CN113737451A - Weak magnetic control method and device for washing machine motor, washing machine and storage medium - Google Patents
Weak magnetic control method and device for washing machine motor, washing machine and storage medium Download PDFInfo
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- 238000005406 washing Methods 0.000 title claims abstract description 148
- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000003313 weakening effect Effects 0.000 claims abstract description 52
- 230000004069 differentiation Effects 0.000 claims description 13
- 230000010354 integration Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 8
- 230000005389 magnetism Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000010438 heat treatment Methods 0.000 description 6
- 230000004907 flux Effects 0.000 description 4
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- 238000012937 correction Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/30—Control of washing machines characterised by the purpose or target of the control
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/04—Signal transfer or data transmission arrangements
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/14—Arrangements for detecting or measuring specific parameters
- D06F34/20—Parameters relating to constructional components, e.g. door sensors
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/30—Driving arrangements
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/24—Spin speed; Drum movements
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
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Abstract
The application provides a weak magnetic control method and device for a washing machine motor, a washing machine and a storage medium, wherein the method comprises the following steps: acquiring a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time, and acquiring a rotating speed interval where the target rotating speed is located; carrying out PID adjustment according to a PID adjustment parameter and a motor parameter preset in a rotating speed interval in which the target rotating speed is located to obtain an output parameter; and carrying out weak magnetic control on the washing machine motor according to the output parameters. The technical scheme of this application embodiment can carry out weak magnetism control to washing machine motor, reduces washing machine motor because the high-speed condition of generating heat that causes of running improves washing machine motor's stability.
Description
Technical Field
The application relates to the technical field of motor drive control, in particular to a method and a device for controlling field weakening of a washing machine motor, a washing machine and a storage medium.
Background
The brushless direct current motor (BLDC) replaces a mechanical commutator with an electronic commutator, and has the advantages of good speed regulation performance of the dc motor, simple structure of the ac motor, reliable operation, and the like, thereby becoming the preferred motor driving part of the washing machine.
The BLDC motor in the washing machine has a wide high-speed operation range during operation, and when the BLDC motor is operated to more than 20000 revolutions, parameters Ld (direct axis inductance), Lq (quadrature axis inductance), and K (back electromotive force constant) of the motor are changed due to the influence of factors such as temperature and magnetic materials, so that the stability and reliability of the whole motor control system are reduced, the heat generated by the motor is increased, and the operating noise of the washing machine is increased. In the face of the above situation, a high-speed weak magnetic control technology can be adopted to control the motor, so that the washing machine can work stably, efficiently and with low noise.
A commonly used flux weakening control method is PID (closed loop control) control, which is based on the principle of performing correction based on output feedback of a control object, and performing correction according to a rate or a standard when a deviation between an actual value and a planned value is measured. However, the current PID controller has strong dependency on BLDC motor parameters, and the BLDC motor in the washing machine has fast dynamic change during operation, and the commonly used PID controller cannot adapt to the fast dynamic change of the motor, so the regulation capability of the BLDC motor in the washing machine is weak, and the control effect is poor.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for controlling field weakening of a motor of a washing machine, so as to improve stability and reliability of operation of the motor in the washing machine.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, a field-weakening control method of a motor of a washing machine includes: acquiring a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time, and acquiring a rotating speed interval where the target rotating speed is located; carrying out PID adjustment according to a PID adjustment parameter and a motor parameter preset in a rotating speed interval in which the target rotating speed is located to obtain an output parameter; and carrying out weak magnetic control on the washing machine motor according to the output parameters.
In an embodiment, the method further comprises:
acquiring initial PID (proportion integration differentiation) adjusting parameters and initial motor parameters preset in different rotating speed intervals;
adjusting the initial PID adjusting parameter and the initial motor parameter, and carrying out field weakening control on the washing machine motor through the adjusted initial PID adjusting parameter and the initial motor parameter until the current and the counter electromotive force of the washing machine motor in the corresponding rotating speed interval are stable;
and taking the adjusted initial PID adjusting parameter and initial motor parameter as the PID adjusting parameter and motor parameter of the corresponding rotating speed interval.
In an embodiment, the performing PID adjustment according to a PID adjustment parameter and a motor parameter preset in a rotation speed interval where the target rotation speed is located to obtain an output parameter includes:
acquiring PID (proportion integration differentiation) adjusting parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, wherein the motor parameters comprise direct-axis inductance, quadrature-axis inductance and a back electromotive force constant of a washing machine motor;
carrying out PID adjustment according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter to obtain a current parameter;
and carrying out PID adjustment according to the back electromotive force constant and the PID adjustment parameter to obtain a back electromotive force parameter, and taking the current parameter and the back electromotive force parameter as the output parameters.
In an embodiment, the performing PID adjustment according to the direct axis inductance, the quadrature axis inductance, and the PID adjustment parameter to obtain a current parameter includes:
carrying out PID adjustment processing on the direct axis inductance according to the PID adjustment parameter to obtain an adjusted target direct axis inductance;
carrying out PID adjustment processing on the quadrature axis inductance according to the PID adjustment parameter to obtain an adjusted target quadrature axis inductance;
and calculating to obtain the current parameter according to the target direct axis inductance and the target quadrature axis inductance.
In an embodiment, the performing PID adjustment according to the back electromotive force constant and the PID adjustment parameter to obtain a back electromotive force parameter includes:
carrying out PID adjustment on the back electromotive force constant according to the PID adjustment parameter to obtain an adjusted target back electromotive force constant;
and calculating the back electromotive force parameter according to the target back electromotive force constant.
In an embodiment, the method further comprises:
acquiring the initial rotating speed of the washing machine motor after the washing machine motor enters a field weakening state and the highest rotating speed of the washing machine motor in a working state;
different speed intervals are determined between the initial speed and the maximum speed.
In one embodiment, the determining different rotation speed intervals between the initial rotation speed and the maximum rotation speed includes:
acquiring current waveforms of the washing machine at different rotating speeds;
and acquiring a fluctuation point of the current waveform, taking the rotating speed corresponding to the fluctuation point as an interval endpoint, and acquiring different rotating speed intervals according to adjacent interval endpoints.
According to an aspect of an embodiment of the present application, there is provided a field weakening control apparatus for a motor of a washing machine, including: the rotating speed positioning module is configured to acquire a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time and acquire a rotating speed interval where the target rotating speed is located; the PID adjusting module is configured to perform PID adjustment according to a preset PID adjusting parameter in a rotating speed interval where the target rotating speed is located and a motor parameter motor to obtain an output parameter; and the weak magnetic control module is configured to perform weak magnetic control on the washing machine motor according to the output parameters.
According to an aspect of an embodiment of the present application, there is provided a washing machine including: a motor for controlling the washing machine to work; and the controller is used for executing the field weakening control method of the washing machine motor and performing field weakening control on the motor.
According to an aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to execute the method for field weakening control of a motor of a washing machine as described above.
According to an aspect of embodiments herein, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the field weakening control method of the washing machine motor provided in the above-mentioned various alternative embodiments.
In the technical scheme provided by the embodiment of the application, the interval where the motor rotating speed is located is obtained in real time, PID adjustment is carried out according to the preset PID adjustment parameters and the motor parameters in the interval where the motor rotating speed is located to carry out weak magnetic control on the motor, and the rotating speed after the motor enters the weak magnetic state is controlled in a partitioned mode, so that the stability of motor control is greatly improved, the heating and noise of the motor are effectively reduced, and the reliability of the motor is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a flowchart illustrating a field-weakening control method of a motor of a washing machine according to an exemplary embodiment of the present application;
FIG. 2 is a current waveform diagram obtained by a PID flux weakening control method in the prior art;
FIG. 3 is a current waveform diagram obtained by the field weakening control method of the washing machine motor of the present application;
fig. 4 is a flowchart illustrating a field-weakening control method of a motor of a washing machine according to another exemplary embodiment of the present application;
FIG. 5 is a flow chart of step S130 in the embodiment shown in FIG. 1 in an exemplary embodiment;
FIG. 6 is a flowchart of step S530 in an exemplary embodiment in the embodiment shown in FIG. 5;
fig. 7 is a flowchart illustrating a field-weakening control method of a motor of a washing machine according to another exemplary embodiment of the present application;
fig. 8 is a schematic structural diagram illustrating a field weakening control device of a washing machine motor according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It should also be noted that: reference to "a plurality" in this application means two or more. "and/or" describe the association relationship of the associated objects, meaning that there may be three relationships, e.g., A and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
At present, a brushless direct current motor is often configured in a washing machine, the brushless direct current motor has good speed regulation performance and a simple structure, but the problems of motor heating, overlarge vibration noise, washing machine stability reduction and the like are easily caused due to the fact that the rotating speed is too high during operation.
The embodiment discloses a washing machine, which comprises a motor for driving the washing machine to work and a controller for carrying out field weakening control on the motor. Specifically, the washing machine can be a drum washing machine, a stirring washing machine and the like, the carried motor is a BLDC motor, when the washing machine needs to work, the motor is driven, when the rotating speed of the motor reaches the condition that the motor enters a weak magnetic state, the controller can receive the rotating speed of the motor in real time, according to different preset rotating speed intervals where the rotating speed is located, preset PID (proportion integration differentiation) adjusting parameters and motor parameters in corresponding rotating speed intervals are obtained for PID adjustment, output parameters are obtained, and the motor is subjected to weak magnetic control through the output parameters.
In the embodiment, the controller is used for carrying out weak magnetic control on the motor, so that the stability and reliability of the motor in the working process are improved, the vibration noise is reduced, the heating of the motor is reduced, and the service life and the use experience of the washing machine are improved.
Fig. 1 is a flowchart illustrating a field weakening control method of a motor of a washing machine according to an exemplary embodiment. The method is used for the controller in the washing machine as described above to perform field weakening control on the motor, as shown in fig. 1, and in an exemplary embodiment, the method may include steps S110 to S150, which are described in detail as follows:
step S110: and acquiring the target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time, and acquiring a rotating speed interval where the target rotating speed is located.
The washing machine can be a drum washing machine or a stirring washing machine, and the like, the motor arranged in the washing machine is a BLDC motor, when the rotating speed of the motor reaches a certain value, the weak magnetic state can be carried out, for example, when the rotating speed of the motor of the washing machine reaches 400 revolutions, the washing machine enters the weak magnetic state, and other rotating speeds can reach the weak magnetic state.
In this embodiment, the washing machine first enters a working state, the rotation speed of the motor is gradually increased, after the motor enters a field weakening state, a target rotation speed of the motor of the washing machine is obtained in real time, and when the target rotation speed is obtained, the target rotation speed is compared with a plurality of preset rotation speed intervals, so as to determine a rotation speed interval where the target rotation speed is located.
For example, when the obtained target rotation speed is a, the target rotation speed a is compared with a plurality of rotation speed intervals to obtain that the target rotation speed a is located in a rotation speed interval a, and when the obtained target rotation speed at another moment is B, the target rotation speed B is compared with the plurality of rotation speed intervals to obtain that the target rotation speed B is located in a rotation speed interval B.
Step S130: and carrying out PID adjustment according to the preset PID adjustment parameter and the motor parameter in the rotating speed interval of the target rotating speed to obtain an output parameter.
In this embodiment, after the rotation speed interval in which the target rotation speed is located is obtained, preset PID adjustment parameters and motor parameters are extracted from the rotation speed interval, and PID adjustment is performed through the PID adjustment parameters and the motor parameters to obtain output parameters.
Specifically, different PID (proportion integration differentiation) adjusting parameters and motor parameters are preset in different rotating speed intervals, and after the rotating speed interval in which the target rotating speed is located is determined, the PID adjusting parameters and the motor parameters in the corresponding rotating speed interval are extracted for PID adjustment to obtain output parameters.
The PID control is a control method of correcting the deviation of the actual deviation from the planned deviation, which is corrected by a rate or a standard when the deviation is measured, and includes a proportion (P), an integral (I), and a derivative (D) in which the PID control parameter concerned deviates, and the PID control method includes:
wherein, KpIs proportional gain, inverse of the degree of proportionality, TtTo integrate the time constant, TDIs a differential time constant, u (t)For the output signal e (t) is the difference between the measured value and the set value.
In this embodiment, different PID adjustment parameters are set for different rotation speed intervals, and PID adjustment is performed through the PID adjustment parameters and the motor parameters for different rotation speed intervals to obtain output parameters, that is, the parameters used in PID adjustment are different for different rotation speed intervals.
Step S150: and carrying out weak magnetic control on the motor of the washing machine according to the output parameters.
And (4) inputting the output parameters obtained in the step (S130) into a washing machine motor, and carrying out field weakening control on the washing machine motor.
In this embodiment, a target rotation speed of the washing machine motor is first obtained, a rotation speed interval in which the target rotation speed is located is determined according to a difference of the target rotation speeds, PID adjustment is performed through PID adjustment parameters and motor parameters preset in the rotation speed interval to obtain an output parameter, and flux weakening control is performed on the washing machine motor through the output parameter. According to the method, the PID adjustment values are different according to different motor rotating speeds of the washing machine, the problems that an existing PID controller is strong in dependence on BLDC motor parameters and cannot adapt to rapid dynamic changes of the motor are effectively solved through sectional control of the motor rotating speeds, accurate control of the motor can be greatly improved, heating of the motor is reduced, and therefore stability and reliability of the motor are improved.
Referring to fig. 2 and 3, fig. 2 and 3 are current waveform diagrams of a washing machine motor obtained by different field weakening control methods under the same environment. FIG. 2 is a current waveform diagram obtained during operation of the washing machine by using PID to perform field weakening control on the motor of the washing machine; fig. 3 is a current waveform diagram obtained during the operation of the washing machine by performing field weakening control on the motor of the washing machine by using the method in the embodiment.
As can be seen from a comparison between fig. 2 and fig. 3, the waveform output by the method provided in this embodiment operates stably, the motor parameter of the conventional PID control method is kept unchanged from the motor start operation to the maximum field weakening rotation speed, and this method with unchanged motor parameter is more suitable for the BLDC motor field with low rotation speed, but when the BLDC is operated at high speed, for example, above 20000 rpm, disadvantages, such as stall, motor waveform fluctuation, and motor heating, may occur.
Fig. 4 is a flowchart illustrating a field weakening control method of a motor of a washing machine according to another exemplary embodiment. As shown in fig. 4, in an exemplary embodiment, the method may further include steps S410 to S450, which are described in detail as follows:
step S410: and acquiring initial PID (proportion integration differentiation) adjusting parameters and initial motor parameters preset in different rotating speed intervals.
In this embodiment, an initial PID adjustment parameter and an initial motor parameter are preset for different rotation speed intervals, and the initial PID adjustment parameter and the initial motor parameter may be parameters used when performing field weakening control by using a common PID, or parameters configured according to performance requirements of a washing machine motor.
Step S430: and adjusting the initial PID adjusting parameter and the initial motor parameter, and carrying out field weakening control on the washing machine motor through the adjusted initial PID adjusting parameter and the initial motor parameter until the current and the counter electromotive force of the washing machine motor in the corresponding rotating speed interval are stable.
The initial PID adjusting parameters and the initial motor parameters in different rotating speed intervals are repeatedly adjusted, if the initial PID adjusting parameter and the initial motor parameter in a rotating speed interval A are adjusted, by controlling the rotating speed of the washing machine motor to operate in the rotating speed interval A, during the period, the operation state of the washing machine can be changed for a plurality of times, such as full sense and half sense, and the initial PID adjusting parameter and the initial motor parameter in the rotating speed interval A are repeatedly adjusted, carrying out weak magnetic control on the motor through the initial PID adjusting parameter and the initial motor parameter in the adjusted rotating speed interval A, collecting data or waveforms of current and back electromotive force in the whole control process, and carrying out training analysis for many times until the initial PID adjusting parameter and the initial motor parameter in the adjusted rotating speed interval A carry out weak magnetic control on the motor so that the data or waveforms of the current and the back electromotive force tend to be stable.
Step S450: and taking the adjusted initial PID adjusting parameter and initial motor parameter as the PID adjusting parameter and motor parameter of the corresponding rotating speed interval.
In this embodiment, the initial PID adjustment parameter and the initial motor parameter in the adjusted rotation speed interval a, which are obtained in step S430 and make the data or waveform of the current and the counter electromotive force tend to be stable, are used as the PID adjustment parameter and the motor parameter of the corresponding rotation speed interval, and then the motor whose rotation speed is in the rotation speed interval can be subjected to flux weakening control through the PID adjustment parameter and the motor parameter of the rotation speed interval.
In this embodiment, the PID adjustment parameters and the motor parameters that are more scientifically adapted to the corresponding rotation speed interval can be set for different rotation speed intervals by the above method, so that PID adjustment can be performed on the motor in the corresponding rotation speed interval more accurately by the PID adjustment parameters and the motor parameters, so that the weak magnetic control can be performed on the motor of the washing machine adaptively no matter the motor is in the low rotation speed stage or the high rotation speed stage, the problems of heating fluctuation and the like caused by the high-speed operation of the motor of the washing machine can be searched, and the stability of the motor can be improved.
Fig. 5 is a flowchart of step S130 in an exemplary embodiment in the embodiment shown in fig. 1. As shown in fig. 5, in an exemplary embodiment, the process of extracting the client characteristics according to the client information in step S130, and performing PID adjustment according to the PID adjustment parameter and the motor parameter preset in the rotation speed interval where the target rotation speed is located to obtain the output parameter may include steps S510 to S550, which are described in detail as follows:
step S510: and acquiring PID (proportion integration differentiation) adjusting parameters and motor parameters preset in a rotating speed interval where the target rotating speed is located.
In this embodiment, after the rotation speed interval where the target rotation speed is located is obtained, preset PID adjustment parameters and motor parameters are obtained from the rotation speed interval, where the motor parameters include direct axis inductance, quadrature axis inductance, and back electromotive force constant of the washing machine motor.
Step S530: and carrying out PID regulation according to the direct axis inductance, the quadrature axis inductance and the PID regulation parameter to obtain a current parameter.
In this embodiment, PID adjustment is performed on the direct axis inductance, quadrature axis inductance, and PID adjustment parameters to obtain current parameters, and the current parameters act on the washing machine motor.
Step S550: and carrying out PID adjustment according to the back electromotive force constant and the PID adjustment parameter to obtain the back electromotive force parameter.
In this embodiment, the current parameter and the back electromotive force parameter are used as output parameters. And carrying out PID adjustment on the counter electromotive force constant according to the PID adjustment parameter to obtain the PID adjusted counter electromotive force constant, wherein for the washing machine motor, the counter electromotive force constant is related to the counter electromotive force, the counter electromotive force parameter can be obtained by calculating the PID adjusted counter electromotive force constant and other motor parameters, and then the counter electromotive force parameter is used as an output parameter to act on the washing machine motor.
In this embodiment, the direct axis inductance, quadrature axis inductance, and back electromotive force constant of the washing machine motor are subjected to PID adjustment according to PID adjustment parameters in a corresponding rotation speed interval to obtain back electromotive force parameters and current parameters, and the back electromotive force parameters and the current parameters are used as output parameters to perform field weakening control on the washing machine motor.
Fig. 6 is a flowchart of step S530 in an exemplary embodiment in the embodiment shown in fig. 5. As shown in fig. 6, in an exemplary embodiment, the PID adjustment is performed according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter in step S530, and the process of obtaining the current parameter may include steps S610 to S650, which are described in detail as follows:
step S610: and carrying out PID (proportion integration differentiation) adjustment processing on the direct-axis inductor according to the PID adjustment parameters to obtain the adjusted target direct-axis inductor.
In the step, after the PID adjusting parameter and the direct axis inductance are obtained, the PID adjustment is carried out on the direct axis inductance through the PID adjusting parameter, and the adjusted target direct axis inductance is obtained.
Step S630: and carrying out PID (proportion integration differentiation) adjustment processing on the quadrature axis inductance according to the PID adjustment parameter to obtain the adjusted target quadrature axis inductance.
In the step, after the PID adjusting parameter and the quadrature axis inductance are obtained, PID adjustment is performed on the quadrature axis inductance through the PID adjusting parameter, and the adjusted target quadrature axis inductance is obtained.
Step S650: and calculating to obtain a current parameter according to the target direct axis inductance and the target quadrature axis inductance.
For the washing machine motor, the quadrature axis inductance and the direct axis inductance are both related to the current of the washing machine motor, so that the current parameter can be obtained by calculating the target direct axis inductance, the target quadrature axis inductance and other parameters of the washing machine motor, and the washing machine motor can be controlled by the current parameter.
In the embodiment, the direct-axis inductor and the quadrature-axis inductor are respectively subjected to PID adjustment to obtain two adjusted inductance parameters, then the current parameter is calculated according to the inductance, and the current parameter is used for carrying out field weakening control on the washing machine motor which runs in the corresponding rotating speed interval, so that the stability of the motor is improved.
Fig. 7 is a flowchart illustrating a field weakening control method of a motor of a washing machine according to another exemplary embodiment. As shown in FIG. 7, in an exemplary embodiment, the method may include steps S710 through S730, which are described in detail below
Step S710: and acquiring the initial rotating speed of the washing machine motor after the washing machine motor enters a field weakening state and the highest rotating speed of the washing machine motor in a working state.
In this embodiment, the initial rotation speed of the washing machine motor after entering the field weakening state is obtained, and if the washing machine motor enters the field weakening rotation state when the rotation speed of the washing machine motor reaches 400 revolutions, the initial rotation speed is 400 revolutions; and simultaneously acquiring data when the rotating speed of the washing machine reaches the highest rotating speed, wherein if the rotating speed of the washing machine is the highest when the washing machine is used for dewatering and reaches 2500 revolutions, the rotating speed is the highest rotating speed when the rotating speed is 2500 revolutions.
Step S730: different speed intervals are determined between the initial speed and the maximum speed.
After the initial rotating speed and the highest rotating speed are obtained, the washing machine is controlled to operate for multiple times, the rotating speed of the washing machine motor is controlled to be located in an interval formed by the initial rotating speed and the highest rotating speed, a current waveform of the washing machine motor during operation is obtained at the same time, a fluctuation point of the current waveform is obtained, the rotating speed corresponding to the fluctuation point is used as an interval end point, and different rotating speed intervals are obtained according to adjacent interval end points.
Specifically, if a plurality of fluctuation points such as C, D, e, and f exist in the obtained current waveform diagram, the rotation speeds corresponding to the plurality of fluctuation points such as C, D, e, and f are obtained, if the rotation speed corresponding to C, D, e, and f is C, D, E, F, the rotation speeds corresponding to two adjacent fluctuation points are taken as interval endpoints, the two interval endpoints form a rotation speed interval, and if C and D are adjacent fluctuation points, the corresponding C and D are adjacent interval endpoints, then C and D can form a rotation speed interval.
In the embodiment, the fluctuation points in the current waveform are obtained, and the rotating speed corresponding to the fluctuation points is used as the interval end point, so that a plurality of rotating speed intervals are obtained.
Fig. 8 is a schematic structural diagram illustrating a field weakening control device for a motor of a washing machine according to an exemplary embodiment. As shown in fig. 8, in an exemplary embodiment, the apparatus includes:
the rotating speed positioning module 810 is configured to acquire a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time and acquire a rotating speed interval where the target rotating speed is located;
the PID adjusting module 830 is configured to perform PID adjustment according to a PID adjusting parameter and a motor parameter preset in a rotating speed interval where the target rotating speed is located, so as to obtain an output parameter;
and a weak magnetic control module 850 configured to perform weak magnetic control on the washing machine motor according to the output parameter.
In this embodiment, through the washing machine motor weak magnetism controlling means of above-mentioned structure, can realize the accurate control to the washing machine motor, reduce the motor and generate heat, reduce motor running noise, improve the stability of washing machine motor.
In one embodiment, the washing machine motor field weakening control device further comprises: the initial parameter acquisition module is configured to acquire initial PID adjustment parameters and initial motor parameters preset in different rotating speed intervals;
the initial parameter adjusting module is configured to adjust an initial PID adjusting parameter and an initial motor parameter, and carry out weak magnetic control on the washing machine motor through the adjusted initial PID adjusting parameter and the adjusted initial motor parameter until the current and the back electromotive force of the washing machine motor in a corresponding rotating speed interval are stable;
and the PID adjusting parameter and motor parameter acquiring module is configured to take the adjusted initial PID adjusting parameter and initial motor parameter as the PID adjusting parameter and motor parameter of the corresponding rotating speed interval.
In one embodiment, the PID adjustment module 830 includes:
the PID adjusting parameter and motor parameter acquiring unit is configured to acquire PID adjusting parameters and motor parameters preset in a rotating speed interval where the target rotating speed is located, wherein the motor parameters comprise direct axis inductance, quadrature axis inductance and a back electromotive force constant of a washing machine motor;
the current parameter acquisition unit is configured to perform PID adjustment according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter to obtain a current parameter;
and the back electromotive force parameter acquisition unit is configured to perform PID adjustment according to the back electromotive force constant and the PID adjustment parameter to obtain a back electromotive force parameter, so that the current parameter and the back electromotive force parameter are used as output parameters.
In one embodiment, the current parameter acquiring unit includes:
the target direct-axis inductance obtaining plate is configured to perform PID (proportion integration differentiation) adjustment processing on the direct-axis inductance according to the PID adjustment parameters to obtain the adjusted target direct-axis inductance;
the target quadrature axis inductance obtaining plate is configured to perform PID (proportion integration differentiation) adjustment processing on the quadrature axis inductance according to the PID adjustment parameters to obtain the adjusted target quadrature axis inductance;
and the current parameter acquisition board is configured to calculate and obtain a current parameter according to the target direct axis inductance and the target quadrature axis inductance.
In one embodiment, the back electromotive force parameter acquisition unit includes:
the target back electromotive force constant acquisition plate is configured to perform PID (proportion integration differentiation) adjustment on the back electromotive force constant according to the PID adjustment parameters to acquire an adjusted target back electromotive force constant;
and the back electromotive force parameter acquisition plate is configured to calculate back electromotive force parameters through a target back electromotive force constant.
In one embodiment, the washing machine motor field weakening control device further comprises:
the washing machine comprises an initial rotating speed and maximum rotating speed acquisition module, a control module and a control module, wherein the initial rotating speed and the maximum rotating speed acquisition module are configured to acquire the initial rotating speed of a washing machine motor after the washing machine motor enters a field weakening state and the maximum rotating speed of the washing machine motor in a working state;
the rotating speed interval obtaining module is configured to determine different rotating speed intervals between the initial rotating speed and the highest rotating speed.
In one embodiment, the rotation speed interval obtaining module includes:
a current waveform obtaining unit configured to obtain current waveforms of the washing machine at different rotation speeds;
and the rotating speed interval acquisition unit is configured to acquire a fluctuation point of the current waveform, take the rotating speed corresponding to the fluctuation point as an interval endpoint, and obtain different rotating speed intervals according to adjacent interval endpoints.
It should be noted that the apparatus provided in the above embodiment and the method for controlling field weakening of the motor of the washing machine provided in the above embodiment belong to the same concept, wherein the specific manner for each module and unit to perform operations has been described in detail in the method embodiment, and is not described herein again.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the foregoing field weakening control method of a washing machine motor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
It should be noted that the computer readable storage medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device performs the field weakening control method of the motor of the washing machine provided in the above-described embodiments.
The above description is only a preferred exemplary embodiment of the present application, and is not intended to limit the embodiments of the present application, and those skilled in the art can easily make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A field weakening control method of a washing machine motor is characterized by comprising the following steps:
acquiring a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time, and acquiring a rotating speed interval where the target rotating speed is located;
carrying out PID adjustment according to a PID adjustment parameter and a motor parameter preset in a rotating speed interval in which the target rotating speed is located to obtain an output parameter;
and carrying out weak magnetic control on the washing machine motor according to the output parameters.
2. The method of claim 1, further comprising:
acquiring initial PID (proportion integration differentiation) adjusting parameters and initial motor parameters preset in different rotating speed intervals;
adjusting the initial PID adjusting parameter and the initial motor parameter, and carrying out field weakening control on the washing machine motor through the adjusted initial PID adjusting parameter and the initial motor parameter until the current and the counter electromotive force of the washing machine motor in the corresponding rotating speed interval are stable;
and taking the adjusted initial PID adjusting parameter and initial motor parameter as the PID adjusting parameter and motor parameter of the corresponding rotating speed interval.
3. The method according to claim 1, wherein performing PID adjustment according to PID adjustment parameters and motor parameters preset in a rotation speed interval where the target rotation speed is located to obtain output parameters comprises:
acquiring PID (proportion integration differentiation) adjusting parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, wherein the motor parameters comprise direct-axis inductance, quadrature-axis inductance and a back electromotive force constant of a washing machine motor;
carrying out PID adjustment according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter to obtain a current parameter;
and carrying out PID adjustment according to the back electromotive force constant and the PID adjustment parameter to obtain a back electromotive force parameter, and taking the current parameter and the back electromotive force parameter as the output parameters.
4. The method according to claim 3, wherein the performing PID adjustment according to the direct axis inductance, the quadrature axis inductance, and the PID adjustment parameter to obtain a current parameter comprises:
carrying out PID adjustment processing on the direct axis inductance according to the PID adjustment parameter to obtain an adjusted target direct axis inductance;
carrying out PID adjustment processing on the quadrature axis inductance according to the PID adjustment parameter to obtain an adjusted target quadrature axis inductance;
and calculating to obtain the current parameter according to the target direct axis inductance and the target quadrature axis inductance.
5. The method according to claim 3, wherein the performing PID adjustment according to the back EMF constant and the PID adjustment parameter to obtain a back EMF parameter comprises:
carrying out PID adjustment on the back electromotive force constant according to the PID adjustment parameter to obtain an adjusted target back electromotive force constant;
and calculating the back electromotive force parameter according to the target back electromotive force constant.
6. The method of claim 1, further comprising:
acquiring the initial rotating speed of the washing machine motor after the washing machine motor enters a field weakening state and the highest rotating speed of the washing machine motor in a working state;
different speed intervals are determined between the initial speed and the maximum speed.
7. The method of claim 6, wherein said determining different speed intervals between said initial speed and said maximum speed comprises:
acquiring current waveforms of the washing machine at different rotating speeds;
and acquiring a fluctuation point of the current waveform, taking the rotating speed corresponding to the fluctuation point as an interval endpoint, and acquiring different rotating speed intervals according to adjacent interval endpoints.
8. A washing machine motor field weakening control device is characterized by comprising:
the rotating speed positioning module is configured to acquire a target rotating speed of the washing machine motor after the washing machine motor enters a field weakening state in real time and acquire a rotating speed interval where the target rotating speed is located;
the PID adjusting module is configured to perform PID adjustment according to a PID adjusting parameter and a motor parameter preset in a rotating speed interval where the target rotating speed is located to obtain an output parameter;
and the weak magnetic control module is configured to perform weak magnetic control on the washing machine motor according to the output parameters.
9. A washing machine, characterized by comprising:
a motor for controlling the washing machine to work;
a controller for performing the method of any one of claims 1-7 for field weakening control of the electrical machine.
10. A computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, cause the computer to perform the method of any one of claims 1-7.
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