the pumps
    • F02B37/18—Control of the pumps by bypassing exhaust from the inlet to the outlet of turbine or to the atmosphere
    • F02B37/183—Arrangements of bypass valves or actuators therefor
    • F02B37/186—Arrangements of actuators or linkage for bypass valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D23/00—Controlling engines characterised by their being supercharged
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D41/0007—Controlling intake air for control of turbo-charged or super-charged engines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The embodiment of the application discloses a frequency determining method and a device, a basic frequency value is determined according to a feasible frequency range of an electronic actuator, a target frequency value is determined according to a real-time state and a basic frequency of the electronic actuator, an ECU (electronic control unit) can output a PWM (pulse width modulation) signal with the target frequency value as a control signal after the target frequency value is determined, and the real-time state of the electronic actuator can influence the response of the electronic actuator to the control frequency, so that the target frequency value determined according to the feasible frequency range and the real-time state of the electronic actuator is more consistent with the response frequency of the electronic actuator, the electronic actuator can be accurately controlled, meanwhile, the loss of the electronic actuator and a controlled medium caused by frequency mismatching can be reduced, and the performance of the electronic actuator is protected.

Description

Frequency determination method and device
Technical Field
The invention relates to the field of automobiles, in particular to a frequency determination method and a frequency determination device.
Background
The electronic actuator is an important component of an automatic control system and is used for receiving a control signal sent by a controller so as to change a controlled variable of a controlled medium, thereby maintaining the controlled variable within a required value or range. Electronic actuators are commonly used in the automotive industry, and may be controlled by electronic actuators in components such as supercharger wastegate valves, Exhaust Gas Recirculation (EGR) valves, and variable cam timing mechanisms.
Specifically, the electronic actuator may include a motor, a position sensor, and a transmission mechanism, the state of the controlled medium may be acquired by the position sensor, the kinetic energy may be generated by the motor, and the kinetic energy generated by the motor may act on the controlled medium by the transmission mechanism. The controller may be an Electronic Control Unit (ECU) that generates a Control signal to Control the rotational speed of the motor.
Pulse Width Modulation (PWM) is an analog control method, and an ECU can control a motor in an electronic actuator through a PWM signal, and determine a suitable frequency of the PWM control signal, thereby accurately controlling the electronic actuator.
Disclosure of Invention
In order to solve the foregoing technical problems, embodiments of the present application provide a frequency determining method and apparatus, which determine a frequency of a control signal according to a state of an electronic actuator, so as to accurately control the electronic actuator.
The embodiment of the application provides a frequency determination method, which comprises the following steps:
determining a basic frequency value according to the feasible frequency range of the electronic actuator;
and determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value.
Optionally, the determining a base frequency value according to a feasible frequency range of the electronic actuator includes:
the fundamental frequency is determined based on the range of frequencies available to the electronic actuator, as well as the engine speed and accelerator pedal position.
Optionally, the determining a target frequency value according to the real-time state of the electronic actuator and the fundamental frequency value includes:
and if the real-time temperature of the electronic actuator is greater than or equal to a preset temperature threshold value, taking a first preset frequency value as a target frequency value.
Optionally, the determining a target frequency value according to the real-time state of the electronic actuator and the fundamental frequency value further includes:
and if the real-time temperature of the electronic actuator is smaller than a preset temperature threshold value, taking the basic frequency value as a target frequency value.
Optionally, the determining a target frequency value according to the real-time state of the electronic actuator and the fundamental frequency value includes:
and if the position information of the position sensor of the electronic actuator is preset information, taking a second preset frequency value as a target frequency value, wherein the preset information is 0 bit or the maximum position.
An embodiment of the present application further provides a frequency determination apparatus, where the apparatus includes:
the basic frequency value determining unit is used for determining a basic frequency value according to the feasible frequency range of the electronic actuator;
and the target frequency value determining unit is used for determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value.
Optionally, the basic frequency value determining unit is specifically configured to:
the fundamental frequency is determined based on the range of frequencies available to the electronic actuator, as well as the engine speed and accelerator pedal position.
Optionally, the target frequency value determining unit is specifically configured to:
and if the real-time temperature of the electronic actuator is greater than or equal to a preset temperature threshold value, taking a first preset frequency value as a target frequency value.
Optionally, the target frequency value determining unit is further specifically configured to:
and if the real-time temperature of the electronic actuator is smaller than a preset temperature threshold value, taking the basic frequency value as a target frequency value.
Optionally, the target frequency value determining unit is specifically configured to:
and if the position information of the position sensor of the electronic actuator is preset information, taking a second preset frequency value as a target frequency value, wherein the preset information is 0 bit or the maximum position.
The embodiment of the application provides a frequency determining method and a frequency determining device, a basic frequency value is determined according to a feasible frequency range of an electronic actuator, a target frequency value is determined according to a real-time state and a basic frequency of the electronic actuator, an ECU (electronic control unit) can output a PWM (pulse-width modulation) signal with the target frequency value as a control signal after the target frequency value is determined, and the real-time state of the electronic actuator can influence the response of the electronic actuator to the control frequency, so that the target frequency value determined according to the feasible frequency range and the real-time state of the electronic actuator is more consistent with the response frequency of the electronic actuator, the electronic actuator can be accurately controlled, meanwhile, the loss of the electronic actuator and a controlled medium caused by frequency mismatching can be reduced, and the performance of the electronic actuator is protected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of a system according to an embodiment of the present application;
fig. 2 is a flowchart of a frequency determination method according to an embodiment of the present application;
fig. 3 is a block diagram of a frequency determination apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The electronic actuator can receive the control signal sent by the controller, thereby controlling the controlled medium, and maintaining the controlled variable of the controlled medium in the required data or range. Specifically, referring to fig. 1, a system schematic diagram provided by the embodiment of the present application is shown, where the controller may be an ECU, the electronic actuator may include a motor, a position sensor, and a transmission mechanism, the controlled medium may be a bypass valve, the ECU sends a control signal to the motor, the motor controls the bypass valve through the transmission mechanism, and the position sensor may acquire a position state of the bypass valve through the transmission mechanism and send acquired position information to the ECU. The other side of the bypass valve can be connected with a supercharger for controlling the bypass amount of the exhaust gas, and the supercharger and the engine are connected through bolts, namely, the electronic actuator can control the operation of the engine through controlling the bypass valve.
In a specific implementation, the ECU may control the motor in the electronic actuator through a PWM signal, the PWM signal having a duty ratio and a frequency, the duty ratio being a ratio of a time of high level holding in the PWM signal to a time of a clock period of the PWM, and the frequency of the PWM signal being a frequency of a PWM waveform.
When the frequency of the PWM signal is too low, the time interval for controlling the motor in the electronic actuator by the ECU is longer. If the engine runs to a high-speed high-load area, excessive vibration excitation can be generated and transmitted to a motion mechanism in the electronic actuator through the connected supercharger, so that the motion mechanism is impacted and abraded. In this case, if the engine emission-related parts fail, the emission may be over-standard. Meanwhile, when the frequency of the PWM signal is too low, the engine is powered on but may be in a shutdown state, and at this time, there is electromagnetic noise, and if the background noise of the engine is low, the electromagnetic noise is large.
Conversely, when the frequency of the PWM signal is too high, the time interval for the ECU to control the motor in the electronic actuator is short, and the motor is too sensitive, which may cause fluctuations in the performance of the engine. Meanwhile, the frequency of the PWM signal is too high, which may cause the increase of the overall power consumption of the system, and if the electronic actuator is disposed on the exhaust side, the electronic actuator may be affected by the exhaust temperature, which may cause the problem of failure due to overheating inside the motor.
However, the inventor has found that, in the electronic actuators currently applied to the engine, the corresponding ECU generally outputs a fixed PWM signal frequency to control the electronic actuators, and the fixed value is not necessarily suitable for the electronic actuators, which inevitably causes the above problems. Therefore, how to determine the proper frequency of the PWM control signal to accurately control the electronic actuator is a problem to be solved in the art.
Based on this, an embodiment of the present application provides a frequency determining method and apparatus, where a fundamental frequency value is determined according to a feasible frequency range of an electronic actuator, and a target frequency value is determined according to a real-time state and a fundamental frequency of the electronic actuator, and since the real-time state of the electronic actuator may affect a response of the electronic actuator to a control frequency, the target frequency value determined according to the feasible frequency range and the real-time state of the electronic actuator better conforms to the response frequency of the electronic actuator, so that the electronic actuator may be accurately controlled, and losses of the electronic actuator and a controlled medium due to frequency mismatch may also be reduced.
The following describes a specific implementation manner of the frequency determining method and apparatus provided by the embodiments of the present application in detail by using embodiments with reference to the accompanying drawings.
Referring to fig. 2, a flowchart of a frequency control method provided in an embodiment of the present application may include the following steps.
And S101, determining a basic frequency value according to the feasible frequency range of the electronic actuator.
The feasible frequency range of the electronic actuator refers to the frequency range of the acceptable PWM signal of the motor in the electronic actuator, which is generally determined by the hardware condition and the application environment of the motor in the electronic actuator, and the feasible frequency range can be embodied in the form of a maximum value and a minimum value. In specific implementation, the feasible frequency range of the electronic actuator may be determined by the ECU according to the hardware condition and the application environment of the motor, or may be sent to the ECU by the electronic actuator after being determined according to the hardware condition and the application environment of the motor, so that the ECU can acquire the feasible frequency range.
After acquiring the feasible frequency range of the electronic actuator, the ECU may determine a base frequency value within the frequency range, where the base frequency value may be a frequency value preset in the feasible frequency range, for example, a middle value in the feasible frequency range, or another value. The basic frequency value is determined according to the hardware condition and the application environment of the engine and is matched with the applicable frequency of the motor.
After the ECU obtains the feasible frequency range of the electronic actuator, the ECU can also obtain the engine speed through a crankshaft speed sensor on the engine, obtain the position of an accelerator pedal through an accelerator sensor, and determine a basic frequency value in the feasible frequency range according to the engine speed and the position of the accelerator pedal, for example, when the engine speed is low and the opening degree of the accelerator pedal is small, the engine is operated in a low-speed low-load region, and the basic frequency of the PWM signal can be high. The basic frequency value is determined according to the hardware condition and the application environment of the transmitter, the rotating speed of the engine and the position of the accelerator pedal, so that the basic frequency value is matched with the applicable frequency of the motor and meets the current vehicle running state.
The ECU is connected with the positive electrode and the negative electrode of the motor, and can output PWM signals with basic frequency values to the motor after the basic frequency is determined, so that the control of the motor is realized.
And S102, determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value.
After the basic frequency value is determined, the basic frequency value can be directly used as an output frequency value, and a target frequency value can be determined according to a real-time device of the electronic actuator and the basic frequency value and used as the output frequency value.
The real-time status of the electronic actuator may include a real-time temperature of the electronic actuator, a position signal of a position sensor, and the like.
Specifically, if the real-time temperature of the electronic actuator is greater than or equal to the preset temperature threshold, which may cause the electronic actuator to fail at a high temperature, the frequency value of the PWM signal may be adjusted. If the real-time temperature of the electronic actuator is too high, possibly due to the fact that the electronic actuator works at a limit position for a long time or the ambient temperature is too high, a new target frequency value may be determined for a specific reason, for example, the first preset frequency value may be used as the target frequency value. The first preset frequency value can be predetermined and verified through experiments, and when the frequency of the PWM signal is the first preset frequency value, the electronic actuator can be protected, and damage to the electronic actuator is reduced.
When the heat dissipation of the electronic actuator is good or the ambient air temperature is low, the real-time temperature of the electronic actuator may decrease, and after the real-time temperature of the electronic actuator decreases below the preset temperature threshold, it is indicated that the operating state region of the electronic actuator is normal, the frequency value of the PWM signal may be determined again, for example, the fundamental frequency may be used as the target frequency value, and the target frequency value may also be determined according to the first preset frequency value and the fundamental frequency.
Specifically, a position sensor in the electronic actuator may monitor the position of the bypass valve, and if the position information of the position sensor in the electronic actuator is preset information, the target frequency value may be determined again. The position information of the position sensor is preset information which indicates that the electronic actuator is in an unsafe area, for example, when the preset information is 0 position, the bypass valve is closed, no waste gas passes through the bypass valve, and when the preset information is the maximum position, the bypass valve is fully opened, the engine runs to a high-speed high-load area, the pressure of the supercharger rises, and the bypass valve is fully opened. However, when the bypass valve is fully closed or fully opened, the transmission mechanism and the motor have no stroke, but the motor and the transmission mechanism are operated, so that the motor is easy to heat, and the transmission mechanism is easy to wear.
Therefore, the abrasion heat-resisting conditions of the motor and the transmission mechanism can be tested in advance according to the basic frequency value to obtain a second preset frequency value, and if the position information of the position sensor in the electronic actuator is preset information, the second preset frequency value is used as a target frequency value.
The embodiment of the application provides a frequency determining method, a basic frequency value is determined according to a feasible frequency range of an electronic actuator, a target frequency value is determined according to a real-time state and a basic frequency of the electronic actuator, an ECU (electronic control Unit) can output a PWM (pulse-Width modulation) signal with the target frequency value as a control signal after the target frequency value is determined, and the real-time state of the electronic actuator can influence the response of the electronic actuator to the control frequency, so that the target frequency value determined according to the feasible frequency range and the real-time state of the electronic actuator is more consistent with the response frequency of the electronic actuator, the electronic actuator can be accurately controlled, meanwhile, the loss of the electronic actuator and a controlled medium caused by frequency mismatching can be reduced, and the performance of the electronic actuator is protected.
Based on the foregoing frequency determining method, an embodiment of the present application further provides a frequency determining apparatus, and referring to fig. 3, a structural block diagram of the frequency determining apparatus provided in the embodiment of the present application is shown, where the apparatus includes:
a fundamental frequency value determination unit 110, configured to determine a fundamental frequency value according to a feasible frequency range of the electronic actuator;
and a target frequency value determining unit 120, configured to determine a target frequency value according to the real-time state of the electronic actuator and the base frequency value.
Optionally, the basic frequency value determining unit is specifically configured to:
the fundamental frequency is determined based on the range of frequencies available to the electronic actuator, as well as the engine speed and accelerator pedal position.
Optionally, the target frequency value determining unit is specifically configured to:
and if the real-time temperature of the electronic actuator is greater than or equal to a preset temperature threshold value, taking a first preset frequency value as a target frequency value.
Optionally, the target frequency value determining unit is further specifically configured to:
and if the real-time temperature of the electronic actuator is smaller than a preset temperature threshold value, taking the basic frequency value as a target frequency value.
Optionally, the target frequency value determining unit is specifically configured to:
and if the position information of the position sensor of the electronic actuator is preset information, taking a second preset frequency value as a target frequency value, wherein the preset information is 0 bit or the maximum position.
The embodiment of the application provides a frequency determining device, a basic frequency value is determined according to a feasible frequency range of an electronic actuator, a target frequency value is determined according to a real-time state and a basic frequency of the electronic actuator, an ECU (electronic control Unit) can output a PWM (pulse-Width modulation) signal with the target frequency value as a control signal after the target frequency value is determined, and the real-time state of the electronic actuator can influence the response of the electronic actuator to the control frequency, so that the target frequency value determined according to the feasible frequency range and the real-time state of the electronic actuator is more consistent with the response frequency of the electronic actuator, the electronic actuator can be accurately controlled, meanwhile, the loss of the electronic actuator and a controlled medium caused by frequency mismatching can be reduced, and the performance of the electronic actuator is protected.
The name "first" in the names "first … …", "first … …", etc. mentioned in the embodiments of the present application is only used for name identification, and does not represent the first in sequence. The same applies to "second" etc.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the method embodiments and apparatus embodiments are substantially similar to the system embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the system embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, wherein modules described as separate parts may or may not be physically separate, and parts shown as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only a preferred embodiment of the present application and is not intended to limit the scope of the present application. It should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the scope of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (4)

1. A method for frequency determination, the method comprising:
determining a basic frequency value according to a feasible frequency range of an electronic actuator, wherein the feasible frequency range of the electronic actuator is determined by hardware conditions and application environments of a motor, and the feasible frequency range of the electronic actuator is a frequency range of a PWM (pulse width modulation) signal which can be received by the motor in the electronic actuator;
determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value; wherein the real-time state of the electronic actuator comprises a position signal of a position sensor of the electronic actuator;
if the position information of the position sensor of the electronic actuator is preset information, and the preset information is 0 bit or the maximum position, determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value, specifically: and taking the second preset frequency value as a target frequency value.
2. The method of claim 1, wherein determining a base frequency value based on a feasible frequency range for the electronic actuator comprises:
the fundamental frequency is determined based on the range of frequencies available to the electronic actuator, as well as the engine speed and accelerator pedal position.
3. A frequency determination apparatus, characterized in that the apparatus comprises:
a basic frequency value determining unit, configured to determine a basic frequency value according to a feasible frequency range of an electronic actuator, where the feasible frequency range of the electronic actuator is determined by hardware conditions and an application environment of a motor, and the feasible frequency range of the electronic actuator is a frequency range of a PWM signal that can be received by the motor in the electronic actuator;
the target frequency value determining unit is used for determining a target frequency value according to the real-time state of the electronic actuator and the basic frequency value; wherein the real-time state of the electronic actuator comprises a position signal of a position sensor of the electronic actuator;
if the position information of the position sensor of the electronic actuator is preset information, and the preset information is 0 bit or the maximum position, the target frequency value determining unit is specifically configured to: and taking the second preset frequency value as a target frequency value.
4. The apparatus of claim 3, wherein the fundamental frequency value determining unit is specifically configured to:
the fundamental frequency is determined based on the range of frequencies available to the electronic actuator, as well as the engine speed and accelerator pedal position.
CN201910785851.4A 2019-08-23 2019-08-23 Frequency determination method and device Active CN112412619B (en)

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KR100583974B1 (en) * 1999-12-31 2006-05-29 주식회사 엘지이아이 Method for PWM signal generation in inverter apparatus
JP5616413B2 (en) * 2012-10-04 2014-10-29 ファナック株式会社 Motor control device used by switching the PWM frequency
CN204922159U (en) * 2015-09-16 2015-12-30 西北民族大学 Valve controlling means
CN205356120U (en) * 2015-12-23 2016-06-29 天津亚陆海东电器设备有限公司 Take alarm device's motor converter
CN108667356B (en) * 2018-03-30 2021-01-05 江苏美的清洁电器股份有限公司 Dust collector, and control method, device and system of brushless direct current motor

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