WO2019011233A9 - 吸尘器电机的控制系统、吸尘器和控制方法 - Google Patents

吸尘器电机的控制系统、吸尘器和控制方法 Download PDF

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Publication number
WO2019011233A9
WO2019011233A9 PCT/CN2018/095130 CN2018095130W WO2019011233A9 WO 2019011233 A9 WO2019011233 A9 WO 2019011233A9 CN 2018095130 W CN2018095130 W CN 2018095130W WO 2019011233 A9 WO2019011233 A9 WO 2019011233A9
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WO
WIPO (PCT)
Prior art keywords
motor
vacuum cleaner
pwm value
current
control system
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PCT/CN2018/095130
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English (en)
French (fr)
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WO2019011233A1 (zh
Inventor
孔钊
高向阳
陆建永
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天佑电器（苏州）有限公司
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Priority to EP18832054.3A priority Critical patent/EP3653094B1/en
Publication of WO2019011233A1 publication Critical patent/WO2019011233A1/zh
Publication of WO2019011233A9 publication Critical patent/WO2019011233A9/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the invention relates to a control system of a vacuum cleaner motor, a vacuum cleaner and a control method.
  • the working principle of the vacuum cleaner is that the motor rotates the impeller to work on the air, and the air in the dust collecting bucket is extracted to form a pressure difference between the inside of the barrel and the atmospheric pressure, thereby sucking the objects around the suction port into the dust collecting barrel.
  • the motor When the vacuum cleaner is open and does not suck the object, the motor has the lowest speed, the largest current, and the suction is the smallest; when the object is completely blocked by the suction pipe, that is, the object and the air cannot enter the dust bucket, and the dust bucket is in vacuum.
  • the state is equivalent to no load on the motor.
  • the motor has the highest speed, the current is the smallest, and the suction is the largest.
  • the magnitude of the suction is proportional to the speed and inversely proportional to the current.
  • the suction port When the vacuum cleaner is working, the suction port is between full opening and full blocking. According to the situation of the inhaled object, the current and rotation speed of the motor are constantly changing. At present, the change in the suction force of the vacuum cleaner in the industry depends entirely on the self-contained characteristics of the motor. Due to the limitation of the motor characteristics, the suction will not rise when it reaches a certain value, and there will be a phenomenon that the object is stuck in the suction pipe and cannot be sucked into the dust bucket during use, and the obstacle stuck in the straw can only be removed by artificial means. The object or the artificial start of the motor frequently changes the suction force frequently, so that the position of the obstacle changes after vibration, so as to facilitate the inhalation into the dust bucket, but this brings great inconvenience to the user.
  • the object of the present invention is to provide a control system, a vacuum cleaner and a control method for the vacuum cleaner motor, which can automatically remove obstacles stuck in the suction pipe of the vacuum cleaner, without manual manual removal of obstacles or frequent pressing of the switch, thereby increasing user comfort. .
  • an embodiment of the present invention provides a control system for a vacuum cleaner motor, the vacuum cleaner comprising a dust collecting bucket and a straw connected to the dust collecting bucket, wherein the control system of the vacuum cleaner motor comprises:
  • a drive circuit responsive to the instructions of the controller and providing the motor with a different PWM value power supply
  • a current detecting module for detecting a current of the motor
  • the controller adjusts the power source to drive the motor to operate normally with the first PWM value, and when the current detecting module detects that the current of the motor is less than the set current value and continues for the first time period, the controller
  • the driving circuit issues a control signal for increasing the PWM value and decreasing the PWM value until it is cycled N times, and after circulating N times, the driving circuit drives the motor to operate normally with the first PWM value.
  • the set current value is greater than 0.5 times the rated current and less than 0.8 times the rated current.
  • the set current value is greater than 0.65 times the rated current and less than 0.7 times the rated current.
  • the controller issues an instruction to the driving circuit to make the driving circuit be greater than the first PWM value.
  • the second PWM value of the power source drives the motor to operate for a second period of time and causes the drive circuit to drive the motor to operate for a third period of time with a power source that is less than the third PWM value of the first PWM value.
  • the second time period and the third time period range from 3 to 8 seconds.
  • the second time period ranges from 4 to 6 seconds.
  • the third time period ranges from 4 to 6 seconds.
  • the first time period ranges from 3 to 10 seconds.
  • the first time period ranges from 5 to 6 seconds.
  • the cycle is set to cycle 3 to 8 times N times.
  • the motor is a switched reluctance motor, a DC brushless motor or a DC brush motor.
  • an embodiment of the present invention further provides a vacuum cleaner, comprising: a motor, a dust collecting bucket, a straw connected to the dust collecting bucket, and a vacuum cleaner motor according to any one of the above aspects. Control system.
  • an embodiment of the present invention further provides a method for controlling a vacuum cleaner motor, the vacuum cleaner comprising a dust collecting bucket, a straw connected to the dust collecting bucket, and a control method of the vacuum cleaner motor include:
  • the controller adjusts the power source to drive the motor to operate normally with the first PWM value
  • the controller adjusts the power supply to drive the motor to operate with a second PWM value greater than the first PWM value for a second period of time;
  • the controller adjusts the power supply to drive the motor to operate with a third PWM value less than the first PWM value for a third period of time;
  • the set current value is greater than 0.5 times the rated current and less than 0.8 times the rated current.
  • the second time period and the third time period range from 4 to 6 seconds.
  • the cycle is set to cycle 3 to 8 times N times.
  • the motor is a switched reluctance motor, a DC brushless motor or a DC brush motor.
  • the beneficial effects of the present invention are: detecting the current of the motor through the cycle, when the current of the motor is less than the set current and continuing for the first time period, the controller adjusts the PWM value of the power source, and the controller The driving circuit issues a control signal for increasing the PWM value and decreasing the PWM value until it is cycled N times, so that the motor operates for a predetermined time greater than the PWM value during normal operation, and operates at a PWM value smaller than the normal operation.
  • the motor works with different PWM values, so that the suction changes frequently, so that the obstacle is subjected to the changing force and then vibrates, causing the obstacle position to change and loosen, and Adjusting the obstacle to a position favorable for inhalation, thereby achieving the purpose of automatically removing the obstacle and sucking it into the dust collecting bucket, thereby automatically removing the obstacle stuck in the suction pipe of the vacuum cleaner, without manually removing the obstacle or manually pressing
  • the switch increases the user's comfort.
  • FIG. 1 is a block diagram of a control system of a vacuum cleaner in accordance with an embodiment of the present invention
  • FIG. 2 is a flow chart of a control method of a vacuum cleaner in an embodiment of the present invention. .
  • the preferred embodiment discloses a control system for a vacuum cleaner motor, wherein the cleaner includes a dust collecting bucket (not shown) and a straw (not shown) connected to the dust collecting bucket.
  • the control system includes a controller 14 that drives the motor 10 by an electrical signal, a drive circuit 16 that responds to the command of the controller 14 and supplies the motor 10 with a different PWM value power supply 12, and a current for detecting the current of the motor 10.
  • the detecting module 18, the current detecting module 18 feeds back the detected current to the controller 14, the controller 14 determines according to different current magnitudes, and the driving circuit 16 supplies the motor 10 with the corresponding PWM value according to different instructions of the controller 14. 12, thereby adjusting the suction of the straw.
  • the driving circuit is a power converter.
  • the PWM value of the power supply 12, the current determination criteria, the number of cycles, and the operating time in the cycle may vary.
  • the motor 10 may use a DC or AC power source.
  • motor 10 is a switched reluctance motor.
  • other types of motors 10 such as a DC brushless motor or a DC brush motor can also be used.
  • the controller 14 adjusts the power source 12 to drive the motor 10 with the first PWM value.
  • the controller 14 sends a control signal to the driving circuit 16 to increase the PWM value and reduce the PWM value until the cycle N times. After the cycle N times, the drive circuit 16 drives the motor 10 to operate normally with the first PWM value.
  • the controller 14 issues an instruction to the drive circuit 16 to cause the drive circuit 16 to be driven by the power source 12 having a second PWM value greater than the first PWM value.
  • the motor 10 operates for a second period of time and causes the drive circuit 16 to drive the motor 10 to operate for a third period of time with a power source 12 that is less than the third PWM value of the first PWM value.
  • the control method of the vacuum cleaner motor is specifically as follows: a. providing a controller 14 for adjusting the power supply 12 supplied to the motor 10; b. during normal operation, the controller 14 adjusts the power supply 12 to a first PWM value Driving motor 10; c.
  • the current of the motor 10 is frequently detected until the current of the motor 10 is less than the set current value for a first period of time; when the obstacle is caught in the straw, the current of the motor 10 It will become smaller, so when it is detected that the current is less than the set current value for a certain period of time, the straw has been blocked, and then the PWM value of the power source 12 is adjusted by the cycle, so that the suction force is repeatedly changed, and the obstacle is changed.
  • the control method specifically includes the following steps: d.
  • the controller 14 adjusts the power source 12 to drive the motor 10 to operate with the second PWM value for a second period of time, wherein the second PWM value is greater than the first PWM value; e. Adjusting the power supply 12 to drive the motor 10 to operate with a third PWM value for a third period of time, wherein the third PWM value is less than the first PWM value; f. cycling steps d and e n times, and then proceeding to step b again, controlling The controller 14 adjusts the power supply 12 to continue to drive the motor 10 to operate normally with the first PWM value.
  • the current of the motor 10 is always detected, and as long as it is detected that the current of the motor 10 is less than the set current value for the first period of time, steps d and e are performed cyclically.
  • the current of the motor 10 is detected by the loop.
  • the controller 14 adjusts the PWM value of the power source 12 to make the motor 10 work larger than normal.
  • the PWM value operates for a predetermined time and operates for a predetermined time less than the PWM value during normal operation, and is cycled n times.
  • the motor 10 operates with the power source 12 of different PWM values, so that the suction force changes frequently.
  • the obstacle is subjected to a varying force to generate vibration, the position of the obstacle is changed to loosen, and the obstacle is adjusted to a position favorable for inhalation, thereby achieving the purpose of automatically removing the obstacle and sucking it into the dust bucket. Therefore, the obstacle stuck in the suction pipe of the vacuum cleaner can be automatically removed, and the manual comfort is not required to manually remove the obstacle or frequently press the switch, thereby increasing the user's comfort.
  • the current value is set to be greater than 0.5 times the rated current and less than 0.8 times the rated current.
  • the rated current is set to be greater than 0.65 times the rated current and less than 0.7 times the rated current.
  • the set current value is selected to be equal to 55%, 60%, 65%, 70%, 75%, and 80% of the rated current.
  • the first PWM value ranges from 60% ⁇ the first PWM value ⁇ 90%
  • the second PWM value ranges from 90% ⁇ the second PWM value ⁇ 100%
  • the third PWM value ranges from 20%. ⁇ third PWM value ⁇ 40%.
  • the first PWM value ranges from 70% ⁇ the first PWM value ⁇ 80%
  • the second PWM value is 100%
  • the third PWM value ranges from 25% ⁇ the third PWM value ⁇ 35%.
  • the first PWM value is selected from one of 60%, 70%, 80%, and 90%
  • the second PWM value is selected from 95% or 100%
  • the third PWM value is selected from the group consisting of 20%, 25%, and 30%.
  • the first PWM value is set to 80%
  • the second PWM value is set to 100%
  • the third PWM value is set to 30%.
  • the range of the first period of time that lasts for 3 to 10 seconds may be other time periods.
  • the duration of the first period of time is 5-6 seconds.
  • the continuous first time period may be any time period of 3 to 10 seconds, such as 3 seconds, 4 seconds, 5 seconds, 6 seconds, or 8 seconds, and the first time period is selected from any one of 3 to 10 seconds. Value.
  • the first time period is set to 5 seconds.
  • the second time period ranges from 3 to 8 seconds. Further, the second time period ranges from 4 to 6 seconds. Similarly, the second time period is selected from any of 3 to 8 seconds. Preferably, the second time period is set to 4 seconds.
  • the third time period ranges from 3 to 8 seconds. Further, the third time period ranges from 4 to 6 seconds. The third time period is also selected from any of 3 to 8 seconds. The third time period may be set to be the same as the second time period and the first time period, or may be set to be different. In the preferred embodiment, the third time period is set to 4 seconds.
  • steps d and e are cycled 3-8 times. Further, steps d and e are cycled 4 to 6 times. Preferably, after five cycles, the controller 14 adjusts the power supply 12 to continue normal operation with the first PWM value while continuing current detection.
  • the vacuum cleaner starts to work, and the motor 10 works normally with the power supply PWM 80%.
  • the current detecting module 18 frequently detects the current of the motor, and the controller 14 determines whether the current is less than 70% of the rated current and For 5 seconds, if not, the motor continues to operate normally with the power supply PWM80%, and the current detection module 18 continues to perform current detection; if so, the controller 14 controls the adjustment power supply 12 to operate the motor 10 with the power supply PWM value of 100% for 4 seconds, Then, the controller 14 controls the adjustment power supply 12 to operate the motor 10 with the power supply PWM value of 30% for 4 seconds, and repeats the cycle.
  • the controller 14 determines that the power supply PWM value is 100% for 4 seconds and the power supply PWM value is 30%. Whether the operation reaches 5 cycles in 4 seconds, if not, the above cycle is continued, and if so, the controller 12 adjusts the power supply 12 to a PWM value of 80% to continue normal operation. In the above five cycles of the power supply PWM value of 100% for 4 seconds and the power supply PWM value of 30% for 4 seconds, since the controller 14 of the present invention automatically adjusts the PWM value of the motor 10 power supply 12, the suction is frequent.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

本发明揭示了一种吸尘器电机的控制系统，所述吸尘器包括集尘桶、连接于所述集尘桶的吸管，其中所述控制系统包括：通过电信号驱动所述电机的控制器；响应所述控制器的指令并给所述电机提供不同PWM值电源的驱动电路；用于检测所述电机的电流的电流检测模块；控制器调整电源使其以第一PWM值驱动所述电机正常工作，当所述电流检测模块检测到所述电机的电流小于设定电流值且持续第一时间段时，所述控制器向所述驱动电路发出增大PWM值及减小PWM值直至循环N次的控制信号，且循环N次后，驱动电路以第一PWM值驱动所述电机正常工作。该控制系统能够自动去除卡在吸尘器吸管内的障碍物，无需人工手动去除障碍物或者频繁按动开关，增加了使用者的舒适度。

Description

吸尘器电机的控制系统、吸尘器和控制方法 技术领域
本发明涉及一种吸尘器电机的控制系统、吸尘器及控制方法。
 背景技术
吸尘器的工作原理是电机带动动叶轮旋转，对空气做功，抽出积尘桶内的空气，使桶内与大气压形成压力差，从而将吸口周围的物体吸入积尘桶内。当吸尘器空开不吸物体时，电机的转速最低，电流最大，而吸力最小；而当被物体全堵吸管时，也就是说物体与空气不能进入积尘桶内，此时积尘桶处于真空状态，相当于电机无负载，这时候电机的转速最高，电流最小，而吸力最大。吸力的大小与转速成正比，与电流成反比。
吸尘器工作时吸管口处于全开与全堵之间，根据吸入物体的情况，电机的电流及转速在不断的变化。目前行业内吸尘器吸力的大小变化完全靠电机的自有特性。由于电机特性的限制，吸力达到一定值时就不会上升，会出现在使用中会出现物体卡在吸管内吸不进积尘桶的现象，只能通过人为的方式除去卡在吸管内的障碍物，或人为的频繁启动电机，使吸力频繁变化，使障碍物产生振动后位置发生变化，以利于吸入到积尘桶内，但这对使用者带来很大不便。
 技术问题
本发明的目的在于提供一种吸尘器电机的控制系统、吸尘器和控制方法，能够自动去除卡在吸尘器吸管内的障碍物，无需人工手动去除障碍物或者频繁按动开关，增加了使用者的舒适度。
 技术解决方案
为实现上述发明目的之一，本发明一实施方式提供一种吸尘器电机的控制系统，所述吸尘器包括集尘桶、连接于所述集尘桶的吸管，其中所述吸尘器电机的控制系统包括：
通过电信号驱动所述电机的控制器；
响应所述控制器的指令并给所述电机提供不同PWM值电源的驱动电路；
用于检测所述电机的电流的电流检测模块；
控制器调整电源使其以第一PWM值驱动所述电机正常工作，当所述电流检测模块检测到所述电机的电流小于设定电流值且持续第一时间段时，所述控制器向所述驱动电路发出增大PWM值及减小PWM值直至循环N次的控制信号，且循环N次后，驱动电路以第一PWM值驱动所述电机正常工作。
作为本发明一实施方式的进一步改进，所述设定电流值大于0.5倍的额定电流且小于0.8倍的额定电流。
作为本发明一实施方式的进一步改进，所述设定电流值大于0.65倍的额定电流且小于0.7倍的额定电流。
作为本发明一实施方式的进一步改进，当所述电机的电流小于设定电流值且持续第一时间段时，所述控制器向驱动电路发出指令，使驱动电路以大于所述第一PWM值的第二PWM值的电源驱动所述电机工作并保持第二时间段，且使驱动电路以小于所述第一PWM值的第三PWM值的电源驱动所述电机工作并保持第三时间段。
作为本发明一实施方式的进一步改进，60%≤第一PWM值≤90%，90%＜第二PWM值≤100%，20%≤第三PWM值≤40%。
作为本发明一实施方式的进一步改进，70%≤第一PWM值≤80%。
作为本发明一实施方式的进一步改进，25%≤第三PWM值≤35%。
作为本发明一实施方式的进一步改进，所述第二时间段和第三时间段的范围均为3~8秒。
作为本发明一实施方式的进一步改进，所述第二时间段的范围为4~6秒。
作为本发明一实施方式的进一步改进，所述第三时间段的范围为4~6秒。
作为本发明一实施方式的进一步改进，所述第一时间段的范围为3~10秒。
作为本发明一实施方式的进一步改进，所述第一时间段的范围为5~6秒。
作为本发明一实施方式的进一步改进，循环N次设置为循环3~8次。
作为本发明一实施方式的进一步改进，所述电机为开关磁阻电机、直流无刷电机或直流有刷电机。
为实现上述发明目的之一，本发明一实施方式还提供一种吸尘器，所述吸尘器包括电机、集尘桶、连接于所述集尘桶的吸管和如以上任一技术方案所述的吸尘器电机的控制系统。
为实现上述发明目的之一，本发明一实施方式还提供一种吸尘器电机的控制方法，所述吸尘器包括集尘桶、连接于所述集尘桶的吸管，其中，所述吸尘器电机的控制方法包括：
a. 提供用于调整给所述电机供给的电源的控制器；
b. 所述控制器调整电源使其以第一PWM值驱动所述电机正常工作；
c.    检测所述电机的电流，直到所述电机的电流小于设定电流值且持续第一时间段；
d.    所述控制器调整电源使其以大于所述第一PWM值的第二PWM值驱动所述电机工作且保持第二时间段；
e.    所述控制器调整电源使其以小于所述第一PWM值的第三PWM值驱动所述电机工作且保持第三时间段；
f.     循环执行步骤d和e，且循环次数为N次后转入步骤b。
作为本发明一实施方式的进一步改进，所述设定电流值大于0.5倍的额定电流且小于0.8倍的额定电流。
作为本发明一实施方式的进一步改进，60%≤第一PWM值≤90%，90%＜第二PWM值≤100%，20%≤第三PWM值≤40%。
作为本发明一实施方式的进一步改进，所述第二时间段和第三时间段的范围均为4~6秒。
作为本发明一实施方式的进一步改进，循环N次设置为循环3~8次。
作为本发明一实施方式的进一步改进，所述电机为开关磁阻电机、直流无刷电机或直流有刷电机。
 有益效果
与现有技术相比，本发明的有益效果在于：通过循环检测电机的电流，当所述电机的电流小于设定电流且持续第一时间段后，控制器调整电源的PWM值，控制器向所述驱动电路发出增大PWM值及减小PWM值直至循环N次的控制信号，使其电机以大于正常工作时的PWM值工作预定时间，且以小于正常工作时的PWM值工作另一预定时间，并循环N次，在该循环过程中，电机以不同PWM值的电源工作，使吸力频繁变化，从而使障碍物受到变化的力后产生振动，使障碍物位置发生变化使其松动，并且使障碍物调整至有利于吸入的位置，进而达到自动去除障碍物使其吸入到积尘桶内的目的，因此可自动去除卡在吸尘器吸管内的障碍物，无需人工手动去除障碍物或者频繁按动开关，增加了使用者的舒适度。
 附图说明
图1是本发明具体实施方式中吸尘器的控制系统模块图；
图2是本发明具体实施方式中吸尘器的控制方法流程图。。
 本发明的实施方式
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
本优选实施方式公开了一种吸尘器电机的控制系统，其中吸尘器包括集尘桶（未图示）、连接于集尘桶的吸管（未图示）。如图1所示，控制系统包括通过电信号驱动电机10的控制器14、响应控制器14的指令并给电机10提供不同PWM值电源12的驱动电路16和用于检测电机10的电流的电流检测模块18，电流检测模块18将检测到的电流反馈到控制器14，控制器14根据不同的电流大小进行判断，驱动电路16按控制器14的不同指令给电机10提供相应的PWM值的电源12，从而调整吸管的吸力。具体的，驱动电路即功率变换器。
根据不同的电机规格和不同负载大小，电源12的PWM值、电流的判定标准、循环次数和循环中的工作时间会有所不同，另外，电机10可以使用直流或交流电源。本优选实施例中，电机10为开关磁阻电机。当然，也可以采用直流无刷电机或直流有刷电机等其它类型的电机10。
电机10正常工作时，控制器14调整电源12使其以第一PWM值驱动电机10。而当电流检测模块18检测到电机10的电流小于设定电流值且持续第一时间段时，控制器14向驱动电路16发出增大PWM值及减小PWM值直至循环N次的控制信号，且循环N次后，驱动电路16以第一PWM值驱动电机10正常工作。
具体的，当电机10的电流小于设定电流值且持续第一时间段时，控制器14向驱动电路16发出指令，使驱动电路16以大于第一PWM值的第二PWM值的电源12驱动电机10工作并保持第二时间段，且使驱动电路16以小于第一PWM值的第三PWM值的电源12驱动电机10工作并保持第三时间段。
进一步参照图2，吸尘器电机的控制方法具体如下：a.提供用于调整给电机10供给的电源12的控制器14；b. 正常工作时，控制器14调整电源12使其以第一PWM值驱动电机10；c.在吸尘器的工作过程中，频繁检测电机10的电流，直到电机10的电流小于设定电流值且持续第一时间段；当障碍物卡在吸管内时，电机10的电流就会变小，因此当检测到电流小于设定电流值且持续一定时间段就说明吸管已经被堵，接下来通过循环调整电源12的PWM值，从而使吸力反复发生变化，障碍物受到变化的吸力会发生振动。控制方法具体还包括如下步骤：d.控制器14调整电源12使其以第二PWM值驱动电机10工作且保持第二时间段，其中第二PWM值大于第一PWM值；e. 控制器14调整电源12使其以第三PWM值驱动电机10工作且保持第三时间段，其中第三PWM值小于第一PWM值；f. 将步骤d和e循环n次，然后再次进入步骤b，控制器14调整电源12使其以第一PWM值继续驱动电机10正常工作。在电机10正常工作的整个过程中，一直检测电机10的电流，只要检测到电机10的电流小于设定电流值且持续第一时间段，就循环进行步骤d和e。
本优选实施例中，通过循环检测电机10的电流，当电机10的电流小于设定电流值且持续第一时间段后，控制器14调整电源12的PWM值，使其电机10以大于正常工作时的PWM值工作预定时间，且以小于正常工作时的PWM值工作另一预定时间，并循环n次，在该循环过程中，电机10以不同PWM值的电源12工作，使吸力频繁变化，从而使障碍物受到变化的力后产生振动，使障碍物位置发生变化使其松动，并且使障碍物调整至有利于吸入的位置，进而达到自动去除障碍物使其吸入到积尘桶内的目的，因此可自动去除卡在吸尘器吸管内的障碍物，无需人工手动去除障碍物或者频繁按动开关，增加了使用者的舒适度。
步骤c中，具体的，设定电流值大于0.5倍的额定电流且小于0.8倍的额定电流。进一步的，设定电流值大于0.65倍的额定电流且小于0.7倍的额定电流。优选的，设定电流值选自等于额定电流的55%、60%、65%、70%、75%和80%。
本实施例中，第一PWM值的范围为60%≤第一PWM值≤90%，第二PWM值的范围为90%＜第二PWM值≤100%，第三PWM值的范围为20%≤第三PWM值≤40%。进一步的，第一PWM值的范围为70%≤第一PWM值≤80%，第二PWM值为100%，第三PWM值的范围为25%≤第三PWM值≤35%。具体的，第一PWM值选自60%、70%、80%、90%中的其中一个，第二PWM值选自95%或100%，第三PWM值选自20%、25%、30%、35%、40%中的其中一个。优选的，第一PWM值设置为80%，第二PWM值设置为100%，第三PWM值设置为30%。
步骤c中，持续的第一时间段的范围的3~10秒，当然，也可以为其它时间段。进一步的，持续的第一时间段的范围的5~6秒。具体的，持续的第一时间段可为3秒、4秒、5秒、6秒或8秒等位于3~10秒内任意时间段，第一时间段选自3~10秒中的任一数值。优选的，第一时间段设置为5秒。
步骤d中，第二时间段的范围为3~8秒。进一步的，第二时间段的范围为4~6秒。同样，第二时间段选自3~8秒中的任一数值。优选的，第二时间段设置为4秒。
步骤e中，第三时间段的范围为3~8秒。进一步的，第三时间段的范围为4~6秒。第三时间段也选自3~8秒中的任一数值。第三时间段可以与第二时间段、第一时间段设置为相同，也可以设置为不相同。本优选实施例中，第三时间段设置为4秒。
本优选实施例中，将步骤d和e循环3~8次。进一步的，将步骤d和e循环4~6次。优选的，循环5次后，控制器14再调整电源12以第一PWM值继续正常工作，同时继续电流检测。
具体到本优选实施例中，吸尘器开始工作，电机10以电源PWM80%正常工作，在工作工程中，电流检测模块18频繁检测电机的电流，由控制器14判断电流是否小于额定电流的70%且持续5秒，若否，电机就继续以电源PWM80%正常工作，电流检测模块18继续进行电流检测；若是，控制器14控制调整电源12使电机10以电源PWM值为100%工作4秒，紧接着控制器14控制调整电源12使电机10以电源PWM值为30%工作4秒，且进行反复循环，由控制器14判断以电源PWM值为100%工作4秒和以电源PWM值为30%工作4秒是否达到5次循环，若否，就继续进行上述循环，若是，由控制器14将电源12调整到PWM值为80%继续正常工作。在上述以电源PWM值为100%工作4秒和以电源PWM值为30%工作4秒的5次循环过程中，由于本发明的控制器14自动调整电机10电源12的PWM值，使吸力频繁变化，5次反复使障碍物受到变化的力后产生振动，从而使障碍物位置发生变化使其松动，并且使障碍物调整至有利于吸入的位置，以达到自动去除障碍物使其吸入到积尘桶内的目的。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。

Claims (16)

  1. 一种吸尘器电机的控制系统，所述吸尘器包括集尘桶、连接于所述集尘桶的吸管，其特征在于，所述吸尘器电机的控制系统包括：
    通过电信号驱动所述电机的控制器；
    响应所述控制器的指令并给所述电机提供不同PWM值电源的驱动电路；
    用于检测所述电机的电流的电流检测模块；
    控制器调整电源使其以第一PWM值驱动所述电机正常工作，当所述电流检测模块检测到所述电机的电流小于设定电流值且持续第一时间段时，所述控制器向所述驱动电路发出增大PWM值及减小PWM值直至循环N次的控制信号，且循环N次后，驱动电路以第一PWM值驱动所述电机正常工作。
  2. 根据权利要求1所述的吸尘器电机的控制系统，其特征在于，所述设定电流值大于0.5倍的额定电流且小于0.8倍的额定电流。
  3. 根据权利要求1或2所述的吸尘器电机的控制系统，其特征在于，当所述电机的电流小于设定电流值且持续第一时间段时，所述控制器向驱动电路发出指令，使驱动电路以大于所述第一PWM值的第二PWM值的电源驱动所述电机工作并保持第二时间段，且使驱动电路以小于所述第一PWM值的第三PWM值的电源驱动所述电机工作并保持第三时间段。
  4. 根据权利要求3所述的吸尘器电机的控制系统，其特征在于，60%≤第一PWM值≤90%，90%＜第二PWM值≤100%，20%≤第三PWM值≤40%。
  5. 根据权利要求4所述的吸尘器电机的控制系统，其特征在于，70%≤第一PWM值≤80%。
  6. .根据权利要求4所述的吸尘器电机的控制系统，其特征在于，25%≤第三PWM值≤35%。
  7. 根据权利要求3所述的吸尘器电机的控制系统，其特征在于，所述第二时间段和第三时间段的范围均为3~8秒。
  8. 根据权利要求1所述的吸尘器电机的控制系统，其特征在于，所述第一时间段的范围为3~10秒。
  9. 根据权利要求1所述的吸尘器电机的控制系统，其特征在于，循环N次设置为循环3~8次。
  10. 根据权利要求1所述的吸尘器电机的控制系统，其特征在于，所述电机为开关磁阻电机、直流无刷电机或直流有刷电机。
  11. 一种吸尘器，其特征在于，所述吸尘器包括电机、集尘桶、连接于所述集尘桶的吸管和如权利要求1至2、4至10中任一项所述的吸尘器电机的控制系统。
  12. 一种吸尘器电机的控制方法，所述吸尘器包括集尘桶、连接于所述集尘桶的吸管，其特征在于，所述吸尘器电机的控制方法包括：
    a:提供用于调整给所述电机供给的电源的控制器；
    b.:所述控制器调整电源使其以第一PWM值驱动所述电机正常工作；
    c:检测所述电机的电流，直到所述电机的电流小于设定电流值且持续第一时间段；
    d:所述控制器调整电源使其以大于所述第一PWM值的第二PWM值驱动所述电机工作且保持第二时间段；
    e:所述控制器调整电源使其以小于所述第一PWM值的第三PWM值驱动所述电机工作且保持第三时间段；
    f:循环执行步骤d和e，且循环次数为N次后转入步骤b。
  13. 根据权利要求12所述的吸尘器电机的控制方法，其特征在于，所述设定电流值大于0.5倍的额定电流且小于0.8倍的额定电流。
  14. 根据权利要求12或13所述的吸尘器电机的控制方法，其特征在于，60%≤第一PWM值≤90%，90%＜第二PWM值≤100%，20%≤第三PWM值≤40%。
  15. 根据权利要求12所述的吸尘器电机的控制方法，其特征在于，所述第二时间段和第三时间段的范围均为4~6秒。
  16. 根据权利要求12所述的吸尘器电机的控制方法，其特征在于，循环N次设置为循环3~8次。
     
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