WO2023206887A1

WO2023206887A1 - Clothing processing device, control method therefor, apparatus and storage medium

Info

Publication number: WO2023206887A1
Application number: PCT/CN2022/115444
Authority: WO
Inventors: 邹杰
Original assignee: 无锡小天鹅电器有限公司
Priority date: 2022-04-28
Filing date: 2022-08-29
Publication date: 2023-11-02
Also published as: CN114990843B; CN114990843A

Abstract

The present application discloses a clothing processing device, a control method therefor, an apparatus and a storage medium. The control method comprises: in response to power being restored to a clothing processing device, generating a braking instruction during an initialization process; based on the braking instruction, controlling to operate in a dynamic braking mode a frequency converter of a motor used for driving the clothing processing device; obtaining the rotational speed of the motor in the dynamic braking mode; and based on the rotational speed of the motor, controlling the action of an execution mechanism of the clothing processing device.

Description

Clothes processing equipment and control method, device and storage medium thereof

Cross-references to related applications

This application is filed based on a Chinese patent application with application number 202210462792.9 and a filing date of April 28, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference into this application.

Technical field

The present application relates to the field of clothing treatment, and in particular to a clothing treatment equipment and its control method, device and storage medium.

Background technique

In related technologies, in order to save hardware costs, the main control board of clothing processing equipment often obtains the motor speed based on the frequency converter that drives the motor. If the power suddenly fails during the high-speed rotation of the barrel, after power is re-energized, the main control board will lose control because the motor is in an out-of-control state. The control board cannot obtain the motor speed from the frequency converter, making it difficult to obtain the motor speed after powering on again. This makes it easy to open the door or control the tractor action when the barrel is not completely stopped, posing safety risks in operation control.

Contents of the invention

In view of this, embodiments of the present application provide a clothing processing equipment and its control method, device and storage medium, aiming to improve the operational safety of the clothing processing equipment during the power-on stage after power failure.

The technical solution of the embodiment of this application is implemented as follows:

In a first aspect, embodiments of the present application provide a control method for clothing treatment equipment, including:

generating a braking command during the initialization process in response to restoration of power to the laundry handling device;

Controlling the frequency converter used to drive the motor of the laundry treatment equipment based on the braking command to operate in the energy consumption braking mode;

Obtain the motor speed of the motor in the energy consumption braking mode;

The actuator action of the laundry treatment device is controlled based on the motor speed.

In some embodiments, the motor is a three-phase motor, and the frequency converter includes: a three-phase bridge inverter circuit, which controls the frequency converter to operate in energy consumption braking mode, including:

The lower bridge arms of the three-way bridge arms that control the three-phase bridge inverter circuit are all short-circuited, so that the three-phase motor decelerates in the energy consumption braking mode.

In some embodiments, obtaining the motor speed of the motor in the dynamic braking mode includes:

Obtain the phase current value of at least one phase of the three-phase motor;

Convert the phase current value into a pulse waveform based on the zero-crossing point to obtain the frequency value of the pulse waveform;

The motor speed of the three-phase motor is determined based on the frequency value.

In some embodiments, controlling the actuator action of the laundry treatment device based on the motor speed includes:

Based on the motor speed, it is determined that the motor stops, and the door body of the laundry treatment equipment is controlled to be unlocked.

The motor stall is determined based on the motor speed, and the tractor of the laundry treatment equipment is controlled to perform a switching action.

In some embodiments, the method further includes:

Based on the motor speed, it is determined that the motor is stopped, and the frequency converter is controlled to switch to the pulse width modulation mode.

In a second aspect, embodiments of the present application provide a control device for clothing treatment equipment, including:

an initialization module configured to generate a braking command during the initialization process in response to restoration of power to the laundry handling device;

A first control module configured to control the frequency converter for driving the motor of the laundry treatment device to operate in the energy consumption braking mode based on the braking command;

A rotational speed detection module configured to obtain the motor rotational speed of the motor in the energy consumption braking mode;

The second control module is configured to control the action of the actuator of the laundry treatment device based on the motor speed.

In a third aspect, embodiments of the present application provide a laundry treatment device, which includes: a processor and a memory for storing a computer program that can run on the processor, wherein the processor is configured as When the computer program is run, the steps of the method described in the first aspect of the embodiment of the present application are executed.

In a fourth aspect, embodiments of the present application provide a storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method described in the first aspect of the embodiment of the present application are implemented.

The technical solution provided by the embodiment of the present application generates a braking command during the initialization process in response to the restoration of power to the clothing processing equipment; controls the frequency converter used to drive the motor of the clothing processing equipment to run in the energy consumption braking mode based on the braking command; obtains energy The motor speed of the motor in the friction braking mode; the actuator action of the clothing processing equipment is controlled based on the motor speed. By generating a braking command during the initialization process of power restoration, on the one hand, the motor can be quickly stopped, effectively shortening the stalling delay; on the other hand, the motor speed of the motor in the energy-consuming braking mode can also be obtained, and based on the motor The speed control actuator action can avoid safety hazards caused by opening the door or pulling the tractor when the barrel is not completely stopped, thereby improving the operational safety of the clothing processing equipment during power-on after a power outage.

Description of drawings

Figure 1 is a schematic flow chart of the control method of the laundry treatment equipment according to the embodiment of the present application;

Figure 2 is a schematic flow chart of a control method of a washing machine in an application example of the present application;

Figure 3 is a schematic structural diagram of the control device of the laundry treatment equipment according to the embodiment of the present application;

Figure 4 is a schematic structural diagram of the clothes treatment equipment according to the embodiment of the present application.

Detailed ways

The present application will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing specific embodiments only and is not intended to limit the application.

Embodiments of the present application provide a method for controlling clothing processing equipment. The clothing processing equipment may be a washing machine, a clothes dryer, or an integrated washing and drying machine. The embodiments of the present application do not specifically limit this.

It should be noted that the clothing processing equipment includes: a barrel, a motor that drives the barrel to rotate, and a frequency converter that drives the motor to operate. The motor in the embodiment of the present application is a three-phase motor, for example, a three-phase permanent magnet synchronous motor (Permanent Magnetic Synchronous Machine, PMSM) with low loss and high power. The frequency converter in the embodiment of the present application includes a three-phase bridge inverter circuit. The three-phase bridge inverter circuit includes three bridge arms. The upper and lower arms of each bridge arm respectively correspond to a switching tube (such as a power transistor). The outputs of the three-phase bridge inverter circuit are located at the neutral points of the three sets of switching tubes, and supply power to each phase winding of the three-phase motor. The three phases required for three-phase electricity can be obtained by taking the voltage difference between the two. Voltage. The frequency converter controls the turn-on and turn-off sequence of three sets of switching transistors based on pulse width modulation (PWM). The three-phase bridge inverter circuit can output three-phase electrical signals with equal amplitude and equal frequency.

It should be noted that in the pulse width modulation mode, the frequency converter can calculate the motor speed based on the output voltage and motor stator current sampling value according to vector control technology or direct torque control technology, and feedback the motor speed to the main control of the clothing processing equipment. board, and based on the speed command issued by the main control board, closed-loop control of the motor speed can be realized to accurately adjust the motor speed.

It should be noted that the clothes processing equipment in the embodiment of the present application does not have a Hall sensor for detecting the motor speed, but calculates the motor speed based on the frequency converter. In this way, the hardware cost of setting up the speed sensor can be saved.

However, if there is an unexpected power outage during the operation of the clothing processing equipment, for example, a brief power outage during high-speed dehydration, the motor will be in a state of control. Even after the power supply is restored, the chip of the main control board is reset. However, because the motor is out of control, the inverter cannot calculate the motor speed based on the original vector control technology or direct torque control technology, resulting in the main control board being unable to obtain the motor speed from the inverter. speed, making it difficult to obtain the motor speed after powering on again, making it easy to open the door or open the door when the barrel has not completely stopped (the barrel is in a free deceleration state after a power outage, and it often takes three minutes or more to stop). Controlling tractor movements, etc., may pose safety risks in operational control. Among them, opening the door when the barrel is not completely stopped may cause injury to the operator, and the action of the tractor when the motor is rotating may damage structural components such as the clutch.

Based on this, the embodiment of the present application provides a control method for clothing treatment equipment, as shown in Figure 1. The method includes:

Step 101: In response to the restoration of power supply to the clothes processing equipment, a braking command is generated during the initialization process.

Here, if the power supply of the clothes processing equipment is restored after an abnormal power outage, the main control board and other related chips will be reset and initialized. During the chip initialization process, the main control board will generate a braking command and send it to the inverter.

Step 102: Control the frequency converter used to drive the motor of the laundry treatment device to run in the energy consumption braking mode based on the braking command.

Here, the frequency converter responds to the braking command and runs in energy consumption braking mode to achieve rapid braking of the motor.

In the embodiment of this application, the energy consumption braking mode means that the induced current generated by the excitation of the motor interacts with the magnetic field during the rotation process to generate a torque that hinders the rotation of the motor, causing the motor speed to rapidly decrease to achieve the purpose of braking.

Step 103: Obtain the motor speed of the motor in the dynamic braking mode.

It can be understood that in dynamic braking mode, the motor will continue to generate induced current during the braking process, and the motor speed of the motor can be determined based on this induced current.

Step 104: Control the action of the actuator of the laundry treatment device based on the motor speed.

It should be noted that after the power supply is restored, because the motor is in an out-of-control state, the inverter cannot calculate the motor speed based on the original vector control technology or direct torque control technology. The embodiment of the present application generates a braking command during the initialization process of restoring power. On the one hand, the motor can be quickly stopped and the stall delay can be effectively shortened. On the other hand, the motor speed of the motor in the energy-consuming braking mode can also be obtained. , and controls the actuator action of the clothing processing equipment based on the motor speed, for example, controlling the door lock and/or tractor action of the door body, thereby avoiding the door opening or tractor action when the barrel is not completely stopped. Potential safety hazards can be eliminated, thereby improving the operational safety of the clothing processing equipment during the power-on phase after a power outage.

Exemplarily, the motor is a three-phase motor, and the frequency converter includes: a three-phase bridge inverter circuit, which controls the frequency converter to operate in the energy consumption braking mode, including:

Here, the three-phase bridge inverter circuit includes three bridge arms. The upper and lower arms of each bridge arm can respectively correspond to an Insulated Gate Bipolar Transistor (IGBT). The IGBT is composed of BJT (Bipolar Transistor). A composite fully controlled voltage-driven power semiconductor device composed of Junction Transistor (bipolar junction transistor) and MOS (insulated gate field effect transistor), and a metal-oxide semiconductor field-effect transistor (Metal-Oxide-Semiconductor Field- It has the advantages of high input impedance of Effect Transistor (MOSFET) and low conduction voltage drop of power transistor (Giant Transistor (GTR)). The GTR saturation voltage is reduced, the current carrying density is large, but the driving current is large; the MOSFET driving power is small, the switching speed is fast, but the conduction voltage drop is large, and the current carrying density is small. IGBT combines the advantages of the above two devices, with low driving power and reduced saturation voltage. The outputs of the three-phase bridge inverter circuit are located at the neutral points of the three groups of IGBTs, and supply power to each phase winding of the three-phase motor. The three-phase voltages required for three-phase electricity can be obtained by taking the voltage difference between the two. . The inverter can use SVPWM (Space Vector Pulse Width Modulation, Space Vector Pulse Width Modulation) method to control the output voltage of the three-phase bridge inverter circuit to achieve precise adjustment of the motor speed. This SVPWM is derived from the idea of stator flux tracking of AC motors. It is easy to implement a digital controller, and has the advantages of good output current waveform and high DC link voltage utilization.

In the energy consumption braking mode, the IGBTs corresponding to the three lower bridge arms of the three-phase bridge inverter circuit can be controlled to be short-circuited.

Exemplarily, obtaining the motor speed of the motor in the dynamic braking mode includes:

Obtain the phase current value of at least one phase of the three-phase motor;

In the embodiment of this application, in the energy consumption braking mode, the IGBTs corresponding to the three lower bridge arms of the three-phase bridge inverter circuit are all short-circuited. At this time, the induction generated by the excitation of the three-phase motor during rotation The current interacts with the stator magnetic field to produce a torque that hinders the rotation of the motor, causing the motor speed to rapidly decrease. This allows the motor to brake quickly.

It should be noted that the motor will continue to generate an induced current during the braking process, and embodiments of the present application can determine the motor speed of the motor based on the induced current. Specifically, the phase current value of any phase can be collected, and the phase current value is converted into a pulse waveform based on the zero-crossing point. For example, a current value greater than 0 is converted into an upper wave (ie, a high level), and a current value less than 0 is converted into a pulse waveform. The value is converted into a lower wave (that is, low level), so that the sinusoidal current waveform can be converted into a high and low level pulse waveform; and then the motor speed of the three-phase motor is determined based on the frequency value of the pulse waveform.

For example, the motor speed can be determined by the following formula:

n＝60f/p

Among them, n is the motor speed (unit: rpm), f is the frequency value of the pulse waveform (unit: Hertz), and p is the number of pole pairs of the motor's rotating magnetic field.

In this way, the motor speed of the motor can be obtained in dynamic braking mode. It can be understood that the above-mentioned determination of the motor speed can be performed by the main control board, or can be performed by the frequency converter and the determined motor speed is transmitted to the main control board. This is not limited in the embodiments of the present application. Preferably, the frequency converter can collect the phase current value of the three-phase motor in the energy consumption braking mode, convert the phase current value into a pulse waveform, determine the current motor speed based on the frequency value of the pulse waveform, and then convert the current motor speed into a pulse waveform. The rotational speed is transmitted to the main control board.

Exemplarily, controlling the actuator action of the laundry treatment device based on the motor speed includes:

It can be understood that the main control board obtains the motor speed generated by the inverter in energy consumption braking mode, and determines the motor stop based on the current motor speed. For example, the motor speed is less than or equal to the set speed value (such as the set speed value). When it is 0), it is determined that the motor has stopped, and then the door of the clothing processing equipment is controlled to be unlocked, so that the door can be opened after the barrel stops, avoiding safety hazards caused by opening the door when the motor is out of control.

It can be understood that the main control board obtains the motor speed generated by the frequency converter in the energy consumption braking mode, determines the motor stop based on the current motor speed, and then controls the tractor of the clothing processing equipment to perform a switching action, for example, based on dehydration command to control the tractor to switch to the dehydration position. In this way, it can avoid the tractor action from damaging the clutch and other structural components when the motor rotates.

Exemplarily, the control method also includes:

It can be understood that if the main control board determines that the motor has stopped based on the motor speed generated by the frequency converter, it can control the frequency converter to exit the aforementioned energy consumption braking mode and switch to the pulse width modulation mode. In the pulse width modulation mode, The inverter can calculate the motor speed based on vector control technology or direct torque control technology, thereby achieving precise control of the motor speed. For example, the SVPWM method is used to control the output voltage of the three-phase bridge inverter circuit to achieve precise adjustment of the motor speed, so that the motor Return to a state where the speed can be controlled.

The present application will be described in further detail below in conjunction with an application example.

As shown in Figure 2, this application example takes the scenario of power outage during high-speed operation of the washing machine (for example, during the dehydration stage) as an example. The control method of the washing machine includes:

Step 201: The washing machine recognizes the power-off operation during high-speed operation.

Here, during the dehydration stage of the washing machine, the barrel is rotating at a high speed. If there is an abnormal power outage, the main control board, frequency converter and other electrical components will lose power, and the motor will be out of control.

Step 202: A chip reset is detected.

After the power supply to the washing machine is restored, the main control board and inverter are reset and initialization operations are performed.

Step 203: Give the motor a braking command during the initialization process.

Here, during the initialization process, the main control board generates a braking command and sends it to the inverter.

Step 204: Braking is performed by short-circuiting the lower bridge arm IGBTs of three of the six IGBTs.

Here, the frequency converter responds to the braking command by short-circuiting three of the six lower-bridge arm IGBTs, causing the frequency converter to operate in the energy consumption braking mode so that the motor can brake quickly.

Step 205: During the braking process, the zero-crossing signal of the current is detected.

Here, the motor will continue to generate induced current during braking, and the frequency converter can detect the zero-crossing signal of the phase current.

Step 206: Convert the sinusoidal current waveform into a pulse waveform according to the zero-crossing point, thereby calculating the motor speed.

Here, the frequency converter can convert the phase current into a pulse waveform based on the zero-crossing point, and convert the frequency value of the pulse waveform to obtain the motor speed, and feedback the motor speed to the main control board. In this way, the main control board can obtain the motor speed of the washing machine after the power supply is restored, and then determine based on the current motor speed that the motor stops and performs operations such as unlocking and controlling the tractor action, thereby improving the safety of the washing machine operation. In addition, the inverter can After the motor stops, it returns to the pulse width modulation mode, allowing the motor to return from an out-of-control state to a controllable state.

In order to implement the methods of the embodiments of the present application, the embodiments of the present application also provide a control device for clothing treatment equipment. The control device of the clothing treatment equipment corresponds to the control method of the above-mentioned clothes treatment equipment. The control method of the above-mentioned clothes treatment equipment is an embodiment of Each step in is also fully applicable to the control device embodiment of the laundry treatment equipment.

As shown in FIG. 3 , the control device of the laundry treatment equipment includes: an initialization module 301 , a first control module 302 , a rotational speed detection module 303 and a second control module 304 . Wherein, the initialization module 301 is configured to generate a braking instruction during the initialization process in response to the restoration of power to the clothing processing equipment; the first control module 302 is configured to control the operation of the frequency converter for driving the motor of the clothing processing equipment based on the braking instruction. In the energy consumption braking mode; the rotation speed detection module 303 is configured to obtain the motor rotation speed of the motor in the energy consumption braking mode; the second control module 304 is configured to control the actuator of the laundry treatment device based on the motor rotation speed action.

In some embodiments, the motor is a three-phase motor, the frequency converter includes: a three-phase bridge inverter circuit, and the first control module 302 is specifically configured as:

In some embodiments, the rotation speed detection module 303 is specifically configured as:

Obtain the phase current value of at least one phase of the three-phase motor;

In some embodiments, the second control module 304 is specifically configured as:

In some embodiments, the first control module 302 is further configured to determine that the motor is stalled based on the motor speed, and control the frequency converter to switch to the pulse width modulation mode.

In actual application, the initialization module 301, the first control module 302, the rotation speed detection module 303 and the second control module 304 can be implemented by the processor in the control device of the laundry treatment equipment. Of course, the processor needs to run computer programs in memory to perform its functions. For example, the above-mentioned first control module 302 and the rotation speed detection module 303 can be executed by the frequency converter, and the above-mentioned second control module 304 can be executed by the main control board.

It should be noted that when the control device of the clothes processing equipment provided in the above embodiment controls the clothes processing equipment, the division of the above program modules is only used as an example. In practical applications, the above processing can be allocated by different modules as needed. The program modules are completed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the control device of the clothes processing equipment provided in the above embodiments and the control method embodiment of the clothes processing equipment belong to the same concept. The specific implementation process can be found in the method embodiments and will not be described again here.

Based on the hardware implementation of the above program module, and in order to implement the method of the embodiment of the present application, the embodiment of the present application also provides a clothes processing device. FIG. 4 only shows an exemplary structure of the laundry treatment device but not the entire structure. Part or all of the structure shown in FIG. 4 can be implemented as needed.

As shown in FIG. 4 , the clothes processing device 400 provided by the embodiment of the present application includes: at least one processor 401 , a memory 402 and a user interface 403 . The various components in laundry treatment device 400 are coupled together by bus system 404 . It can be understood that the bus system 404 is used to implement connection communication between these components. In addition to the data bus, the bus system 404 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the various buses are labeled as bus system 404 in FIG. 4 .

The clothes processing equipment in the embodiment of the present application also includes: a barrel, a motor that drives the barrel to rotate, and a frequency converter that drives the motor to operate. For details, please refer to the foregoing description, and will not be described again here.

The user interface 403 in the embodiment of this application may include a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad or touch screen, etc.

The memory 402 in the embodiment of the present application is used to store various types of data to support the operation of the laundry treatment device. Examples of such data include: any computer program used to operate on laundry treatment equipment.

The control method of the laundry treatment device disclosed in the embodiment of the present application can be applied to the processor 401 or implemented by the processor 401. The processor 401 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the control method of the laundry treatment equipment can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 401 . The above-mentioned processor 401 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 401 can implement or execute each method, step and logical block diagram disclosed in the embodiment of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 402. The processor 401 reads the information in the memory 402, and completes the steps of the control method of the laundry treatment equipment provided by the embodiment of the present application in conjunction with its hardware.

In an exemplary embodiment, the laundry treatment device may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs) , Complex Programmable Logic Device), Field Programmable Logic Gate Array (FPGA, Field Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or other electronics Component implementation, used to execute the aforementioned methods.

It can be understood that the memory 402 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, non-volatile memory can be read-only memory (ROM, Read Only Memory), programmable read-only memory (PROM, Programmable Read-Only Memory), erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory). Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory, Magnetic Surface Memory , optical disk, or compact disc (CD-ROM, Compact Disc Read-Only Memory); magnetic surface memory can be disk storage or tape storage. Volatile memory can be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced Type Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory) ). The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

In an exemplary embodiment, the embodiment of the present application also provides a storage medium, that is, a computer storage medium, which may specifically be a computer-readable storage medium, such as a memory 402 that stores a computer program. The computer program may be configured by a clothing processing device. The processor 401 executes to complete the steps described in the method of the embodiment of this application. Computer-readable storage media can be ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM and other memories.

It should be noted that "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

In addition, the technical solutions described in the embodiments of this application can be combined arbitrarily as long as there is no conflict.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A control method for clothing treatment equipment, including:

generating a braking command during the initialization process in response to restoration of power to the laundry handling device;

Based on the braking command, the frequency converter used to drive the motor of the laundry treatment equipment is controlled to operate in the energy consumption braking mode;

Obtain the motor speed of the motor in the energy consumption braking mode;

The actuator action of the laundry treatment device is controlled based on the motor speed.
The method according to claim 1, wherein the motor is a three-phase motor, the frequency converter includes: a three-phase bridge inverter circuit, controlling the frequency converter to operate in energy consumption braking mode, including:

The lower bridge arms of the three-way bridge arms that control the three-phase bridge inverter circuit are all short-circuited, so that the three-phase motor decelerates in the energy consumption braking mode.
The method according to claim 2, wherein said obtaining the motor speed of the motor in the dynamic braking mode includes:

Obtain the phase current value of at least one phase of the three-phase motor;

Convert the phase current value into a pulse waveform based on the zero-crossing point to obtain the frequency value of the pulse waveform;

The motor speed of the three-phase motor is determined based on the frequency value.
The method according to claim 1, wherein the controlling an actuator action of the laundry treatment device based on the motor speed includes:

Based on the motor speed, it is determined that the motor stops, and the door body of the laundry treatment equipment is controlled to be unlocked.
The method according to claim 1, wherein the controlling an actuator action of the laundry treatment device based on the motor speed includes:

The motor stall is determined based on the motor speed, and the tractor of the laundry treatment equipment is controlled to perform a switching action.
The method of claim 1, further comprising:

Based on the motor speed, it is determined that the motor is stopped, and the frequency converter is controlled to switch to the pulse width modulation mode.
A control device for clothing treatment equipment, including:

an initialization module configured to generate a braking command during the initialization process in response to restoration of power to the laundry handling device;

A first control module configured to control the frequency converter for driving the motor of the laundry treatment device to operate in the energy consumption braking mode based on the braking command;

A rotational speed detection module configured to obtain the motor rotational speed of the motor in the energy consumption braking mode;

The second control module is configured to control the action of the actuator of the laundry treatment device based on the motor speed.
A laundry treatment device, the laundry treatment device includes: a processor and a memory for storing a computer program capable of running on the processor, wherein,

The processor is configured to perform the steps of the method described in any one of claims 1 to 6 when running a computer program.
A storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.