CN113737451B - 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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- CN113737451B CN113737451B CN202111103385.0A CN202111103385A CN113737451B CN 113737451 B CN113737451 B CN 113737451B CN 202111103385 A CN202111103385 A CN 202111103385A CN 113737451 B CN113737451 B CN 113737451B
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- 238000005406 washing Methods 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000003313 weakening effect Effects 0.000 claims abstract description 38
- 230000004907 flux Effects 0.000 claims description 15
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 abstract description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000004069 differentiation Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000644 propagated effect Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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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 motor of a washing machine, the 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 motor enters a weak magnetic state in real time, and acquiring a rotating speed interval in which the target rotating speed is located; PID adjustment is carried out according to PID adjustment parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, and output parameters are obtained; and performing field weakening control on the motor of the washing machine according to the output parameters. The technical scheme of the embodiment of the application can perform field weakening control on the washing machine motor, reduce the heating condition of the washing machine motor caused by high-speed operation and improve the stability of the washing machine motor.
Description
Technical Field
The application relates to the technical field of motor drive control, in particular to a weak magnetic control method and device for a motor of a washing machine, the washing machine and a storage medium.
Background
The brushless direct current motor (BLDC) replaces a mechanical commutator with an electronic commutator, has the characteristics of good speed regulation performance and the like of the direct current motor, and has the advantages of simple structure, reliable operation and the like of the alternating current motor, thereby being the first choice of motor driving components of the washing machine.
The BLDC motor in the washing machine has a relatively wide high-speed operation range when in operation, for example, when the BLDC motor is operated to 20000 revolutions or more, 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, magnetic materials and the like, so that the stability and reliability of the whole motor control system are reduced, the heat of the motor is increased, and the working noise of the washing machine is increased. In the face of the above situation, the motor can be controlled by adopting a high-speed weak magnetic control technology, so that the stable, efficient and low-noise operation of the washing machine is realized.
The common field weakening control method has PID (closed loop control) control, and the principle is to correct according to output feedback of a control object, and correct according to a quota or standard when the actual deviation from a plan is measured. However, the current PID controller has strong dependence on the parameters of the BLDC motor, and the BLDC motor in the washing machine has very fast dynamic change during operation, and the common PID controller cannot adapt to the fast dynamic change of the motor, so the current PID controller has weak adjustment capability on the BLDC motor in the washing machine and poor control effect.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the application provides a weak magnetic control method, a weak magnetic control device, weak magnetic control equipment and a weak magnetic control storage medium for a motor of a washing machine, and the stability and the reliability of the operation of the motor in the washing machine are improved.
Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.
According to one aspect of an embodiment of the present application, a weak magnetic control method for a motor of a washing machine includes: acquiring a target rotating speed of the washing machine motor after the motor enters a weak magnetic state in real time, and acquiring a rotating speed interval in which the target rotating speed is located; PID adjustment is carried out according to PID adjustment parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, and output parameters are obtained; and performing field weakening control on the motor of the washing machine according to the output parameters.
In an embodiment, the method further comprises:
Acquiring initial PID adjusting parameters and initial motor parameters preset in different rotating speed intervals;
Adjusting the initial PID adjusting parameters and the initial motor parameters, and performing flux weakening control on the washing machine motor through the adjusted initial PID adjusting parameters and initial motor parameters until the current and counter electromotive force of the washing machine motor in the corresponding rotating speed interval are stable;
And taking the adjusted initial PID adjusting parameters and the adjusted initial motor parameters as PID adjusting parameters and motor parameters of the corresponding rotating speed interval.
In an embodiment, the 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 an output parameter includes:
Obtaining PID regulation parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, wherein the motor parameters comprise a direct axis inductance, a quadrature axis inductance and a back electromotive force constant of the motor of the washing machine;
PID adjustment is carried out according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter, so that a current parameter is obtained;
and PID regulation is carried out according to the counter electromotive force constant and the PID regulation parameter to obtain a counter electromotive force parameter, and the current parameter and the counter electromotive force parameter are used as the output parameter.
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:
PID adjustment processing is carried out on the direct-axis inductance according to the PID adjustment parameters, and an adjusted target direct-axis inductance is obtained;
PID adjustment processing is carried out on the quadrature axis inductance according to the PID adjustment parameters, and an adjusted target quadrature axis inductance is obtained;
And calculating 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 the back electromotive force parameter includes:
PID adjustment is carried out on the counter electromotive force constant according to the PID adjustment parameters, and an adjusted target counter electromotive force constant is obtained;
And calculating the back electromotive force parameter through the target back electromotive force constant.
In an embodiment, the method further comprises:
Acquiring an initial rotating speed of the washing machine motor after the washing machine motor enters a weak magnetic state and a highest rotating speed of the washing machine motor when the washing machine motor is in a working state;
a different rotational speed interval is determined between the initial rotational speed and the maximum rotational speed.
In an embodiment, said determining a different speed interval between said initial speed and said highest 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 obtaining different rotating speed intervals according to the adjacent interval endpoints.
According to an aspect of an embodiment of the present application, there is provided a field weakening control device 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 in a weak magnetic state in real time and acquire a rotating speed interval in which the target rotating speed is located; the PID regulation module is configured to carry out PID regulation according to a PID regulation parameter preset 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 motor of the washing machine 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 weak magnetic control method of the motor of the washing machine and carrying out weak magnetic control on the motor.
According to an aspect of an embodiment 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 perform the washing machine motor flux weakening control method as described above.
According to an aspect of embodiments of the present application, 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 performs the weak magnetic control method of the washing machine motor provided in the above various alternative embodiments.
In the technical scheme provided by the embodiment of the application, the interval of the motor rotation speed is obtained in real time, the PID regulation is carried out according to the PID regulation parameter and the motor parameter preset in the interval of the motor rotation speed to carry out the weak magnetic control on the motor, and the stability of the motor control is greatly improved, the heating and the noise of the motor are effectively reduced, and the reliability of the motor is improved through the interval control on the rotation speed of the motor after entering the weak magnetic state.
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 as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
fig. 1 is a flowchart illustrating a weak magnetic control method of a motor of a washing machine according to an exemplary embodiment of the present application;
FIG. 2 is a graph of current waveforms obtained by a PID flux weakening control method in the prior art;
FIG. 3 is a waveform diagram of current obtained by the field weakening control method of the washing machine motor of the present application;
Fig. 4 is a flowchart illustrating a weak magnetic 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 flow chart of step S530 in an exemplary embodiment in the embodiment shown in FIG. 5;
Fig. 7 is a flowchart illustrating a weak magnetic control method of a motor of a washing machine according to another exemplary embodiment of the present application;
fig. 8 is a schematic structural view of a weak magnetic control device for a motor of a washing machine according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they 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 order of actual execution may be changed according to actual situations.
Also to be described is: in the present application, the term "plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
At present, a brushless direct current motor is often configured in a washing machine, and the brushless direct current motor has good speed regulation performance and simple structure, but also has the problems of motor heating, overlarge vibration noise, reduced stability of the washing machine and the like 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 performing field weakening control on the motor. Specifically, the washing machine can be a drum washing machine, a stirring washing machine and the like, the motor is a BLDC motor, when the washing machine needs to work, the motor is driven, after 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, and according to different preset rotating speed intervals where the rotating speed is located, PID adjustment parameters and motor parameters preset in the corresponding rotating speed intervals are obtained to carry out PID adjustment, so that output parameters are obtained, and weak magnetic control is carried out on the motor through the output parameters.
In this embodiment, the controller is used for carrying out field weakening control on the motor, so that stability and reliability of the motor in the working process are improved, vibration noise is reduced, heating of the motor is reduced, and service life and service experience of the washing machine are improved.
Fig. 1 is a flowchart illustrating a weak magnetic 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 flux 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 entering the field weakening state in real time, and acquiring a rotating speed interval in which the target rotating speed is located.
The washing machine can be a drum washing machine or a stirring washing machine, and 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 weak magnetic state is carried out, and of course, other rotating speeds can also 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, and when the motor enters a field weakening state, the 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, and the rotation speed interval in which the target rotation speed is located is determined.
If the obtained target rotation speed is a, comparing the target rotation speed a with a plurality of rotation speed intervals to obtain that the target rotation speed a is positioned in the rotation speed interval A, and if the target rotation speed obtained at another moment is B, comparing the target rotation speed B with a plurality of rotation speed intervals to obtain that the target rotation speed B is positioned in the rotation speed interval B.
Step S130: and performing PID regulation according to the preset PID regulation parameters and motor parameters in the rotating speed interval where the target rotating speed is located, and obtaining output parameters.
In this embodiment, after a rotation speed interval in which the target rotation speed is located is obtained, a preset PID adjustment parameter and a motor parameter are extracted from the rotation speed interval, and PID adjustment is performed through the PID adjustment parameter and the motor parameter, so as to obtain an output parameter.
Specifically, different PID adjustment parameters and motor parameters are preset in different rotating speed intervals, and when the rotating speed interval in which the target rotating speed is located is determined, the PID adjustment parameters and motor parameters in the corresponding rotating speed interval are extracted for PID adjustment, so that output parameters are obtained.
The PID regulation is a control mode for correcting according to the output feedback of a control object, and corrects according to a quota or a standard when the deviation between the actual and the planned is measured, and the proportion (P), the integral (I) and the derivative (D) of the deviation of the PID regulation parameter related to the PID regulation are carried out, wherein the PID regulation method comprises the following steps:
Wherein K p is proportional gain, which is in inverse relation to the proportionality, T t is integral time constant, T D is differential time constant, u (T) is output signal, and 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 motor parameters of different rotation speed intervals to obtain output parameters, that is, the parameters used for PID adjustment are different for different rotation speed intervals.
Step S150: and performing flux weakening control on the motor of the washing machine according to the output parameters.
And (3) inputting the output parameters obtained in the step S130 into a motor of the washing machine, and performing field weakening control on the motor of the washing machine.
In this embodiment, a target rotation speed of a motor of a washing machine is first obtained, a rotation speed interval in which the target rotation speed is located is determined according to the difference of the target rotation speeds, and then PID adjustment is performed through a preset PID adjustment parameter and a motor parameter in the rotation speed interval to obtain an output parameter, and the motor of the washing machine is subjected to flux weakening control through the output parameter. According to the method, the numerical values of PID regulation are different according to different rotation speeds of the washing machine motor, the problem that the existing PID controller has strong dependence on parameters of the BLDC motor and cannot adapt to rapid dynamic change of the motor is effectively avoided, the accurate control of the motor can be greatly improved, the heating of the motor is reduced, the stability and the reliability of the motor are improved, and meanwhile, the noise of the washing machine during working can be correspondingly reduced due to the improvement of the stability of the motor.
Referring to fig. 2 and 3, fig. 2 and 3 are current waveforms of the motor of the washing machine obtained by different flux weakening control methods under the same environment. Wherein, FIG. 2 is a diagram of current waveform 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 waveform diagram of current obtained during operation of the washing machine by performing field weakening control on the motor of the washing machine using the method of the present embodiment.
As can be seen from comparing fig. 2 with fig. 3, the waveform output by the method provided in this embodiment operates steadily, and the motor parameter of the common PID control method is kept unchanged from the start operation of the motor to the maximum rotation speed of the field-weakening magnet, but the method with unchanged motor parameter is applicable to the field of the field-weakening magnet motor with low rotation speed, but when the field-weakening magnet is operated at high speed, for example, over 20000 revolutions, the method in this embodiment can generate defects, such as stall, waveform fluctuation of the motor, heating of the motor, and the like.
Fig. 4 is a flowchart illustrating a weak magnetic 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 below:
Step S410: and acquiring initial PID 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, where the initial PID adjustment parameter and the initial motor parameter may be parameters that are commonly used in performing field weakening control by using a PID, or may be parameters that are configured according to performance requirements of a motor of a washing machine.
Step S430: and adjusting the initial PID adjusting parameter and the initial motor parameter, and performing flux 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 repeatedly adjusting initial PID adjusting parameters and initial motor parameters in different rotating speed intervals, such as adjusting the initial PID adjusting parameters and the initial motor parameters in a rotating speed interval A, operating in the rotating speed interval A by controlling the rotating speed of the motor of the washing machine, changing the operating state of the washing machine for a plurality of times during the period, such as full sense half sense and the like, simultaneously repeatedly adjusting the initial PID adjusting parameters and the initial motor parameters in the rotating speed interval A, performing flux weakening control on the motor by the adjusted initial PID adjusting parameters and the initial motor parameters in the rotating speed interval A, collecting data or waveforms of current and counter electromotive force in the whole control process, and performing training analysis for a plurality of times until the data or waveforms of the current and the counter electromotive force tend to be stable by performing flux weakening control on the motor by the adjusted initial PID adjusting parameters and the initial motor parameters in the rotating speed interval A.
Step S450: and taking the adjusted initial PID adjusting parameters and the adjusted initial motor parameters as PID adjusting parameters and motor parameters of the corresponding rotating speed interval.
In this embodiment, the initial PID adjustment parameters and the initial motor parameters in the adjusted rotation speed interval a obtained in step S430, in which the data or waveform of the current and the counter electromotive force tend to be stable, are used as the PID adjustment parameters and the motor parameters of the corresponding rotation speed interval, and the motor with the rotation speed of the motor in the rotation speed interval can be subjected to flux weakening control through the PID adjustment parameters and the motor parameters of the rotation speed interval.
In this embodiment, the PID adjustment parameters and motor parameters that are more scientifically adapted to the corresponding rotation speed intervals can be set for different rotation speed intervals by the method, so that PID adjustment can be performed for the motor in the corresponding rotation speed interval more accurately by the PID adjustment parameters and motor parameters, the weak magnetic control can be performed on the washing machine motor adaptively no matter the motor is in a low rotation speed stage or a high rotation speed stage, the problems of heating fluctuation and the like caused by searching the washing machine motor in high-speed operation can be solved, and the stability of the motor can be improved.
Fig. 5 is a flowchart of step S130 in an exemplary embodiment of the embodiment shown in fig. 1. As shown in fig. 5, in an exemplary embodiment, in step S130, customer characteristics are extracted according to customer information, and PID adjustment is performed according to PID adjustment parameters and motor parameters preset in a rotation speed interval in which a target rotation speed is located, and a process of obtaining output parameters may include steps S510 to S550, which are described in detail below:
step S510: and acquiring a PID regulating parameter and a motor parameter preset in a rotating speed interval in which the target rotating speed is positioned.
In this embodiment, after a rotation speed interval in which the target rotation speed is located is obtained, a preset PID adjustment parameter and a motor parameter are obtained from the rotation speed interval, where the motor parameter includes a direct axis inductance, a quadrature axis inductance, and a back electromotive force constant of the motor of the washing machine.
Step S530: and PID adjustment is carried out according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameters, so that current parameters are obtained.
In this embodiment, the direct-axis inductance, the quadrature-axis inductance, and the PID adjustment parameters are PID-adjusted to obtain current parameters that act on the motor of the washing machine.
Step S550: and PID adjustment is carried out according to the counter electromotive force constant and the PID adjustment parameter, so that the counter electromotive force parameter is obtained.
In this embodiment, the current parameter and the counter electromotive force parameter are taken as output parameters. And PID regulating the counter electromotive force constant according to the PID regulating parameter to obtain a PID regulated counter electromotive force constant, wherein the counter electromotive force constant is related to the counter electromotive force for the motor of the washing machine, the counter electromotive force parameter can be obtained through calculation of the PID regulated 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 motor of the washing machine.
In this embodiment, the counter electromotive force parameter and the current parameter are obtained by performing PID adjustment on the direct axis inductance, the quadrature axis inductance and the counter electromotive force constant of the motor of the washing machine according to the PID adjustment parameters in the corresponding rotation speed interval, and the counter electromotive force parameter and the current parameter are used as output parameters to perform field weakening control on the motor of the washing machine.
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 parameters in step S530, and the process of obtaining the current parameter may include steps S610 to S650, which are described in detail below:
step S610: and performing PID adjustment processing on the direct-axis inductance according to the PID adjustment parameters to obtain an adjusted target direct-axis inductance.
In the step, after PID adjustment parameters and the direct-axis inductance are obtained, PID adjustment is carried out on the direct-axis inductance through the PID adjustment parameters, and the adjusted target direct-axis inductance is obtained.
Step S630: and performing PID adjustment processing on the quadrature axis inductance according to the PID adjustment parameters to obtain the adjusted target quadrature axis inductance.
In the step, after PID adjustment parameters and the quadrature axis inductance are obtained, PID adjustment is carried out on the quadrature axis inductance through the PID adjustment parameters, and the adjusted target quadrature axis inductance is obtained.
Step S650: and calculating according to the target direct axis inductance and the target quadrature axis inductance to obtain a current parameter.
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 this embodiment, PID adjustment is performed on the direct axis inductance and the quadrature axis inductance, so as to obtain two adjusted inductance parameters, and then a current parameter is calculated according to the inductance, so that the weak magnetic control is performed on the washing machine motor running in the corresponding rotation speed interval through the current parameter, and the stability of the motor is improved.
Fig. 7 is a flowchart illustrating a weak magnetic 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, described in detail below
Step S710: the initial rotating speed of the washing machine motor after entering the field weakening state and the highest rotating speed of the washing machine motor when the washing machine motor is in the working state are obtained.
In the embodiment, an initial rotating speed of the washing machine motor after entering the weak magnetic state is obtained, if the rotating speed of the washing machine motor reaches 400 revolutions, the washing machine motor enters the weak magnetic state, and the initial rotating speed is 400 revolutions; and meanwhile, acquiring data when the rotating speed of the washing machine reaches the highest rotating speed, wherein the rotating speed is highest when the washing machine is dehydrated, and the rotating speed reaches 2500 revolutions, so that the 2500 revolutions are the highest rotating speed.
Step S730: different rotational speed intervals are determined between the initial rotational speed and the maximum rotational speed.
After the initial rotating speed and the highest rotating speed are obtained, the washing machine is controlled to operate for a plurality of times, the rotating speed of the washing machine motor is controlled to be located in a section formed by the initial rotating speed and the highest rotating speed, meanwhile, a current waveform of the washing machine motor during operation is obtained, a fluctuation point of the current waveform is obtained, the rotating speed corresponding to the fluctuation point is used as a section end point, and different rotating speed sections are obtained according to the adjacent section end points.
Specifically, if a plurality of fluctuation points such as C, D, e, f exist in the obtained current waveform diagram, the rotation speeds corresponding to the plurality of fluctuation points such as C, D, e, f are obtained, if the rotation speed corresponding to C, D, e, f is C, D, E, F, the rotation speeds corresponding to two adjacent fluctuation points are taken as interval end points, two interval end points form a rotation speed interval, if C and D are adjacent fluctuation points, the corresponding given C and D are adjacent interval end points, and C and D can form a rotation speed interval.
In this embodiment, by acquiring the fluctuation points in the current waveform and taking the rotation speeds corresponding to the fluctuation points as interval endpoints, a plurality of rotation speed intervals are obtained, and by the method, the rotation speed intervals can be scientifically and reasonably distributed, substrate data are provided for preset PID (proportion integration differentiation) adjustment parameters and motor parameters in different subsequent rotation speed intervals, and finally, the accurate control of the motor of the washing machine can be realized through the rotation speed intervals.
Fig. 8 is a schematic structural view illustrating a weak magnetic control device of a motor of a washing machine according to an exemplary embodiment. As shown in fig. 8, in an exemplary embodiment, the apparatus includes:
The rotation speed positioning module 810 is configured to acquire a target rotation speed of the washing machine motor after entering the weak magnetic state in real time, and acquire a rotation speed interval in which the target rotation speed is located;
the PID regulating module 830 is configured to perform PID regulation according to a PID regulating parameter and a motor parameter preset in a rotation speed interval where the target rotation speed is located, so as to obtain an output parameter;
the field weakening control module 850 is configured to perform field weakening control on the motor of the washing machine according to the output parameter.
In this embodiment, through the weak magnetic control device of the washing machine motor with the structure, the accurate control of the washing machine motor can be realized, the heating of the motor is reduced, the running noise of the motor is reduced, and the stability of the washing machine motor is improved.
In one embodiment, the weak magnetic control device of the washing machine motor 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 initial PID adjusting parameters and initial motor parameters, and performs flux weakening control on the washing machine motor through the adjusted initial PID adjusting parameters and initial motor parameters until the current and counter electromotive force of the washing machine motor in a corresponding rotating speed interval are stable;
and the PID regulation parameter and motor parameter acquisition module is configured to take the regulated initial PID regulation parameter and initial motor parameter as PID regulation parameter and motor parameter of the corresponding rotating speed interval.
In one embodiment, the PID adjustment module 830 includes:
The system comprises a PID (proportion integration differentiation) adjusting parameter and motor parameter obtaining unit, a motor parameter obtaining unit and a motor parameter obtaining unit, wherein the PID adjusting parameter and the motor parameter are preset in a rotating speed interval in which a target rotating speed is located, and the motor parameter comprises a direct axis inductance, a quadrature axis inductance and a back electromotive force constant of a motor of the washing machine;
The current parameter acquisition unit is configured to carry out PID adjustment according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameters to obtain current parameters;
And the counter electromotive force parameter acquisition unit is configured to carry out PID adjustment according to the counter electromotive force constant and the PID adjustment parameter to obtain the counter electromotive force parameter, and takes the current parameter and the counter electromotive force parameter as output parameters.
In one embodiment, the current parameter acquisition unit includes:
The target direct-axis inductance obtaining plate is configured to carry out PID (proportion integration differentiation) adjustment processing on the direct-axis inductance according to the PID adjustment parameters to obtain an adjusted target direct-axis inductance;
the target quadrature axis inductance obtaining plate is configured to carry out PID (proportion integration differentiation) adjustment processing on the quadrature axis inductance according to the PID adjustment parameters to obtain an adjusted target quadrature axis inductance;
And the current parameter acquisition plate 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 counter electromotive force constant acquisition plate is configured to carry out PID adjustment on the counter electromotive force constant according to the PID adjustment parameter to obtain an adjusted target counter electromotive force constant;
and a back electromotive force parameter acquisition block configured to calculate back electromotive force parameters from the target back electromotive force constant.
In one embodiment, the weak magnetic control device of the washing machine motor further comprises:
The initial rotating speed and maximum rotating speed acquisition module is configured to acquire the initial rotating speed of the washing machine motor after entering the weak magnetic state and the maximum rotating speed of the washing machine motor when the washing machine motor is in the working state;
the rotation speed interval acquisition module is configured to determine different rotation speed intervals between the initial rotation speed and the highest rotation speed.
In one embodiment, the rotation speed interval acquisition module includes:
a current waveform acquisition unit configured to acquire current waveforms of the washing machine at different rotational speeds;
and the rotating speed interval acquisition unit is configured to acquire the fluctuation point of the current waveform, take the rotating speed corresponding to the fluctuation point as an interval endpoint, and acquire different rotating speed intervals according to the adjacent interval endpoints.
It should be noted that, the apparatus provided in the above embodiment and the method for controlling field weakening of a washing machine motor provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated here.
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 a method of field weakening control of a washing machine motor as previously described. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone 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 thereof. 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 (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 context of this document, 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 the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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. A computer program embodied on a 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 washing machine motor provided in the above embodiments.
The foregoing is merely illustrative of the preferred embodiments 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 corresponding variations or modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be defined by the claims.
Claims (9)
1. A method for magnetically weakening control of a washing machine motor, comprising:
acquiring a target rotating speed of the washing machine motor after the motor enters a weak magnetic state in real time, and acquiring a rotating speed interval in which the target rotating speed is located;
PID adjustment is carried out according to PID adjustment parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, and output parameters are obtained;
Performing flux weakening control on the motor of the washing machine according to the output parameters;
The weak magnetic control method of the washing machine further comprises the following steps:
Acquiring initial PID adjusting parameters and initial motor parameters preset in different rotating speed intervals;
Adjusting the initial PID adjusting parameters and the initial motor parameters, and performing flux weakening control on the washing machine motor in different running states through the adjusted initial PID adjusting parameters and the initial motor parameters until the current and the counter electromotive force of the washing machine motor in the different running states in the corresponding rotating speed interval are stable;
And taking the adjusted initial PID adjusting parameters and the adjusted initial motor parameters as PID adjusting parameters and motor parameters of the corresponding rotating speed interval.
2. The method according to claim 1, wherein the performing PID adjustment according to the PID adjustment parameter and the motor parameter preset in the rotation speed interval in which the target rotation speed is located, to obtain an output parameter, includes:
Obtaining PID regulation parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is located, wherein the motor parameters comprise a direct axis inductance, a quadrature axis inductance and a back electromotive force constant of the motor of the washing machine;
PID adjustment is carried out according to the direct axis inductance, the quadrature axis inductance and the PID adjustment parameter, so that a current parameter is obtained;
and PID regulation is carried out according to the counter electromotive force constant and the PID regulation parameter to obtain a counter electromotive force parameter, and the current parameter and the counter electromotive force parameter are used as the output parameter.
3. The method according to claim 2, wherein performing PID adjustment according to the direct axis inductance, the quadrature axis inductance, and the PID adjustment parameter to obtain a current parameter comprises:
PID adjustment processing is carried out on the direct-axis inductance according to the PID adjustment parameters, and an adjusted target direct-axis inductance is obtained;
PID adjustment processing is carried out on the quadrature axis inductance according to the PID adjustment parameters, and an adjusted target quadrature axis inductance is obtained;
And calculating the current parameter according to the target direct axis inductance and the target quadrature axis inductance.
4. The method according to claim 2, wherein performing PID adjustment according to the back emf constant and the PID adjustment parameter to obtain a back emf parameter comprises:
PID adjustment is carried out on the counter electromotive force constant according to the PID adjustment parameters, and an adjusted target counter electromotive force constant is obtained;
And calculating the back electromotive force parameter through the target back electromotive force constant.
5. The method according to claim 1, wherein the method further comprises:
Acquiring an initial rotating speed of the washing machine motor after the washing machine motor enters a weak magnetic state and a highest rotating speed of the washing machine motor when the washing machine motor is in a working state;
a different rotational speed interval is determined between the initial rotational speed and the maximum rotational speed.
6. The method of claim 5, wherein said determining a different speed interval between said initial speed and said highest 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 obtaining different rotating speed intervals according to the adjacent interval endpoints.
7. A weak magnetic control device for a motor of a washing machine, comprising:
the rotating speed positioning module is configured to acquire a target rotating speed of the washing machine motor in a weak magnetic state in real time and acquire a rotating speed interval in which the target rotating speed is located;
The PID regulation module is configured to carry out PID regulation according to PID regulation parameters and motor parameters preset in a rotating speed interval in which the target rotating speed is positioned, so as to obtain output parameters;
the weak magnetic control module is configured to perform weak magnetic control on the motor of the washing machine according to the output parameters;
the weak magnetic control device of the washing machine motor 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 the initial PID adjusting parameters and the initial motor parameters, and performs flux weakening control on the washing machine motor in different running states through the adjusted initial PID adjusting parameters and the initial motor parameters until the current and counter electromotive force of the washing machine motor in the corresponding rotating speed interval in the different running states are stable;
and the PID regulation parameter and motor parameter acquisition module is configured to take the regulated initial PID regulation parameter and initial motor parameter as PID regulation parameter and motor parameter of the corresponding rotating speed interval.
8. A washing machine, comprising:
a motor for controlling the washing machine to work;
A controller for performing the method of any one of claims 1-6, for field weakening control of the motor.
9. A computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any of claims 1-6.
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