CN113162516B

CN113162516B - Motor control method and device, motor, household appliance and readable storage medium

Info

Publication number: CN113162516B
Application number: CN202110375578.5A
Authority: CN
Inventors: 胡小林; 柯文静
Original assignee: Foshan Welling Washer Motor Manufacturing Co Ltd; Welling Wuhu Motor Manufacturing Co Ltd
Current assignee: Foshan Welling Washer Motor Manufacturing Co Ltd; Welling Wuhu Motor Manufacturing Co Ltd
Priority date: 2021-04-08
Filing date: 2021-04-08
Publication date: 2022-09-20
Anticipated expiration: 2041-04-08
Also published as: CN113162516A

Abstract

The application provides a motor control method and device, a motor, a household appliance and a readable storage medium. The motor control method comprises the steps of obtaining a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor; and controlling the motor to operate according to the control torque value. According to the technical scheme, the motor is controlled to operate according to the control torque value, the power of the motor is limited, and the operation stability of the motor is improved.

Description

Motor control method and device, motor, household appliance and readable storage medium

Technical Field

The application relates to the technical field of motors, in particular to a motor control method and device, a motor, a household appliance and a readable storage medium.

Background

At present, for some household appliances (such as air conditioners, washing machines and dish washing machines) needing to be driven by a motor, the working environment and the load condition are often complex, and the motor is required to normally and stably work under various working conditions. When the power of the motor exceeds a limit value due to external factors, the system temperature is overhigh and devices are damaged, so that the motor operates abnormally, and even the motor is damaged in severe cases.

Disclosure of Invention

The present application is directed to solving at least one of the above technical problems.

To this end, a first object of the present application is to provide a motor control method.

A second object of the present application is to provide a motor control device.

A third object of the present application is to provide an electric machine.

A fourth object of the present application is to provide a household appliance.

A fifth object of the present application is to provide a motor control device.

A sixth object of the present application is to provide a readable storage medium.

A seventh object of the present application is to provide a home appliance.

In order to achieve the first object of the present application, a technical solution of the present application provides a motor control method, including: acquiring a control torque value of the motor according to the power limit value, the current power value, the first rotating speed adjusting value, the power deviation reference value, the second rotating speed adjusting value, the current rotating speed and the rotating speed instruction value of the motor; and controlling the motor to operate according to the control torque value.

In the technical scheme, the motor is controlled to operate according to the control torque value, so that the limitation on the power of the motor is realized, and the stability of the operation of the motor is improved.

In addition, the technical scheme provided by the application can also have the following additional technical characteristics:

in the above technical solution, before obtaining the control torque value of the motor according to the power limit value, the current power value, the first rotation speed adjustment value, the power deviation reference value, the second rotation speed adjustment value, the current rotation speed and the rotation speed instruction value of the motor, the method further includes: and detecting the current power value of the motor.

In the technical scheme, the power value is detected in the running process of the motor, so that the control torque value of the motor can be conveniently calculated subsequently.

In any of the above technical solutions, detecting a current power value of the motor specifically includes: every interval of a first time threshold, the current power value of the motor is detected.

In the technical scheme, the current power value of the motor is detected at regular time in the running process of the motor, so that the value of the motor power can be obtained in time.

In any of the above technical solutions, the method for obtaining a control torque value of a motor according to a power limit value, a current power value, a first rotation speed adjustment value, a power deviation reference value, a second rotation speed adjustment value, a current rotation speed and a rotation speed instruction value of the motor specifically includes the following steps: acquiring a first speed regulation value according to the power limit value and the current power value; acquiring a second rotating speed adjusting value according to the current power value, the power limiting value, the first rotating speed adjusting value and the power deviation reference value; and acquiring a control torque value according to the second rotating speed adjusting value, the rotating speed instruction value and the current rotating speed.

In the technical scheme, the motor is controlled to stably run by acquiring the control torque value, so that the motor is prevented from being damaged, and the motor can be ensured to normally run under various complex load conditions and working environments.

In any of the above technical solutions, obtaining the first speed adjustment value according to the power limit value and the current power value specifically includes: acquiring a first difference value between the power limit value and the current power value; and acquiring a first speed adjusting value according to the first difference.

In the technical scheme, the second rotating speed adjusting value and the control torque value can be calculated more quickly by obtaining the first adjusting value.

In any of the above technical solutions, obtaining the first rotation speed adjustment value according to the first difference specifically includes: and acquiring a first rotating speed adjusting value by adopting a proportional control algorithm or a proportional integral control algorithm according to the first difference value.

In the technical scheme, the first speed adjusting value is obtained by adopting proportional control or proportional-integral control, and the control method is simple.

In any of the above technical solutions, the power offset reference value is a fixed constant that is greater than zero and smaller than the power limit value.

In the technical scheme, whether the power of the motor is too high or not is judged by setting the power deviation reference value, and the condition that the power of the motor is too high can be accurately and effectively judged.

In any of the above technical solutions, obtaining the second rotation speed adjustment value according to the current power value, the power limit value, the first rotation speed adjustment value, and the power deviation reference value specifically includes: acquiring a first difference value between the power limit value and the current power value; and acquiring a second rotating speed adjusting value according to the first difference value, the power deviation reference value and the first rotating speed adjusting value.

In the technical scheme, the second adjustment value is obtained, so that the control torque value can be conveniently calculated subsequently, the motor is controlled to operate according to the control torque value, and the limitation on the power of the motor is realized.

In any of the above technical solutions, obtaining a second rotation speed adjustment value according to the first difference, the power deviation reference value, and the first rotation speed adjustment value specifically includes: updating the second rotation speed adjustment value to a first rotation speed adjustment value based on the first difference value being smaller than the power deviation reference value and the first rotation speed adjustment value being smaller than zero; and updating the first rotating speed adjusting value and the second rotating speed adjusting value to be zero based on the first difference value being larger than or equal to the power deviation reference value or the first rotating speed adjusting value being larger than or equal to zero.

In the technical scheme, the second rotating speed adjusting value is updated, and a more accurate second rotating speed adjusting value can be obtained.

In any of the above technical solutions, obtaining the control torque value according to the second rotation speed adjustment value, the rotation speed instruction value, and the current rotation speed specifically includes: acquiring a sum of the rotating speed instruction value and the second rotating speed adjustment value; acquiring a second difference value between the summation value and the current rotating speed; and acquiring a control torque value according to the second difference value.

In the technical scheme, the motor is controlled to operate by controlling the torque value, so that the power of the motor is limited, and the operation stability of the motor is improved.

In any of the above technical solutions, obtaining the control torque value according to the second difference specifically includes: and acquiring a control torque value by adopting a proportional-integral control algorithm according to the second difference value.

In the technical scheme, a proportional-integral control algorithm is adopted to obtain a control torque value, and the control method is simple.

To achieve the second object of the present application, a technical solution of the present application provides a motor control apparatus, including: the control system comprises a first acquisition module and a first control module, wherein the first acquisition module acquires a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor; the first control module controls the motor to operate according to the control torque value.

In the technical scheme, the motor control device controls the motor to operate according to the control torque value, so that the limitation on the power of the motor is realized, and the stability of the operation of the motor is improved.

among the above-mentioned technical scheme, motor control device still includes: and the power detection module detects the current power value of the motor.

In the technical scheme, the current power value of the motor of the power detection module is convenient for subsequent calculation of the control torque value of the motor.

In any of the above technical solutions, the first obtaining module specifically includes: the device comprises a first rotating speed adjusting value calculating module, a second rotating speed adjusting value calculating module and a torque calculating module; the first rotating speed adjusting value calculating module acquires a first rotating speed adjusting value according to the power limiting value and the current power value; the first rotating speed adjusting value calculating module obtains a second rotating speed adjusting value according to the current power value, the power limiting value, the first rotating speed adjusting value and the power deviation reference value; and the torque calculation module acquires a control torque value according to the second rotating speed adjustment value, the rotating speed instruction value and the current rotating speed.

In the technical scheme, the control torque value is obtained through the first obtaining module, so that the motor is controlled to run stably, the motor is prevented from being damaged, and the motor can be ensured to run normally in various complex load conditions and working environments.

In any of the above technical solutions, the first obtaining module further includes: and the power comparison module acquires a first difference value between the power limit value and the current power value.

In the technical scheme, the first adjusting value is obtained through the power comparison module, and the second rotating speed adjusting value and the control torque value can be calculated more quickly.

To achieve the third object of the present application, a technical solution of the present application provides a motor including: and the second control module controls the motor to operate by adopting the motor control method according to any technical scheme of the application.

The motor provided in the present technical solution implements the steps of the motor control method according to any technical solution of the present application, and thus has all the beneficial effects of the motor control method according to any technical solution of the present application, which are not described herein again.

To achieve the fourth object of the present application, a technical solution of the present application provides a household appliance, including: the motor comprises a second control module, and the second control module controls the motor to operate by adopting the motor control method according to any technical scheme of the application.

The steps of the motor control method according to any one of the technical solutions of the present application are implemented by the household appliance provided in the technical solution, so that the household appliance has all the beneficial effects of the motor control method according to any one of the technical solutions of the present application, and are not described herein again.

To achieve the fifth object of the present application, a technical solution of the present application provides a motor control apparatus, including: the device comprises a memory and a processor, wherein the memory stores programs or instructions, and the processor executes the programs or instructions; wherein, the processor implements the steps of the motor control method according to any one of the technical schemes when executing the program or the instructions.

The motor control device provided in the present technical solution implements the steps of the motor control method according to any technical solution of the present application, and thus has all the beneficial effects of the motor control method according to any technical solution of the present application, and is not described herein again.

To achieve the sixth object of the present application, an embodiment of the present application provides a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed, the steps of the motor control method according to any of the above embodiments are implemented.

The readable storage medium provided in this technical solution implements the steps of the motor control method according to any one of the technical solutions of the present application, and thus has all the beneficial effects of the motor control method according to any one of the technical solutions of the present application, and details thereof are not described herein again.

To achieve the seventh object of the present application, the technical solution of the present application provides a household appliance including a motor control device or a readable storage medium.

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

Drawings

The above and/or additional aspects and advantages of the present application 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 motor control method according to an embodiment of the present application;

FIG. 2 is a second flowchart illustrating a motor control method according to an embodiment of the present application;

FIG. 3 is a third flowchart of a motor control method according to an embodiment of the present application;

FIG. 4 is a fourth flowchart illustrating a motor control method according to an embodiment of the present application;

FIG. 5 is a fifth flowchart illustrating a motor control method according to an embodiment of the present application;

FIG. 6 is a sixth flowchart illustrating a motor control method according to an embodiment of the present application;

FIG. 7 is a seventh schematic flow chart of a motor control method according to an embodiment of the present application;

FIG. 8 is an eighth schematic flow chart of a motor control method according to an embodiment of the present application;

FIG. 9 is a nine schematic flow chart diagram illustrating a motor control method according to one embodiment of the present application;

FIG. 10 is a ten-step schematic flow chart of a motor control method according to an embodiment of the present application;

FIG. 11 is an eleventh schematic flow chart of a motor control method according to an embodiment of the present application;

FIG. 12 is a block diagram of a motor control apparatus according to an embodiment of the present application;

FIG. 13 is a second block diagram of the motor control device according to an embodiment of the present application

Fig. 14 is a third block diagram of a motor control apparatus according to an embodiment of the present application;

FIG. 15 is a block diagram of a motor control apparatus according to an embodiment of the present application;

FIG. 16 is a block diagram of the electric machine of one embodiment of the present application;

FIG. 17 is a block diagram of a household appliance according to an embodiment of the present application;

fig. 18 is a block diagram showing the components of a motor control apparatus according to an embodiment of the present application;

FIG. 19 is a twelve schematic flow chart of a motor control method according to an embodiment of the present application;

fig. 20 is a block diagram of a motor control device according to an embodiment of the present application.

Wherein, the correspondence between the reference numbers and the part names in fig. 12 to 20 is:

100: motor control device, 110: first acquisition module, 112: first speed adjustment value calculation module, 114: second rotation speed adjustment value calculation module, 116: torque calculation module, 118: power comparison module, 120: first control module, 130: power detection module, 200: motor, 210: second control module, 300: household appliance, 400: motor control device, 410: memory, 420: a processor.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. 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 application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

Motor control methods and apparatuses, a motor 200, a home appliance 300, and a readable storage medium according to some embodiments of the present application are described below with reference to fig. 1 to 20.

Example 1:

as shown in fig. 1, the present embodiment provides a motor control method, including the following steps:

step S102, acquiring a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor;

and step S104, controlling the motor to operate according to the control torque value.

The invention aims to provide a motor power limiting method, and aims to solve the problem that the motor power is limited due to overlarge motor power and the stable operation of the motor cannot be guaranteed in the prior art.

At present, the market is very big to domestic appliance's demand, wherein, there are some domestic appliances, for example, air conditioner, washing machine, domestic appliance such as dish washer, operational environment and load condition are more complicated, need the motor under the operating mode of difference, work that can normally be stable, however, in domestic appliance's motor operation, probably there is external factor to lead to motor power to exceed the limit value of motor power, at this moment, the control system of motor can produce the high temperature, its device also can take place to damage, influence the motor normal operating, produce abnormal conditions, it is serious, can cause the damage of motor even, bring loss of property for user and producer, produce domestic appliance's later stage maintenance problem, influence customer experience.

In this regard, the related art proposes the following two solutions;

(1) when the power of the motor exceeds the limit value, the motor is allowed to run for a period of time at the power exceeding the limit value, and then the motor is controlled to stop. If the scheme is adopted, the motor can be protected, so that the motor cannot exceed a limit value, the normal use of the equipment can be influenced by stopping the motor, and particularly when the scheme is applied to some household appliances, the equipment cannot be stopped randomly due to complex working conditions and specific environments, so the scheme is not suitable for occasions where the motor cannot be stopped, such as the household appliances and the like.

(2) When the power of the motor exceeds a limit value, the working current is reduced according to a certain proportion. Although this scheme can be at certain degree limit motor power, but the mode that directly reduces operating current can lead to the motor phenomenon that the shock appears in the operation in-process, and then influences the use through domestic appliance, reduces to use and experiences.

In the motor control method of this embodiment, specifically, the motor power limiting method is used, in a motor operation process, a control torque value of a motor is adjusted according to an obtained parameter, and operation of the motor is controlled by the control torque value, where the parameter to be measured may include: the current power value and the current rotating speed, the parameters which need to be preset may include: the parameters to be calculated include: the control system comprises a first rotating speed adjusting value, a second rotating speed adjusting value and a control torque value, wherein the first rotating speed adjusting value, the second rotating speed adjusting value and the control torque value are used for controlling the motor to operate by adopting a rotating speed instruction value and a power limiting value based on the parameters, and power limitation is realized by adjusting the rotating speed and controlling the torque, so that the motor damage caused by overhigh power, overhigh temperature of a control system or device damage is avoided, property loss is brought to a user, the motor operation is controlled according to the control torque value, the limitation on the power of the motor is realized, the stability of the motor operation is improved, and the normal operation of the motor in various complex load conditions and working environments is ensured.

In this embodiment, the power limiting value can be preset by oneself according to the model of motor and the operating condition that the motor used in the difference, and the power deviation reference value can be preset by oneself according to the actual conditions of power limiting value and motor operation, and the rotational speed instruction value can be preset by oneself according to actual conditions.

The power limiting method of the motor of the embodiment can be applied to household appliances such as air conditioners, washing machines, dishwashers and the like which need to be driven by the motor. The power of the motor can be limited by the power limiting method of the motor, the running stability of the motor is improved, further, household appliances (including air conditioners, washing machines, dish washing machines and the like) run stably, the service life of the motor is prolonged, and the customer experience is enhanced.

Example 2:

as shown in fig. 2, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

before obtaining the control torque value of the motor, the method further comprises the following steps:

step S202, detecting the current power value of the motor.

In the motor operation process, power detection can be carried out, the current power value of the motor is obtained, in the embodiment, the power value is detected in the motor operation process, the control torque value of the motor is conveniently and subsequently calculated, the control torque value is better and accurate, the motor is controlled to operate according to the control torque value, the power of the motor is limited, the operation stability of the motor is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate in various complex load conditions and working environments.

Example 3:

as shown in fig. 3, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the method for detecting the current power value of the motor specifically comprises the following steps:

and step S302, detecting the current power value of the motor at intervals of a first time threshold.

When the current power value of the motor is detected, a fixed time interval can be set, namely the current power value of the motor is detected every first time interval.

Example 4:

as shown in fig. 4, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the method for acquiring the control torque value of the motor specifically comprises the following steps:

step S402, acquiring a first speed regulation value according to the power limit value and the current power value;

step S404, acquiring a second rotating speed adjusting value according to the current power value, the power limiting value, the first rotating speed adjusting value and the power deviation reference value;

and step S406, acquiring a control torque value according to the second rotating speed adjusting value, the rotating speed instruction value and the current rotating speed.

In the embodiment, the control torque is finally obtained through the operation processing of the parameters, and the operation of the motor is controlled by adopting the control torque value, so that the motor can stably operate, the motor is prevented from being damaged, and the normal operation of the motor in various complex load conditions and working environments is ensured.

Example 5:

as shown in fig. 5, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

obtaining a first speed adjustment value, specifically comprising the following steps:

step S502, acquiring a first difference value between the power limit value and the current power value;

step S504, a first speed adjustment value is obtained according to the first difference.

And the first rotating speed adjusting value is obtained through the first difference, and the second rotating speed adjusting value and the control torque value are conveniently calculated subsequently through obtaining the first adjusting value, so that the control torque value with high accuracy is obtained.

According to the motor power control method, the control torque is finally obtained through the operation processing of the parameters, the operation of the motor is controlled by adopting the control torque value, the limitation on the motor power is realized, the motor can stably operate, the motor is further prevented from being damaged, and the motor can be ensured to normally operate in various complex load conditions and working environments.

Example 6:

as shown in fig. 6, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

step S602, according to the first difference, a first speed adjustment value is obtained by using a proportional control algorithm or a proportional integral control algorithm.

In the embodiment, the proportional control or proportional integral control is adopted, so that the control method is simple, the first rotating speed adjusting value with higher precision is obtained, the subsequent calculation of the second rotating speed adjusting value and the control torque value is facilitated, the limitation on the motor power is realized, the motor operation stability is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate in various complex load conditions and working environments.

For a certain model of motor, when the first difference value is obtained by adopting a proportional control algorithm, the first rotation speed adjustment value may be:

for example, the first difference 50w (watt) is inputted into a proportional controller (P controller), and the first rotational speed adjustment value 30rpm (revolutions per minute) is outputted through adjustment of the P controller.

For example, the first difference value of-50 w (watts) may be used as an input to a proportional controller (P controller), and the first rotational speed adjustment value of-30 rpm (revolutions per minute) may be output through adjustment of the P controller.

For example, the first difference 0w (watt) may be input into a proportional controller (P controller), and the first rotation speed adjustment value 0rpm (revolutions per minute) may be output through adjustment of the P controller.

The first difference and the first rotation speed adjustment value may be positive, negative or zero, and the proportionality coefficient of the P controller is preset in advance according to the motor characteristics and the load condition.

For a certain model of motor, when the proportional-integral control algorithm is adopted for the first difference value to obtain the first rotation speed adjustment value, the first rotation speed adjustment value may be:

for example, the first difference 50w (watt) is used as an input amount, and is input into a proportional integral controller (PI controller), and the first rotation speed adjustment value 0rpm (revolutions per minute) is output through adjustment by the PI controller.

For example, the first difference value of-50 w (watts) may be input to a proportional controller (P controller), and the first speed adjustment value of-20 rpm (revolutions per minute) may be output through adjustment of the P controller.

For example, the first difference value 0w (watt) may be input into a proportional controller (P controller), and the first rotation speed adjustment value 10rpm (revolutions per minute) may be output through adjustment of the P controller.

The first difference value and the first rotating speed adjusting value can be positive numbers, negative numbers or zero, and the proportional coefficient and the integral coefficient of the PI controller are preset in advance according to the motor characteristics and the load condition.

Example 7:

the present embodiment provides a motor control method, and in addition to the technical features of the above embodiments, the present embodiment further includes the following technical features:

the power offset reference value is a fixed constant that is greater than zero and less than the power limit value.

The power deviation reference value of the present embodiment may be set in advance.

The power deviation reference value of this embodiment is a reference value for measuring whether the current motor power is too high, because the power of the motor under normal operating conditions is far smaller than the power limit value, if the motor power is too high, the current power of the motor will approach the power limit value, therefore, it can be determined whether the motor power is too high by the power deviation reference value, and the power deviation reference value may be a fixed constant that is greater than zero and smaller than the power limit value, for example, if the motor power limit value is 375w (watt), the power deviation reference value is 25w, and if the motor power reaches 360w, the deviation between the motor power limit value and the current power of the motor reaches 15w, and is smaller than 25w, which indicates that the motor power is too high.

This embodiment, through setting up power deviation reference value, judge whether motor power is too high, can accurately effectually judge the too high condition of motor emergence power, prevent that the motor from leading to damaging because the power is too high.

Example 8:

as shown in fig. 7, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

acquiring a second rotating speed adjusting value, and specifically comprising the following steps of:

step S702, acquiring a first difference value between a power limit value and a current power value;

step S704, a second rotation speed adjustment value is obtained according to the first difference, the power deviation reference value and the first rotation speed adjustment value.

And finally, controlling the motor according to the control torque value, so that the limitation on the power of the motor is realized, the stability of the operation of the motor is improved, the damage of the motor is prevented, and the normal operation of the motor in various complex load conditions and working environments is ensured.

For example, in the step of obtaining the first speed adjustment value based on the power limit value and the current power value, if the first difference value is already obtained through the power limit value and the current power value, in the step of this embodiment, the first difference value obtained through calculation may be directly adopted without performing calculation again.

Example 9:

as shown in fig. 8 and 9, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

and acquiring a second rotating speed adjusting value, specifically comprising the following steps:

step S802, based on the first difference value being smaller than the power deviation reference value and the first rotation speed adjustment value being smaller than zero, updating the second rotation speed adjustment value to the first rotation speed adjustment value;

step S804, based on the first difference being greater than or equal to the power deviation reference value or the first rotation speed adjustment value being greater than or equal to zero, updating both the first rotation speed adjustment value and the second rotation speed adjustment value to zero.

In this embodiment, when the first difference is smaller than the power deviation reference value and the first rotation speed adjustment value is smaller than zero, the second rotation speed adjustment value is directly updated to the first rotation speed adjustment value, and when the first difference is greater than or equal to the power deviation reference value or the first rotation speed adjustment value is greater than or equal to zero, both the first rotation speed adjustment value and the second rotation speed adjustment value are directly updated to zero.

Example 10:

as shown in fig. 10, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the method for acquiring the control torque value specifically comprises the following steps:

step S902, obtaining a sum of the rotating speed instruction value and the second rotating speed adjustment value;

step S904, acquiring a second difference value between the summation value and the current rotating speed;

and step S906, acquiring a control torque value according to the second difference value.

In the embodiment, the control torque value is obtained through the operation of the parameters, so that the limitation on the power of the motor is realized, the running stability of the motor is improved, the motor is prevented from being damaged, and the normal running of the motor in various complex load conditions and working environments is ensured.

Example 11:

as shown in fig. 11, the present embodiment provides a motor control method, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

and step S1002, acquiring a control torque value by adopting a proportional-integral control algorithm according to the second difference value.

In the embodiment, a proportional-integral control algorithm is adopted, the control method is simple, the obtained control torque value is high in precision, the motor is controlled to operate according to the control torque value, the limitation on the power of the motor is realized, the stability of the operation of the motor is improved, the damage of the motor is prevented, and the normal operation of the motor in various complex load conditions and working environments is ensured.

For a certain type of motor, the proportional-integral control algorithm is adopted for the second difference value to obtain a control torque value, which can be:

for example, the second difference is used as an input quantity, input to a proportional integral controller (PI controller), and regulated by the PI controller, and the current control torque value is output.

If the second difference is larger than zero, the current rotating speed of the motor is low, and the control torque value is increased after the second difference is adjusted by the PI controller.

And if the second difference is smaller than zero, the current rotating speed of the motor is higher, and the control torque value is reduced after the second difference is regulated by the PI controller.

If the second difference value is equal to zero, the current rotating speed of the motor is proper, and the control torque value is kept unchanged after the second difference value is regulated by the PI controller.

And the proportional coefficient and the integral coefficient of the PI controller are preset in advance according to the motor characteristics and the load condition.

Example 12:

as shown in fig. 12, the present embodiment provides a motor control device 100 including: the control system comprises a first obtaining module 110 and a first control module 120, wherein the first obtaining module 110 obtains a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor; the first control module 120 controls operation of the motor based on the control torque value.

In this embodiment, the parameters to be measured may include: the current power value and the current rotating speed, the parameters which need to be preset may include: the parameters to be calculated include: the control system comprises a first rotating speed adjusting value, a second rotating speed adjusting value and a control torque value, wherein based on the parameters, in the running process of the motor, the motor is controlled to run by adopting a rotating speed instruction value and a power limiting value, and power limitation is realized by adjusting the rotating speed and controlling the torque, so that the damage of the motor, overhigh temperature of a control system or damage of devices caused by overhigh power is avoided, property loss is brought to users, in addition, the motor is controlled to run according to the control torque value, the limitation on the power of the motor is realized, the running stability of the motor is improved, and the normal running of the motor in various complex load conditions and working environments is ensured.

Example 13:

as shown in fig. 13, the present embodiment provides a motor control device 100, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the motor control device 100 further includes: and a power detection module 130, wherein the power detection module 130 detects the current power value of the motor.

In this embodiment, in the operation process of the motor, the power detection module 130 detects the power value, obtains the current power value of the motor, and facilitates subsequent calculation of the control torque value of the motor, so that the control torque value is better and more accurate, the limitation on the power of the motor is realized, the operation stability of the motor is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate under various complex load conditions and working environments.

Specifically, when the power detection module 130 detects the current power value of the motor, a fixed time interval may be set, that is, the power detection module 130 detects the current power value of the motor at every first time interval, in this embodiment, the value of the motor power may be obtained in time, and then the power value may be detected in time when the power is increased, so as to limit the motor power, thereby improving the stability of the motor operation, preventing the motor from being damaged, and ensuring the normal operation of the motor in various complex load conditions and working environments.

Example 14:

as shown in fig. 14, the present embodiment provides a motor control device 100, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the first obtaining module 110 specifically includes: a first speed adjustment value calculation module 112, a second speed adjustment value calculation module 114, and a torque calculation module 116; the first speed adjustment value calculation module 112 obtains a first speed adjustment value according to the power limit value and the current power value; the second rotation speed adjustment value calculating module 114 obtains a second rotation speed adjustment value according to the current power value, the power limit value, the first rotation speed adjustment value and the power deviation reference value; the torque calculation module 116 obtains a control torque value according to the second rotation speed adjustment value, the rotation speed instruction value and the current rotation speed.

In the first rotation speed adjustment value calculation module 112, for the first difference, a proportional control algorithm or a proportional integral control algorithm is adopted to obtain the first rotation speed adjustment value, in this embodiment, a control torque is finally obtained through operation processing on parameters, and the operation of the motor is controlled by adopting the control torque value, so that the limitation on the power of the motor is realized, the motor can stably operate, the motor is further prevented from being damaged, and the normal operation of the motor in various complex load conditions and working environments is ensured.

When the first difference is smaller than the power deviation reference value and the first rotation speed adjustment value is smaller than zero, the second rotation speed adjustment value calculation module 114 directly updates the second rotation speed adjustment value to the first rotation speed adjustment value, when the first difference is greater than or equal to the power deviation reference value or the first rotation speed adjustment value is greater than or equal to zero, the first rotation speed adjustment value and the second rotation speed adjustment value are directly updated to zero, the second rotation speed adjustment value calculation module 114 updates the second rotation speed adjustment value through the judgment of the parameters, and therefore the more accurate second rotation speed adjustment value can be obtained, and further the control torque value with high accuracy is obtained, the limitation of the motor power is achieved, the stability of the motor operation is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate under various complex load conditions and working environments.

The torque calculation module 116 obtains a control torque value based on the summation value, the current rotation speed and the second difference value, and the first control module 120 controls the motor to operate according to the control torque value, so that the limitation of the motor power is realized, the stability of the motor operation is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate under various complex load conditions and working environments.

Example 15:

as shown in fig. 15, the present embodiment provides a motor control device 100, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the first obtaining module 110 further includes: the power comparison module 118, the power comparison module 118 obtains a first difference between the power limit value and the current power value.

In this embodiment, the first difference obtained by the power comparison module 118 may be used for subsequent parameter calculation, so as to finally realize power limitation on the motor, avoid motor damage caused by too high power, too high temperature of the control system, and device damage, improve the stability of the motor operation, and ensure that the motor can operate normally under various complex load conditions and working environments.

Example 16:

as shown in fig. 16, the present embodiment provides a motor 200 including: the second control module 210, the second control module 210 controls the motor 200 to operate according to a motor control method according to any embodiment of the present application.

The second control module 210 controls the motor to operate according to the control torque value, realizes power limitation by adjusting the rotating speed and controlling the torque, avoids motor damage, overhigh temperature of a control system or device damage caused by overhigh power, controls the motor to operate according to the control torque value, realizes the limitation of the motor power, improves the stability of the motor operation, and ensures that the motor can normally operate under various complex load conditions and working environments.

The second control module 210 detects the power value in the operation process of the motor, so as to facilitate subsequent calculation of the control torque value of the motor, make the control torque value better and accurate, control the operation of the motor according to the control torque value, realize the limitation on the power of the motor, further improve the stability of the operation of the motor, prevent the motor from being damaged, and ensure that the motor can normally operate in various complex load conditions and working environments.

When detecting the current power value of the motor, the second control module 210 can set a fixed time interval, that is, the current power value of the motor is detected every first time interval, in the process of motor operation, the current power value of the motor is detected regularly, the value of the motor power can be obtained in time, and then the power value is detected in time under the condition of power rising, so that the limitation on the motor power is realized, the stability of motor operation is improved, the motor is prevented from being damaged, and the normal operation of the motor in various complex load conditions and working environments is ensured.

The second control module 210 controls the motor to operate stably by obtaining the control torque value, thereby preventing the motor from being damaged and ensuring the motor to operate normally under various complex load conditions and working environments.

The second control module 210 can calculate the second rotation speed adjustment value and the control torque value more rapidly by obtaining the first adjustment value, and then obtain the control torque value with high accuracy, and control the motor to operate according to the control torque value, so as to realize the limitation on the motor power, improve the stability of the motor operation, prevent the motor from being damaged, and ensure the normal operation of the motor in various complex load conditions and working environments.

The second control module 210 obtains the first rotation speed adjustment value by adopting proportional control or proportional-integral control, the control method is simple, the obtained first rotation speed adjustment value has high precision, the subsequent calculation of the second rotation speed adjustment value and the control torque value is convenient, and the operation of the motor is controlled according to the control torque value, so that the limitation of the motor power is realized, the operation stability of the motor is improved, the damage of the motor is prevented, and the normal operation of the motor in various complex load conditions and working environments is ensured.

In the second control module 210, a power deviation reference value may be preset, where the power deviation reference value is a reference value used for measuring whether the current motor power is too high, because the power of the motor under a normal working condition is far smaller than a power limit value, if the motor power is too high, the current motor power will approach the power limit value, so that whether the motor power is too high may be determined by the power deviation reference value, the power deviation reference value may be a fixed constant that is greater than zero and smaller than the power limit value, and by setting the power deviation reference value, whether the motor power is too high may be determined, so that the condition that the motor has too high power may be accurately and effectively determined.

The second control module 210 is convenient for subsequent calculation of the control torque value by obtaining the second adjustment value, and then controls the operation of the motor according to the control torque value, so that the limitation on the power of the motor is realized, the stability of the operation of the motor is improved, the motor is prevented from being damaged, and the normal operation of the motor in various complex load conditions and working environments is ensured.

The second control module 210 updates the second rotation speed adjustment value by judging the parameter, so as to obtain a more accurate second rotation speed adjustment value, further obtain a control torque value with high accuracy, and control the motor to operate according to the control torque value, thereby realizing the limitation on the motor power, improving the stability of the motor operation, preventing the motor from being damaged, and ensuring the normal operation of the motor in various complex load conditions and working environments.

The second control module 210 controls the motor to operate by controlling the torque value, so as to limit the power of the motor, improve the stability of the motor operation, prevent the motor from being damaged, and ensure that the motor can operate normally under various complex load conditions and working environments.

The second control module 210 obtains a control torque value by adopting a proportional-integral control algorithm, the control method is simple, the obtained control torque value has high precision, the motor is controlled to operate according to the control torque value, the limitation on the motor power is realized, the stability of the motor operation is improved, the motor is prevented from being damaged, and the motor can be ensured to normally operate under various complex load conditions and working environments.

Example 17:

as shown in fig. 17, the present embodiment provides a home appliance 300 including: the motor 200, the motor 200 includes a second control module 210, and the second control module 210 controls the motor 200 to operate by using a motor control method according to any one of the technical solutions of the present application.

The home appliance 300 may be an air conditioner, a washing machine, a dishwasher, or the like.

The power limiting method of the motor of the embodiment can be applied to household appliances such as air conditioners, washing machines, dish washing machines and the like which need to be driven by the motor. The power of the motor can be limited by the power limiting method of the motor, the running stability of the motor is improved, further, household appliances (including air conditioners, washing machines, dish washing machines and the like) run stably, the service life of the motor is prolonged, the later maintenance problem of the household appliances is avoided, and the customer experience is enhanced.

Example 18:

as shown in fig. 18, the present embodiment provides a motor control device 400 including: a memory 410 and a processor 420, the memory 410 storing programs or instructions, the processor 420 executing the programs or instructions; wherein the processor 420, when executing the programs or instructions, implements the steps of the motor control method according to any of the embodiments of the present application.

Example 19:

the present embodiment provides a readable storage medium, which stores a program or instructions, and when the program or instructions are executed by a processor, the steps of the motor control method of any one of the above embodiments are implemented.

Example 20:

the present embodiment provides a home appliance including the motor control device 400 or a readable storage medium.

The power limiting method of the motor of the embodiment can be applied to household appliances such as air conditioners, washing machines, dishwashers and the like which need to be driven by the motor. The power of the motor can be limited by the power limiting method of the motor, the running stability of the motor is improved, further, household appliances (including air conditioners, washing machines, dish washing machines and the like) run stably, the service life of the motor is prolonged, the later maintenance problem of the household appliances is avoided, and the customer experience is enhanced.

Example 21:

as shown in fig. 19, this embodiment provides a motor control method, which aims to solve the problem that the motor power is limited due to too large motor power in the related art, so that the stable operation of the motor cannot be ensured, and the motor is controlled to operate according to a rotational speed command value and a power limit value, where the motor power limit method includes:

and step S1102, detecting the current power of the motor at regular time in the running process of the motor.

And detecting the current power of the motor every other preset time period in the running process of the motor.

Step S1104, obtaining a first speed adjusting value according to the motor power limiting value and the current power;

and calculating to obtain a first rotating speed adjusting value by using proportional control (P control) or proportional integral control (PI control) according to the motor power limiting value and the current power.

Specifically, a difference value between a motor power limit value and the current motor power is obtained, and a first rotation speed adjustment value corresponding to the difference value is obtained according to a proportional control (P control) algorithm or a proportional integral control (PI control) algorithm.

Step S1106, calculating a difference between the motor power limit value and the current power, and obtaining a second rotation speed adjustment value according to the power difference, the power deviation reference value, and the first rotation speed adjustment value.

Specifically, when the power difference is smaller than the power deviation reference value and the first rotation speed adjustment value is smaller than zero, the second rotation speed adjustment value is updated to the first rotation speed adjustment value; and updating the second rotating speed adjusting value to be zero when the power difference value is larger than or equal to the power deviation reference value or the first rotating speed adjusting value is larger than or equal to zero.

Specifically, in the case where the power difference is greater than or equal to the power deviation reference value or the first rotation speed adjustment value is greater than or equal to zero, when the second rotation speed adjustment value is updated to zero, the first rotation speed command needs to be updated to zero at the same time.

The power deviation reference value is a fixed constant which is greater than zero and smaller than the power limit value, specifically, the power deviation reference value is a reference value used for measuring whether the current motor power is too high, because the power of the motor under the normal working condition is far smaller than the power limit value, if the motor power is too high, the current power of the motor is close to the power limit value, and therefore whether the motor power is too high needs to be judged through the power deviation reference value. For example: assuming that the motor power limit value is 375w (watt) and the power deviation reference value is 25w, if the motor power reaches 360w, the deviation between the motor power limit value and the current motor power reaches 15w, which is less than 25w, indicating that the motor power is too high, the second rotation speed adjustment value is updated according to step S1106.

And step S1108, acquiring a control torque value according to the rotating speed instruction value, the second rotating speed adjustment value and the current rotating speed of the motor, and controlling the motor to operate according to the control torque.

And summing the motor rotating speed instruction value and the second rotating speed adjustment value, performing proportional-integral control according to the summed value and the current rotating speed of the motor to obtain a control torque value, and controlling the motor to operate according to the control torque.

Specifically, the motor rotating speed instruction value and the second rotating speed adjustment value are summed, the difference value between the summed value and the current rotating speed of the motor is calculated, PI control is performed by using the obtained difference value, a corresponding control torque value is output, and the motor is controlled to operate according to the control torque value.

The current power of the motor is detected regularly in the motor running process, the first rotating speed adjusting value is obtained according to the power limiting value and the current power, then the difference value between the power limiting value and the current power is calculated, the second rotating speed adjusting value is obtained according to the power difference value, the power deviation reference value and the first rotating speed adjusting value, the control torque value is obtained according to the rotating speed instruction value, the second rotating speed adjusting value and the current rotating speed of the motor, the motor is controlled to run according to the control torque value, the limitation on the power of the motor is achieved, the motor damage caused by overhigh power, overhigh temperature of a control system and device damage are avoided, and the running stability of the motor is improved.

Example 22:

as shown in fig. 20, the present embodiment provides a motor control apparatus 100, which controls the operation of a motor according to a rotational speed command value and a power limit value, wherein the motor control apparatus 100 includes a first obtaining module 110, a power detecting module 130, and a first control module 120.

The first obtaining module 110 specifically includes: a first speed adjustment value calculation module 112, a second speed adjustment value calculation module 114, a torque calculation module 116, and a power comparison module 118.

The power detection module 130 is used for detecting the current power of the motor at regular time during the operation of the motor. Specifically, the power detection module 130 detects the current power of the motor every other preset time period during the operation of the motor.

The power comparison module 118 is configured to compare the motor power limit value with the current motor power and output a power difference.

The first rotation speed adjustment value calculation module 112 is configured to obtain a first rotation speed adjustment value according to the power limit value and the current power of the motor. The first speed adjustment value calculation module 112 calculates and outputs a first speed adjustment value using proportional control or proportional integral control according to the power limit value and the current power of the motor. Specifically, the specific process of the first rotation speed adjustment value obtaining module 112 according to the power limit value and the current power of the motor is as follows: and according to the difference value between the motor power limit value and the current motor power, acquiring a first rotating speed adjusting value corresponding to the difference value according to a P control or PI control algorithm.

The second rotation speed adjustment value calculating module 114 is configured to obtain a second rotation speed adjustment value according to the power difference value, the power deviation reference value, and the first rotation speed adjustment value. When the power difference is smaller than the power deviation reference value and the first rotation speed adjustment value is smaller than zero, the second rotation speed adjustment value calculation module 114 updates the second rotation speed adjustment value to the first rotation speed adjustment value; when the power difference is greater than or equal to the power deviation reference value or the first speed adjustment value is greater than or equal to zero, the second speed adjustment value calculation module 114 updates the second speed adjustment value to zero. Specifically, the specific process of the second rotation speed adjustment value calculation module 114 obtaining the second rotation speed adjustment value according to the power difference value, the power deviation reference value, and the first rotation speed adjustment value is as follows: when the power difference value is smaller than the power deviation reference value and the first rotating speed adjusting value is smaller than zero, updating the second rotating speed adjusting value into a first rotating speed adjusting value; and when the power difference value is greater than or equal to the power deviation reference value or the first rotating speed adjusting value is greater than or equal to zero, updating the second rotating speed adjusting value to zero.

The torque calculation module 116 is configured to obtain a control torque value according to the rotation speed instruction value, the second rotation speed adjustment value, and the current rotation speed of the motor. The torque calculation module 116 sums the motor speed instruction value and the second speed adjustment value, performs proportional-integral control according to the summed value and the current motor speed, and outputs a control torque value. Specifically, the process of the torque calculation module 116 obtaining the control torque value according to the rotation speed instruction value, the second rotation speed adjustment value, and the current rotation speed of the motor is specifically as follows: and summing the motor rotating speed instruction value and the second rotating speed adjustment value, calculating a difference value between the summed value and the current rotating speed of the motor, performing PI control by using the obtained difference value, and outputting a corresponding control torque value.

The first control module 120 is a torque control module, and the torque control module is configured to control the motor to operate according to the control torque value obtained by the torque calculation module.

For the motor control apparatus 100, the power detection module 130 detects the current power of the motor at regular time during the operation of the motor, the first rotation speed adjustment value calculation module 112 obtains the first rotation speed adjustment value according to the power limit value of the motor and the current power, the power comparison module 118 compares the power limit value of the motor and the current power of the motor and outputs the power difference value, the second rotation speed calculation module obtains the second rotation speed adjustment value according to the power difference value, the power deviation reference value and the first rotation speed adjustment value, the torque calculation module 116 obtains the control torque value according to the rotation speed instruction value, the second rotation speed adjustment value and the current rotation speed of the motor, and finally the first obtaining module 110 (torque control module) controls the motor to operate according to the control torque value obtained by the torque calculation module 116, so as to achieve the power limitation of the motor, the motor damage caused by overhigh power, overhigh temperature of a control system and device damage of the motor are avoided, the running stability of the motor is improved, and the normal running of the motor in various complex load conditions and working environments is ensured.

The motor control device 100 of the present embodiment is applicable to an air conditioner, a washing machine, a dishwasher, and the like, which require driving by a motor. Can restrict motor power through motor control device 100, improve the stability of motor operation, and then for domestic appliance (including air conditioner, washing machine, dish washer etc.) operation stability, the life of extension motor avoids producing domestic appliance's later stage maintenance problem, and the reinforcing customer experience.

To sum up, the beneficial effect of this application embodiment is:

1. the motor is controlled to operate by adopting the rotating speed instruction value and the power limiting value, the power limitation is realized by adjusting the rotating speed and controlling the torque, the motor damage, the overhigh temperature of a control system or the damage of a device caused by overhigh power are avoided, the motor is controlled to operate according to the control torque value, the limitation on the power of the motor is realized, the stability of the operation of the motor is improved, and the normal operation of the motor in various complex load conditions and working environments is ensured.

2. In the process of motor operation, the current power value of the motor is detected at regular time, the value of the motor power can be obtained in time, and then the power value is detected in time under the condition that the power is increased, so that the control torque value of the motor is obtained, the motor operation is controlled according to the control torque value, the limitation on the motor power is realized, and the stability of the motor operation is further improved.

3. In the embodiment, the first speed adjustment value is obtained by adopting proportional control or proportional-integral control, and the control torque value is obtained by adopting a proportional-integral control algorithm, so that the control method is simple.

4. This embodiment, through setting up power deviation reference value, judge whether motor power is too high, can accurately effectually judge the too high condition of motor emergence power, prevent that the motor from leading to damaging because the power is too high.

5. In this embodiment, the second rotation speed adjustment value is updated, so that a more accurate second rotation speed adjustment value can be obtained, and then a control torque value with high accuracy is obtained, and the motor is controlled to operate according to the control torque value, so that the limitation on the motor power is realized, and further, the stability of the motor operation is improved.

In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are used broadly and should be construed to include, for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the present application, the description of the terms "one embodiment," "some embodiments," "a specific embodiment," etc., mean 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 present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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

Claims

1. A motor control method, comprising:

acquiring a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor;

controlling the motor to operate according to the control torque value;

wherein, according to the power limit value, the current power value, the first rotational speed adjustment value, the power deviation reference value, the second rotational speed adjustment value, the current rotational speed, and the rotational speed command value of the motor, a control torque value of the motor is obtained, which specifically includes the following steps:

acquiring the first speed regulation value according to the power limit value and the current power value; acquiring a second rotating speed adjusting value according to the current power value, the power limiting value, the first rotating speed adjusting value and the power deviation reference value; and acquiring the control torque value according to the second rotating speed adjusting value, the rotating speed instruction value and the current rotating speed.

2. The motor control method according to claim 1, further comprising, before acquiring the control torque value of the motor based on the power limit value, the current power value, the first rotation speed adjustment value, the power deviation reference value, the second rotation speed adjustment value, the current rotation speed, and the rotation speed command value of the motor:

and detecting the current power value of the motor.

3. The method according to claim 2, wherein the detecting a current power value of the motor specifically includes:

detecting the current power value of the motor every interval of a first time threshold.

4. The method according to claim 1, wherein the obtaining the first speed adjustment value according to the power limit value and the current power value specifically includes:

acquiring a first difference value between the power limit value and the current power value;

and acquiring the first speed adjusting value according to the first difference value.

5. The method according to claim 4, wherein the obtaining the first rotation speed adjustment value according to the first difference specifically includes:

and acquiring the first rotating speed adjusting value by adopting a proportional control algorithm or a proportional integral control algorithm according to the first difference value.

6. The motor control method of claim 1, wherein the power offset reference value is a fixed constant greater than zero and less than the power limit value.

7. The method according to claim 1, wherein the obtaining the second rotation speed adjustment value according to the current power value, the power limit value, the first rotation speed adjustment value, and the power deviation reference value specifically includes:

and acquiring the second rotating speed adjusting value according to the first difference value, the power deviation reference value and the first rotating speed adjusting value.

8. The method according to claim 7, wherein the obtaining the second rotation speed adjustment value according to the first difference, the power deviation reference value, and the first rotation speed adjustment value specifically includes:

updating the second speed adjustment value to the first speed adjustment value based on the first difference value being less than the power deviation reference value and the first speed adjustment value being less than zero;

updating both the first speed adjustment value and the second speed adjustment value to zero based on whether the first difference value is greater than or equal to the power deviation reference value or the first speed adjustment value is greater than or equal to zero.

9. The method according to claim 1, wherein the obtaining the control torque value according to the second rotation speed adjustment value, the rotation speed command value, and the current rotation speed specifically includes:

acquiring a sum value of the rotating speed instruction value and the second rotating speed adjustment value;

acquiring a second difference value between the summation value and the current rotating speed;

and acquiring the control torque value according to the second difference value.

10. The method according to claim 9, wherein the obtaining the control torque value according to the second difference specifically includes:

and acquiring the control torque value by adopting a proportional-integral control algorithm according to the second difference value.

11. A motor control apparatus, comprising:

the first acquisition module acquires a control torque value of the motor according to a power limit value, a current power value, a first rotating speed adjusting value, a power deviation reference value, a second rotating speed adjusting value, a current rotating speed and a rotating speed instruction value of the motor;

the first obtaining module specifically includes: the device comprises a first rotating speed adjusting value calculating module, a second rotating speed adjusting value calculating module and a torque calculating module; the first rotating speed adjusting value calculating module acquires the first rotating speed adjusting value according to the power limiting value and the current power value; the second rotating speed adjusting value calculating module acquires the second rotating speed adjusting value according to the current power value, the power limiting value, the first rotating speed adjusting value and the power deviation reference value; the torque calculation module acquires the control torque value according to the second rotating speed adjustment value, the rotating speed instruction value and the current rotating speed;

and the first control module controls the motor to operate according to the control torque value.

12. The motor control apparatus according to claim 11, further comprising:

a power detection module that detects a current power value of the motor.

13. The motor control apparatus of claim 11, wherein the first obtaining module further comprises:

a power comparison module that obtains a first difference between the power limit value and the current power value.

14. An electric machine, comprising:

a second control module that controls operation of the motor using the motor control method of any one of claims 1 to 10.

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

an electric machine comprising a second control module that controls operation of the electric machine using the motor control method of any of claims 1-10.

16. A motor control apparatus, comprising:

a memory storing programs or instructions;

a processor that executes the program or instructions;

wherein the processor, when executing the program or instructions, implements the steps of the motor control method of any of claims 1 to 10.

17. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, carry out the steps of the motor control method according to any one of claims 1 to 10.

18. A domestic appliance comprising a motor control device according to claim 16 or a readable storage medium according to claim 17.