CN114337404B - DC motor control method, air conditioner and computer readable storage medium - Google Patents

Abstract

The invention discloses a direct current motor control method, an air conditioner and a computer-readable storage medium. The direct current motor control method comprises: S1, receiving the final target speed value of the motor; S2, obtaining the current target speed value according to the speed curve; S3, obtaining the time period for calculating the motor speed according to the final target speed value and the current target speed value; S4, obtaining the motor feedback pulse count value, and obtaining the average speed value of the motor within the time period for calculating the motor speed according to the motor feedback pulse count value; S5, obtaining the speed regulation duty ratio corresponding to the current target speed value according to the current target speed value and the average speed value to drive the motor; S6, determining that the motor speed reaches the current target speed value, assigning the current target speed value to the current speed of the motor, and returning to step S2 until the motor speed reaches the final target speed value. The method can improve the dynamic response capability of the motor and improve the accuracy and stability in the motor speed regulation process.

Description

DC motor control method, air conditioner and computer readable storage medium

Technical Field

The present invention relates to the technical field of direct current motors, and in particular to a direct current motor control method, an air conditioner and a computer-readable storage medium.

Background technique

In the related art, for the speed control of a DC motor, a fixed time period is used to calculate the current speed of the motor, and the current speed is directly compared with the final target speed value, and the size of the output speed control duty cycle is adjusted according to the comparison result. However, since a fixed time period is used to calculate and adjust the speed, the calculated speed is actually the average speed within the fixed time period. Therefore, in the case of high dynamic requirements for acceleration or deceleration, the accuracy of the output speed will be affected.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a DC motor control method, which can improve the dynamic response capability of the motor and improve the accuracy and stability of the motor speed regulation process.

A second object of the present invention is to provide an air conditioner.

A third objective of the present invention is to provide a computer-readable storage medium.

In order to solve the above problems, the first aspect of the present invention provides a DC motor control method, including: S1, receiving the final target speed value of the motor; S2, obtaining the current target speed value according to the speed curve; S3, obtaining the time period for calculating the motor speed according to the final target speed value and the current target speed value; S4, obtaining the motor feedback pulse count value, and obtaining the average speed value of the motor within the time period for calculating the motor speed according to the motor feedback pulse count value; S5, obtaining the speed regulation duty ratio corresponding to the current target speed value according to the current target speed value and the average speed value to drive the motor; S6, determining that the motor speed reaches the current target speed value, assigning the current target speed value to the current speed of the motor, and returning to step S2 until the motor speed reaches the final target speed value.

According to the DC motor control method of the embodiment of the present invention, when the motor speed is adjusted, the final target speed value and the current target speed value are used to obtain the time period for calculating the motor speed. That is to say, the determination of the time period for calculating the motor speed is related to the final target speed value and the current target speed value, and the time period for calculating the motor speed is not uniquely fixed. Then, the average speed value of the motor is calculated based on the motor feedback pulse count value within the time period for calculating the motor speed. Compared with the method of calculating the average speed value of the motor using a fixed time period, the dynamic response capability of the motor can be improved according to the dynamic requirements of the motor, thereby improving the accuracy and stability of the motor speed regulation process.

In some embodiments, obtaining the time period for calculating the motor speed based on the final target speed value and the current target speed value includes: calculating the speed difference between the final target speed of the motor and the current target speed value; and obtaining the time period for calculating the motor speed based on the speed difference.

In some embodiments, obtaining the time period for calculating the motor speed based on the speed difference includes: determining that the speed difference is less than or equal to a preset speed threshold, and the time period for calculating the motor speed is a first time period; determining that the speed difference is greater than the preset speed threshold, and the time period for calculating the motor speed is a second time period, wherein the second time period is less than the first time period.

In some embodiments, the speed regulation duty ratio corresponding to the current target speed value is obtained based on the current target speed value and the average speed value, including: obtaining the target adjustment parameter based on the time period for calculating the motor speed; obtaining the speed regulation duty ratio corresponding to the current target speed value based on the current target speed value, the average speed value and the target adjustment parameter.

In some embodiments, obtaining the target adjustment parameter according to the time period for calculating the motor speed includes: determining that the time period for calculating the motor speed is the first time period, and the target adjustment parameter is the first adjustment parameter.

In some embodiments, obtaining the target adjustment parameter based on the time period for calculating the motor speed also includes: determining that the time period for calculating the motor speed is the second time period, then the target adjustment parameter is the second adjustment parameter, wherein the second adjustment parameter is different from the first adjustment parameter.

In some embodiments, the target adjustment parameters include a target proportional parameter and a target integral parameter, and the speed regulation duty cycle corresponding to the current target speed value is obtained according to the current target speed value, the average speed value and the target adjustment parameters, including: performing proportional integral calculation according to the current target speed value, the average speed value, the target proportional parameter and the target integral parameter to obtain the speed regulation duty cycle.

In some embodiments, the first time period is between 0.5s and 1s.

A second aspect of the present invention provides an air conditioner, comprising: at least one processor; a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and when the at least one processor executes the computer program, the DC motor control method described in the above embodiment is implemented.

According to the air conditioner of the embodiment of the present invention, the dynamic response capability of the motor can be improved, and the accuracy and stability of the motor speed regulation process can be improved by executing the DC motor control method provided by the above embodiment through the processor.

A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the DC motor control method described in the above embodiment.

Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG1 is a flow chart of a DC motor control method according to an embodiment of the present invention;

FIG2 is a flow chart of a DC motor control method according to another embodiment of the present invention;

FIG. 3 is a structural block diagram of an air conditioner according to an embodiment of the present invention.

Reference numerals:

Air conditioner 10;

Processor 1; Memory 2.

Detailed ways

Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

In the related art, for the method of using a fixed speed cycle to calculate the feedback speed of the motor, the speed calculation accuracy = 60/(A*N), where A is the fixed speed cycle and N is the number of feedback pulses per motor revolution. However, since the motor model is fixed and the number of feedback pulses per revolution N is fixed, the speed calculation accuracy is only related to the fixed speed cycle A. The larger A is, the higher the speed calculation accuracy is, but the longer the time to calculate the average speed within the fixed speed cycle is, and the longer the calculation time is, the more likely it is that the calculated average speed will deviate from the current actual speed of the motor. Therefore, for situations where the motor speed is started or requires rapid changes, it will affect the accuracy of the output speed. For example, when the motor needs to accelerate and decelerate frequently, averaging the speed at the intersection of acceleration and deceleration will always result in the output duty cycle not being able to drive the motor to run according to the set speed curve well. For example, if the motor speed is required to increase from 500rpm to 1000rpm and then immediately decelerate to 500rpm, the motor will always start to decelerate after it increases to more than 1000rpm, and in the process of deceleration to acceleration, it will also start to accelerate after the speed is less than 500rpm.

In order to solve the above problems, a first embodiment of the present invention proposes a DC motor control method, which can improve the dynamic response capability of the motor and improve the accuracy and stability of the motor speed regulation process.

The DC motor control method according to an embodiment of the present invention is described below with reference to FIG. 1 . As shown in FIG. 1 , the DC motor control method at least includes steps S1 to S6 .

Step S1, receiving the final target speed value of the motor.

The final target speed value of the motor is the speed value to which the actual speed of the motor is finally adjusted when the motor speed is adjusted.

Specifically, taking an air conditioner as an example, after the air conditioner is powered on and started, the controller of the air conditioner will calculate the final target speed value of the motor according to the set temperature, and send a motor start instruction and the final target speed value of the motor to the motor controller.

Step S2, obtaining the current target speed value according to the speed curve.

Specifically, in response to the motor start instruction, the motor controller can generate a speed curve according to the received motor final target speed value and the set speed regulation time, and divide the speed curve into multiple operation stages according to certain rules, and the upper limit value of each operation stage is used as the current target speed value of this operation stage. The speed curve can be a diagonal line or an S curve, which is not limited.

Among them, the set speed regulation time can be set according to actual conditions. It can be understood that, at the same target speed, the shorter the speed regulation time is, the faster the rate of change of the motor speed is, and vice versa, the slower the rate of change of the motor speed is.

For example, taking the final target speed value of the motor as 100rpm and the speed regulation time as 1s, the initial speed of the motor when it starts is 0rpm. If the speed curve is divided into ten operating stages, it can increase by 10rpm every 0.1s. The current target speed values corresponding to each operating stage are: 10rpm, 20rpm, 30rpm, 40rpm, 50rpm, 60rpm, 70rpm, 80rpm, 90rpm, and 100rpm respectively.

Step S3, obtaining a time period for calculating the motor speed according to the final target speed value and the current target speed value.

The time period for calculating the motor speed refers to the calculation period of the motor speed.

In the embodiment, when the motor speed is calculated using a fixed time period, the calculated motor speed is actually the average speed within the fixed time period. However, for situations with high dynamic requirements such as motor acceleration or deceleration, the calculation time is long, so that the calculated average speed deviates from the current actual speed of the motor, affecting the accuracy of the output speed. In this regard, in the embodiment of the present invention, when regulating the motor speed, a fixed feedback speed calculation time period is no longer directly used, but the final target speed value and the current target speed value are used to obtain the feedback speed to calculate the time period for calculating the motor speed. In other words, the determination of the time period for calculating the motor speed is related to the final target speed value and the current target speed value, and the time period for calculating the motor speed is not uniquely fixed. Furthermore, the average speed value of the motor is calculated using the motor feedback pulse count value within the time period for calculating the motor speed. Compared with the method of calculating the average speed value of the motor using a fixed time period, the dynamic response capability of the motor can be improved according to the dynamic requirements of the motor, and the accuracy and stability of the motor speed regulation process can be improved.

Specifically, the running state of the motor is determined by the final target speed value and the current target speed value to obtain a time period for calculating the motor speed that is more in line with the running state of the motor. For example, when it is determined that the motor is in a state with high dynamic requirements such as acceleration or deceleration according to the final target speed value and the current target speed value, the time period for calculating the motor speed can be appropriately reduced. Therefore, when subsequently calculating the average speed value within the time period for calculating the motor speed, compared with the method of calculating the motor speed using a fixed time period, the time for calculating the average motor speed can be significantly shortened, so that the calculated average speed value is closer to the actual speed of the motor at the current moment, and the period for adjusting the speed is also shorter, thereby improving the subsequent calculation of PWM (Pulse width Modulation, pulse width modulation) frequency, improve the dynamic response capability of the motor, improve the accuracy of the motor speed regulation process, and improve the speed regulation performance; or, when the motor is determined to be in a stable operation state according to the final target speed value and the current target speed value, because in this case, the motor speed will only fluctuate within a very small range, the time period of the motor speed can be appropriately increased, so that when the average speed value within the time period of the motor speed is subsequently calculated, the calculation accuracy of the motor speed can be improved, so that the motor speed can be better stabilized at a certain speed, the speed fluctuation is reduced, the speed deviation is reduced, and the chip resources when the motor is running stably are saved.

Step S4, obtaining the motor feedback pulse count value, and obtaining the average speed value of the motor within the time period for calculating the motor speed according to the motor feedback pulse count value.

The motor feedback pulse count value can be obtained by calculating the external interrupt within the time period of the motor speed. Specifically, the external interrupt can be configured to be triggered by the rising or falling edge.

Specifically, the average rotation speed value can be calculated by the following formula.

in, is the average speed value, /> is the motor feedback pulse count value, /> To calculate the time period of the motor speed, /> The number of feedback pulses per motor revolution is related to the motor model. When the motor model is fixed, the number of feedback pulses per motor revolution is also fixed accordingly.

Step S5, obtaining a speed regulation duty ratio corresponding to the current target speed value according to the current target speed value and the average speed value to drive the motor.

Specifically, in the prior art, the final target speed value is directly compared with the calculated average speed value to adjust the output duty cycle. However, this method is prone to speed overshoot due to excessive acceleration when the motor starts, or the motor speed fails to reach the final target speed value due to excessive acceleration. In addition, due to the existence of speed calculation errors, the output duty cycle will inevitably fluctuate around a certain value, and optimal performance cannot be achieved. In this regard, the embodiment of the present invention no longer directly uses the final target speed value as the speed given, but uses the speed curve to obtain the current target speed value for each operating stage, so that different speed regulation duty cycles can be obtained in different operating stages, thereby controlling the motor drive and improving the operating stability of the motor.

Step S6, determining whether the motor speed reaches the current target speed value, assigning the current target speed value to the current speed of the motor, and returning to step S2 until the motor speed reaches the final target speed value.

According to the DC motor control method of the embodiment of the present invention, when the motor speed is adjusted, the final target speed value and the current target speed value are used to obtain the time period for calculating the motor speed. That is to say, the determination of the time period for calculating the motor speed is related to the final target speed value and the current target speed value, and the time period for calculating the motor speed is not uniquely fixed. Then, the average speed value of the motor is calculated based on the motor feedback pulse count value within the time period for calculating the motor speed. Compared with the method of calculating the average speed value of the motor using a fixed time period, the dynamic response capability of the motor can be improved according to the dynamic requirements of the motor, thereby improving the accuracy and stability of the motor speed regulation process.

In some embodiments, the speed difference between the final target speed of the motor and the current target speed value is calculated to determine whether the motor is in a speed regulation state or a stable operation state according to the size of the speed difference. For example, when the speed difference is large, it indicates that the motor is in an accelerating or decelerating speed regulation state, whereas when the speed difference is small, it indicates that the motor is in a stable operation state; and then the time period for calculating the motor speed is obtained according to the speed difference, so that when the motor is in the speed regulation state, the time period for calculating the motor speed can be appropriately reduced, so that when calculating the average speed value within the time period for calculating the motor speed, the time for calculating the average speed can be shortened, so that the calculated average speed value is closer to the actual speed of the motor at the current moment, and the speed adjustment period is also shorter, thereby increasing the frequency of subsequent duty cycle calculations, improving the dynamic response capability of the motor, improving the accuracy of the motor speed regulation process, and improving the speed regulation performance; and when the motor is in a stable operation state, the time period for the motor speed can be appropriately increased, so that when calculating the average speed value within the time period for calculating the motor speed, the calculation accuracy of the motor speed can be improved, so that the motor speed is better stabilized at a certain speed, speed fluctuations are reduced, speed deviations are reduced, and chip resources are saved when the motor is running stably.

In some embodiments, if it is determined that the speed difference is less than or equal to a preset speed threshold, the time period for calculating the motor speed is a first time period; if it is determined that the speed difference is greater than the preset speed threshold, the time period for calculating the motor speed is a second time period, wherein the second time period is less than the first time period. In other words, when the motor is in the process of accelerating or decelerating, the calculation period of the average speed value of the motor is reduced to the first time period, thereby shortening the time interval of the average speed value, and the calculated average speed value is closer to the current actual speed of the motor, improving the calculation accuracy of the motor speed, and also shortening the adjustment period of the motor speed, so that the frequency of calculating PWM is increased, the dynamic response capability of the motor is improved, the problem of speed overshoot when the motor is accelerating or decelerating is reduced, and the overall motor speed regulation experience is improved.

In some embodiments, the target adjustment parameter is obtained according to the time period of calculating the motor speed, that is, different target adjustment parameters correspond to different time periods of calculating the motor speed; the speed adjustment duty ratio corresponding to the current target speed value is obtained according to the current target speed value, the average speed value and the target adjustment parameter. Therefore, by replacing the final target speed value with the current target speed value at different operation stages and using different target adjustment parameters at different operation stages, the accuracy, rapidity and stability of the adjustment link can be improved.

In some embodiments, the time period for calculating the motor speed is determined to be a first time period, and the target adjustment parameter is the first adjustment parameter. Also, the time period for calculating the motor speed is determined to be a second time period, and the target adjustment parameter is the second adjustment parameter, wherein the second adjustment parameter is different from the first adjustment parameter. Thus, when adjusting the duty cycle, by adopting different adjustment parameters, the problem of speed overshoot during motor acceleration or deceleration can be reduced, and the accuracy, rapidity and stability of the adjustment link can be improved.

In some embodiments, the target adjustment parameter includes a target proportional parameter and a target integral parameter, and a proportional integral calculation is performed according to the current target speed value and the average speed value as well as the target proportional parameter and the target integral parameter to obtain the speed regulation duty cycle. That is to say, when adjusting the duty cycle, the PI parameter, i.e., the target proportional parameter and the target integral parameter, is used for calculation to improve the accuracy, rapidity and stability of the adjustment link.

In some embodiments, the first time period is 0.5s to 1s.

The DC motor control method according to the embodiment of the present invention is described below by way of example with reference to FIG. 2 , and the specific steps are as follows.

Step S7, power on the air conditioner.

Step S8, timer configuration, setting the time period for calculating the motor speed to the first time period A1 second, and configuring the external interrupt to be triggered by the rising and falling edges.

Step S9: receiving a motor start instruction and a motor final target speed value spd_aim.

Step S10, generating a current target speed value spd_ref according to the speed curve.

Step S11, determining whether the difference between the final target speed value spd_aim of the motor and the current target speed value spd_ref is greater than a preset speed threshold N. If not, executing step S12; if yes, executing step S19.

Step S12, restoring the time period for calculating the motor speed to A1 seconds.

Step S13, obtaining the motor feedback pulse count value, and calculating the average speed value within A1 seconds.

Step S14, determine whether the timing period reaches A1 seconds. If not, execute step S15; if yes, execute step S16.

Step S15, execute other logic programs and wait for the timing cycle to reach A1 seconds.

Step S16, obtaining the motor feedback pulse count value, and calculating the average speed value spd_fbk1 within A1 seconds.

Step S17: According to spd_ref and spd_fbk1, a second regulating parameter is used to perform PI calculation to obtain a speed regulating duty cycle.

Step S18, outputting high and low levels according to the speed regulation duty cycle to drive the motor to rotate.

Step S19, shortening the time period for calculating the motor speed to a second time period A2 seconds.

Step S20, determine whether the timing period reaches A2 seconds. If not, execute step S21; if yes, execute step S22.

Step S21, execute other logic programs and wait for the timing cycle to reach A1 seconds.

Step S22, obtaining the motor feedback pulse count value, and calculating the average speed value spd_fbk2 within A2 seconds.

Step S23: According to spd_ref and spd_fbk2, a first regulating parameter is used to perform PI calculation to obtain a speed regulating duty cycle.

Step S24, outputting high and low levels according to the speed regulation duty cycle to drive the motor to rotate.

In summary, according to the DC motor control value method of the embodiment of the present invention, when the motor speed is started or required to change rapidly, the time period for calculating the motor speed is appropriately reduced, that is, the second time period is adopted, so that the time for calculating the average speed value is smaller, and the calculated average speed value is closer to the actual speed of the motor at the current moment, so as to improve the accuracy of speed calculation, and the speed adjustment period is shorter, the dynamic response capability of the motor is improved, and the speed regulation performance of the motor is also improved under higher speed accuracy and smaller adjustment period; in addition, after the speed of the motor reaches stability, the time period for calculating the motor speed is restored from the second time period to the first time period, so that the time for calculating the average speed value is increased, and the speed calculation accuracy is improved. Thus, through the above method, the tracking of the current target speed value and the final target speed value when the motor speed changes is effectively improved, and the speed accuracy of the motor in the stable state can be taken into account at the same time, and the speed regulation experience of the overall motor is improved.

A second aspect of the present invention provides an air conditioner. As shown in FIG. 3 , the air conditioner 10 includes at least one processor 1 and a memory 2 communicatively connected to the at least one processor 1 .

The memory 2 stores a computer program that can be executed by at least one processor 1 , and when the at least one processor 1 executes the computer program, the DC motor control method provided in the above embodiment is implemented.

It should be noted that the specific implementation method of the air conditioner 10 in the embodiment of the present invention is similar to the specific implementation method of the DC motor control method in any of the above embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

According to the air conditioner 10 of the embodiment of the present invention, the processor 1 executes the DC motor control method provided in the above embodiment, which can improve the dynamic response capability of the motor and improve the accuracy and stability of the motor speed regulation process.

A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the DC motor control method provided in the above embodiment.

In the description of this specification, any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims (8)

1.A direct current motor control method, characterized by comprising:

S1, receiving a final target rotating speed value of a motor;

S2, obtaining a current target rotating speed value according to a speed curve;

s3, obtaining a time period for calculating the motor rotation speed according to the final target rotation speed value and the current target rotation speed value;

S4, acquiring a motor feedback pulse count value, and acquiring an average rotating speed value of the motor in the time period for calculating the rotating speed of the motor according to the motor feedback pulse count value;

S5, obtaining a speed regulation duty ratio corresponding to the current target rotating speed value according to the current target rotating speed value and the average rotating speed value so as to drive the motor;

s6, determining that the rotating speed of the motor reaches the current target rotating speed value, assigning the current target rotating speed value to the current rotating speed of the motor, and returning to the step S2 until the rotating speed of the motor reaches the final target rotating speed value;

Wherein obtaining a time period for calculating the motor speed according to the final target speed value and the current target speed value includes:

Calculating a speed difference value between the final target rotating speed of the motor and the current target rotating speed value;

obtaining the time period for calculating the rotating speed of the motor according to the speed difference value;

Wherein obtaining the time period for calculating the motor rotation speed according to the speed difference value comprises:

Determining that the speed difference value is smaller than or equal to a preset speed threshold value, wherein the time period for calculating the rotating speed of the motor is a first time period;

And if the speed difference value is larger than the preset speed threshold value, the time period for calculating the rotating speed of the motor is a second time period, wherein the second time period is smaller than the first time period.

2. The direct current motor control method according to claim 1, wherein obtaining a speed regulation duty ratio corresponding to the current target rotational speed value from the current target rotational speed value and the average rotational speed value, comprises:

Obtaining a target regulation parameter according to the time period for calculating the rotating speed of the motor;

and obtaining a speed regulation duty ratio corresponding to the current target rotating speed value according to the current target rotating speed value, the average rotating speed value and the target regulating parameter.

3. The direct current motor control method according to claim 2, wherein obtaining the target adjustment parameter according to the time period of calculating the motor rotation speed includes:

and determining the time period for calculating the rotating speed of the motor as the first time period, and determining the target adjusting parameter as a first adjusting parameter.

4. The direct current motor control method according to claim 3, wherein the target adjustment parameter is obtained from the time period of calculating the motor rotation speed, further comprising:

and determining that the time period for calculating the motor rotating speed is the second time period, and then determining that the target adjusting parameter is a second adjusting parameter, wherein the second adjusting parameter is different from the first adjusting parameter.

5. The direct current motor control method according to claim 2, wherein the target adjustment parameter includes a target proportion parameter and a target integral parameter, and obtaining a speed-adjusting duty ratio corresponding to the current target rotation speed value from the current target rotation speed value and the average rotation speed value and the target adjustment parameter includes:

And performing proportional-integral calculation according to the current target rotating speed value and the average rotating speed value, and the target proportion parameter and the target integral parameter to obtain the speed regulation duty ratio.

6. The method according to any one of claims 1 to 4, wherein the first time period takes a value of 0.5s to 1s.

7. An air conditioner, comprising:

At least one processor;

A memory communicatively coupled to the at least one processor;

Wherein the memory stores a computer program executable by the at least one processor, the at least one processor implementing the direct current motor control method of any of claims 1-6 when the computer program is executed.

8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the direct current motor control method as claimed in any one of claims 1-6.