CN110685117B - Motor control method, drive plate and washing machine - Google Patents
Motor control method, drive plate and washing machine Download PDFInfo
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- CN110685117B CN110685117B CN201911072320.7A CN201911072320A CN110685117B CN 110685117 B CN110685117 B CN 110685117B CN 201911072320 A CN201911072320 A CN 201911072320A CN 110685117 B CN110685117 B CN 110685117B
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- motor
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/30—Driving arrangements
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- 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
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- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention provides a motor control method, a driving plate and a washing machine, wherein the method comprises the following steps: the driving board receives a mode control command and a target rotating speed sent by an upper computer; when the mode control instruction is received, determining the current stop state of the motor; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command; when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, whether the current rotating speed of the motor is not less than a preset speed threshold value or not is judged, if yes, a speed ring is controlled to be closed, an initial integral value of the speed ring is set to be zero, and the motor is controlled to be increased to the target rotating speed from the current rotating speed by executing the currently received mode control instruction. Therefore, the scheme can improve the starting effect of the motor.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a motor control method, a drive plate and a washing machine.
Background
The frequency conversion is one of the most main development trends of the washing machine, and the frequency conversion ratio of the pulsator washing machine in the market at present reaches a higher level. For the impeller washing machine, a user selects different modes, such as wool washing, standard washing, dehydration and the like, and the upper computer sends corresponding control instructions and target rotating speeds to the drive plate so that the drive plate controls the motor to operate according to different modes.
At present, when the drive plate executes a dehydration instruction, the motor can be controlled to rotate for several seconds, stop for several seconds, rotate for several seconds again, stop for several seconds, and repeat for several times. The rotating speed instruction received by the motor is higher and higher every time the motor is started, so that the rotating speeds of the inner barrel are continuously superposed, and most of water in the clothes is thrown out.
In the dewatering stage, because the motor and the barrel rotate together and the inertia is large, a new rotating speed instruction can be received when the previous shutdown is not stopped, so that the problem of unsuccessful startup or jitter exists, and the startup effect of the motor is poor.
Disclosure of Invention
The invention provides a motor control method, a drive plate and a washing machine, which can improve the starting effect of a motor.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a motor control method applied to a driving board, including:
receiving a mode control instruction and a target rotating speed sent by an upper computer;
when the mode control instruction is received, determining the current stop state of the motor;
when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command;
when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, judging whether the current rotating speed of the motor is not less than a preset speed threshold value, if so, controlling a speed ring to be closed, setting an initial integral value of the speed ring to be zero, and executing the currently received mode control instruction to control the motor to increase from the current rotating speed to the target rotating speed.
Further, the method further comprises:
receiving a stop instruction sent by the upper computer;
determining the type of the last executed mode control instruction when the stop instruction is received;
when the type of the last executed mode control instruction is determined to be a washing instruction, controlling the motor to stop by controlling the lower bridge of the ABC three-phase power device to be fully closed;
and when the type of the last executed mode control command is determined to be the dehydration command, controlling the motor to stop by closing the PWM (Pulse Width Modulation) output of the ABC three-phase power device.
Further, the method further comprises:
and when the current stop state of the motor is determined to be complete stop, controlling the motor to increase from zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
Further, the types of the mode control command include a washing command and a dehydrating command;
the method further comprises the following steps:
when the type of the currently received mode control command and/or the type of the last executed mode control command are determined to be a washing command, the currently executed operation for controlling the motor to stop is maintained until the motor is monitored to be completely stopped;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
Further, the method further comprises:
when the current rotating speed of the motor is judged to be smaller than the preset speed threshold value, maintaining the operation of controlling the motor to stop executed at present until the motor is completely stopped when the shutdown state of the motor is monitored;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
Further, the determining the current shutdown state of the motor includes: judging whether the current value of the preset state bit is a preset stop identification value, if so, determining that the current stop state of the motor is complete stop, otherwise, determining that the current stop state of the motor is incomplete stop;
the maintaining of the currently executed operation of controlling the motor to stop until the shutdown state of the motor is monitored as a complete stop includes: maintaining the operation of controlling the motor to stop executed currently, and monitoring the value change of the preset state bit in real time;
when the shutdown state of the motor is monitored to be complete shutdown, the method comprises the following steps: and when the value of the preset state bit is monitored to be changed into the shutdown identification value.
Further, the controlling the motor to increase from the zero rotation speed to the target rotation speed by executing the currently received mode control command includes:
and the rotation speed of the motor is increased by utilizing a positioning and asynchronous dragging technology, the closed loop of the speed loop is controlled after the rotation speed of the motor is increased, the initial integral value of the speed loop is set to be a value larger than zero, and the motor is controlled to be increased from the current rotation speed to the target rotation speed by executing a currently received mode control instruction.
Further, the mode control instruction and the target rotational speed that receive host computer and send include: receiving a mode control command, acceleration and a target rotating speed sent by an upper computer;
the controlling the motor to increase from the current rotating speed to the target rotating speed by executing the currently received mode control instruction comprises:
a1: determining the next rotating speed according to the current rotating speed and the acceleration of the motor, wherein the determined next rotating speed is greater than the current rotating speed of the motor;
a2: outputting a rotating speed instruction to the motor, wherein a rotating speed value corresponding to the rotating speed instruction is the next determined rotating speed;
a3: when the determined next rotating speed is less than the target rotating speed, taking the next rotating speed as the current rotating speed of the motor, and executing A1;
and the number of the first and second groups,
the method further comprises the following steps: receiving a stop instruction sent by the upper computer; upon receiving the stop instruction, execution of a1 is stopped.
In a second aspect, the present invention provides a drive board for performing any one of the above motor control methods, comprising:
the receiving unit is used for receiving a mode control instruction and a target rotating speed sent by an upper computer; when the mode control instruction is received, triggering a determining unit;
the determining unit is used for determining the current stop state of the motor by being triggered by the receiving unit; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command;
and the control unit is used for judging whether the current rotating speed of the motor is not less than a preset speed threshold value or not when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, controlling the speed ring to be closed if the current rotating speed of the motor is not less than the preset speed threshold value, setting the integral initial value of the speed ring to be zero, and executing the currently received mode control instruction to control the motor to increase the current rotating speed to the target rotating speed.
In a third aspect, the present invention provides a washing machine comprising:
the upper computer, the motor and the driving plate are arranged on the base;
the driving plate is connected with the upper computer and the motor respectively;
the upper computer is used for determining mode control instructions and target rotating speeds corresponding to all mode function keys on the washing machine; monitoring whether the outside triggers each mode function key on the washing machine in real time; and when a mode function key is monitored to be triggered externally, a mode control instruction and a target rotating speed corresponding to the mode function key are sent to the drive board.
The invention provides a motor control method, a driving plate and a washing machine, wherein the method comprises the following steps: the driving board receives a mode control command and a target rotating speed sent by an upper computer; when the mode control instruction is received, determining the current stop state of the motor; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command; when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, whether the current rotating speed of the motor is not less than a preset speed threshold value or not is judged, if yes, a speed ring is controlled to be closed, an initial integral value of the speed ring is set to be zero, and the motor is controlled to be increased to the target rotating speed from the current rotating speed by executing the currently received mode control instruction. Therefore, the invention can improve the starting effect of the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method of controlling a motor according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a drive plate provided by one embodiment of the present invention;
fig. 4 is a schematic view of a washing machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a motor control method applied to a driving board, which may include the following steps:
step 101: and receiving a mode control command and a target rotating speed sent by an upper computer.
Step 102: and when the mode control command is received, determining the current stop state of the motor.
Step 103: when it is determined that the current stop state of the motor is not completely stopped, the type of the currently received mode control command and the type of the last executed mode control command are determined.
Step 104: when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, judging whether the current rotating speed of the motor is not less than a preset speed threshold value, if so, controlling a speed ring to be closed, setting an initial integral value of the speed ring to be zero, and executing the currently received mode control instruction to control the motor to increase from the current rotating speed to the target rotating speed.
The motor control method provided by the embodiment of the invention comprises the following steps: the driving board receives a mode control command and a target rotating speed sent by an upper computer; when the mode control instruction is received, determining the current stop state of the motor; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command; when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, whether the current rotating speed of the motor is not less than a preset speed threshold value or not is judged, if yes, a speed ring is controlled to be closed, an initial integral value of the speed ring is set to be zero, and the motor is controlled to be increased to the target rotating speed from the current rotating speed by executing the currently received mode control instruction. Therefore, the embodiment of the invention can improve the starting effect of the motor.
Under the normal condition, a user can send out control instructions of washing, stopping and dewatering to an upper computer by controlling function keys on the washing machine. For example, when a user clicks a key for standard washing, wool washing, immersion washing, or the like, a corresponding washing instruction is issued, when the user clicks a pause or shutdown key, a shutdown instruction is issued, and when the user clicks a dehydration key, a dehydration instruction is issued. And after receiving the instruction, the upper computer can determine the corresponding target rotating speed and send the target rotating speed to the drive board.
Of course, the wash instruction may be specifically a wash instruction corresponding to a standard wash, a wash instruction corresponding to a wool wash, a wash instruction corresponding to a soak wash, etc., based on different wash modes. The target rotating speed, the target acceleration and the like corresponding to different types of washing instructions can be different, but all belong to the washing instructions.
For example, when the user selects the standard washing, the upper computer receives a washing command for the standard washing, so that the target rotation speed is 400rpm and the acceleration is 1000 rpm/s.
In the embodiment of the invention, in order to optimize the motor starting effect, the control instructions can be distinguished to carry out different motor starting treatments. The control command may be divided into a washing command, a stop command, and a dewatering command. Wherein, the washing instruction and the dehydration instruction are both mode control instructions.
When a user clicks a washing or dewatering key, please refer to step 101, and the drive board can receive a mode control instruction and a target rotating speed sent by an upper computer. After the drive board receives the mode control command, please refer to step 102, the current stop state of the motor can be determined.
There are two possible shutdown states, one being case a: complete stop, another is case B: not completely stopped.
For case B: in the case of incomplete stop, please refer to step 103, when the motor is not completely stopped, the type of the currently received and last executed mode control command can be determined. If the user clicks the washing key, the currently received mode control instruction is a washing instruction; if the user just clicks the dehydration key, the currently received mode control instruction is a dehydration instruction.
In addition, since the current stop state of the motor is not completely stopped, it is described that the drive board has just to execute a mode control command. In this manner, the type of the mode control command, which may be a washing command or a dehydrating command, may be determined last time.
In case B: in the case where the complete stop is not performed, there may be further 4 cases:
case B1: the currently received mode control instruction is a dehydration instruction, and the last executed mode control instruction is a dehydration instruction;
case B2: the currently received mode control instruction is a dehydration instruction, and the last executed mode control instruction is a washing instruction;
case B3: the currently received mode control instruction is a washing instruction, and the last executed mode control instruction is a dehydration instruction;
case B4: the currently received mode control command is a washing command, and the last executed mode control command is a washing command.
For case B1: in the case that the currently received and last executed mode control commands are both dehydration commands, please refer to step 104, it can be determined whether the current rotation speed of the motor is not less than the preset speed threshold. In detail, the speed threshold may be set as desired, for example, may be set to 30 rpm. If the current rotating speed of the motor is greater than 30rpm, the current rotating speed of the motor is larger, so that the speed can be directly increased based on the current rotating speed of the motor.
In detail, the current rotation speed of the motor may be a current average rotation speed of the motor, for example, a current average rotation speed of the motor within 1 second.
In detail, when the driving plate controls the motor to directly increase the speed, the speed ring can be controlled to directly close the loop, the motor directly increases the speed, the rotating speed command is gradually increased from the current average rotating speed to the target rotating speed, and the integral initial value of the speed ring is reduced to zero and is accumulated.
Based on this, please refer to step 104 for the specific implementation of direct speed increase, the speed loop may be controlled to close the loop, the initial integral value of the speed loop is set to zero, and the motor is controlled to increase from the current rotation speed to the target rotation speed by executing the currently received mode control command, i.e., executing the dehydration command.
By controlling the motor to be increased from the current rotating speed to the target rotating speed under the condition B1, the motor is enabled to rotate more stably, and the starting effect of the motor is optimized.
Based on the above, the driving board inevitably receives the stop command during the two adjacent times of receiving the mode control command, and the motor speed gradually becomes zero by executing the stop command. Of course, when the drive board receives the mode control command again within a short time after executing the stop command, the motor may still rotate, so that the stop state of the motor is not completely stopped.
In detail, when the driver board receives a shutdown command and needs to execute the shutdown operation, the specific shutdown mode may be different based on the type of the last executed mode control command. Based on this, in one embodiment of the present invention, the method may further comprise:
receiving a stop instruction sent by the upper computer;
determining the type of the last executed mode control instruction when the stop instruction is received;
when the type of the last executed mode control instruction is determined to be a washing instruction, controlling the motor to stop by controlling the lower bridge of the ABC three-phase power device to be fully closed;
and when the type of the last executed mode control command is determined to be a dehydration command, the motor is controlled to stop by closing the PWM output of the ABC three-phase power device.
In detail, the ABC three-phase power device may be a MOS Transistor or an IGBT (Insulated Gate Bipolar Transistor) on a driving board. Wherein, the MOS transistor is an abbreviation of MOSFET. A Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET), which is a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET) for short.
In the embodiment of the invention, when the last executed mode control instruction is a washing instruction, the stop mode can be a brake quick stop mode, and specifically, the motor can be controlled to stop by controlling the lower bridge of the ABC three-phase power device to be fully closed.
In the embodiment of the invention, when the last executed mode control instruction is the dehydration instruction, the shutdown mode may be the shutdown of PWM, and specifically, the shutdown of the motor may be controlled by shutting down the PWM output of the ABC three-phase power device.
In the embodiment of the invention, the motor is correspondingly controlled to stop in different stopping modes according to whether the last executed mode control command is a washing command or a dewatering command, so that a good stopping effect is ensured.
In an embodiment of the present invention, for the case a, the method may further include: and when the current stop state of the motor is determined to be complete stop, controlling the motor to increase from zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
When a user issues a mode control command for the first time under the condition that the washing machine is turned off, the current stop state of the motor is completely stopped. And if the user issues the stop command in the operation process of the washing machine, the current stop state of the motor is also completely stopped when the user issues the mode control command again after a long time.
In the embodiment of the invention, no matter what kind of situation the motor completely stops, as long as a user issues a mode control command through an upper computer, the current stop state of the motor is a situation B: and when the motor is completely stopped, the driving plate can control the motor to be directly started, so that the rotating speed of the motor is gradually increased from zero to the target rotating speed.
In general, the process of direct starting of the motor may be: the method comprises the steps of positioning or dragging, then closing a speed loop, giving an initial value larger than zero to an integral initial value of the speed loop, continuously accumulating a rotating speed command sent to a motor from zero to a target rotating speed, and then operating the motor at the target rotating speed.
In one embodiment of the present invention, the implementation of PI (proportional integral controller) control may include the following:
pstcPID->i32Q20_Pout＝pstcPID->i32Q8_Error*pstcPID->i32Q12_Kp；
pstcPID->i32Q20_Iout+＝(pstcPID->i32Q8_Error*pstcPID->i32Q12_Ki)；
pstcPID->i32Q8_Out＝(pstcPID->i32Q20_Pout+pstcPID->i32Q20_Iout)。
the pstcPID- > i32Q20_ Iout + (pstcPID- > i32Q8_ Error × pstcPID- > i32Q12_ Ki) can be scaled, and the values of pstcPID- > i32Q20_ Iout are cumulative. When the motor is controlled to start directly, an initial value is given to pstcPID- > i32Q20_ Iout.
In step 104, the initial value of the integral of the velocity loop is set to zero, i.e., the value pstcPID- > i32Q20_ Iout is changed to 0.
In one embodiment of the present invention, for the above cases B2-B4, the types of mode control instructions include a washing instruction and a dehydrating instruction;
the method may further comprise:
when the type of the currently received mode control command and/or the type of the last executed mode control command are determined to be a washing command, the currently executed operation for controlling the motor to stop is maintained until the motor is monitored to be completely stopped;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
In the embodiment of the invention, in any one of the situations B2-B4, the motor can be controlled to be started after being stopped as usual because the motor is not completely stopped currently. Specifically, the operation of controlling the motor to stop, which is currently executed, may be maintained, where this operation may be a brake quick stop or a PWM off stop as described above, until the motor completely stops, and when the motor completely stops, the currently received mode control command may be executed to start the motor, so as to gradually change the rotation speed of the motor from zero to the target rotation speed.
In step 104, there may be a case that the current rotation speed of the motor is smaller than the preset speed threshold through judgment, so that, in step 104, the method may further include:
when the current rotating speed of the motor is judged to be smaller than the preset speed threshold value, maintaining the operation of controlling the motor to stop executed at present until the motor is completely stopped when the shutdown state of the motor is monitored;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
In the embodiment of the invention, if the current rotating speed of the motor is lower than the preset speed threshold, the motor can be controlled to be started after being stopped as usual.
Based on the above, in an embodiment of the present invention, the determining the current shutdown state of the motor includes: judging whether the current value of the preset state bit is a preset stop identification value, if so, determining that the current stop state of the motor is complete stop, otherwise, determining that the current stop state of the motor is incomplete stop;
the maintaining of the currently executed operation of controlling the motor to stop until the shutdown state of the motor is monitored as a complete stop includes: maintaining the operation of controlling the motor to stop executed currently, and monitoring the value change of the preset state bit in real time;
when the shutdown state of the motor is monitored to be complete shutdown, the method comprises the following steps: and when the value of the preset state bit is monitored to be changed into the shutdown identification value.
In detail, a status bit may be preset on the driving board, and values of the status bit may be used to indicate whether the shutdown state of the motor is shutdown or not.
For example, the value of the state bit may be 0 or 1, when the motor rotates, the value of the state bit is 1, and when the motor stops rotating, the value of the state bit may be changed to 0 in real time. Therefore, the drive plate can check the value of the status bit to determine the current stop state of the motor.
In detail, when the driving plate receives a stop command, the motor can be controlled to stop rotating. However, a certain time is needed in the stopping process of the motor, the driving plate receives the mode control command in the period, and when the motor is started after being stopped as usual through judgment, the current stopping operation can be maintained, and meanwhile, the time for completely stopping the motor is determined through monitoring the value change of the state bit in real time. When the motor stops completely, the motor can be controlled to start.
Based on the above, in an embodiment of the present invention, the controlling the motor to increase from the zero rotation speed to the target rotation speed by executing the currently received mode control command includes:
and the rotation speed of the motor is increased by utilizing a positioning and asynchronous dragging technology, the closed loop of the speed loop is controlled after the rotation speed of the motor is increased, the initial integral value of the speed loop is set to be a value larger than zero, and the motor is controlled to be increased from the current rotation speed to the target rotation speed by executing a currently received mode control instruction.
Specifically, when the motor is completely stopped and the motor speed is zero, when the motor is controlled to be started, the motor needs to be controlled to gradually increase from the zero speed to the target speed, and then the motor is operated at the target speed.
In detail, a 180-degree non-inductive FOC (Field Oriented Control) Control system needs position information, a general position estimation algorithm is based on back electromotive force, and under the conditions of zero speed and low speed, because the back electromotive force is small and cannot be estimated, a method of positioning and asynchronous dragging can be adopted to increase the rotating speed of a motor to a certain speed, then the speed closed-loop Control of the motor is realized, and an integral initial value of a speed loop is set to be a value larger than zero, so that the motor can be controlled to gradually increase from the rotating speed value to a target rotating speed.
In an embodiment of the present invention, the receiving a mode control command and a target rotation speed from an upper computer includes: receiving a mode control command, acceleration and a target rotating speed sent by an upper computer;
the controlling the motor to increase from the current rotating speed to the target rotating speed by executing the currently received mode control instruction comprises:
a1: determining the next rotating speed according to the current rotating speed and the acceleration of the motor, wherein the determined next rotating speed is greater than the current rotating speed of the motor;
a2: outputting a rotating speed instruction to the motor, wherein a rotating speed value corresponding to the rotating speed instruction is the next determined rotating speed;
a3: when the determined next rotating speed is less than the target rotating speed, taking the next rotating speed as the current rotating speed of the motor, and executing A1;
and, the method may further comprise: receiving a stop instruction sent by the upper computer; upon receiving the stop instruction, execution of a1 is stopped.
In detail, the motor starting process is a continuous process, during which the driving board continuously issues speed commands to the motor, and the speed value of each speed command presents an increasing trend until a speed command corresponding to the target rotation speed is issued.
The speed value of the speed command to be issued may be determined according to the speed value of the speed command issued last time and the acceleration corresponding to the currently received mode control command.
Of course, in the process of increasing the rotating speed of the motor, if the upper computer sends a stop command, the upper computer does not send a speed command.
Based on the above, as shown in fig. 2, an embodiment of the present invention provides another motor control method applied to a driving board, which may include the following steps:
step 201: and receiving a mode control command, acceleration and a target rotating speed sent by an upper computer.
Step 202: when the mode control instruction is received, whether the current value of the state bit is 0 is judged, if yes, the current stop state of the motor is determined to be complete stop, and step 207 is executed, otherwise, the current stop state of the motor is determined to be incomplete stop, and step 203 is executed.
In detail, during the rotation of the motor, the value of the status bit is not 0, and may be 1, for example.
Step 203: determining the type of the currently received mode control command and the type of the last executed mode control command, executing step 204 when determining that the type of the currently received mode control command and the type of the last executed mode control command are both dehydration commands, and executing step 206 when determining that the type of the currently received mode control command and/or the type of the last executed mode control command are washing commands.
Step 204: and judging whether the current rotating speed of the motor is not less than 30rpm, if so, executing the step 205, otherwise, executing the step 206.
Step 205: the speed loop is controlled to close, the initial value of the integral of the speed loop is set to zero, and step 208 is executed.
Step 206: and maintaining the currently executed operation for controlling the motor to stop, monitoring the value change of the preset state bit in real time, and executing the step 207 when the value change of the state bit is monitored to be 0.
Step 207: and (3) utilizing the positioning and asynchronous dragging technology to improve the rotating speed of the motor, controlling the speed ring to be closed after the rotating speed of the motor is improved, setting the initial integral value of the speed ring to be a value larger than zero, and executing the step 208.
Step 208: and determining the next rotating speed according to the current rotating speed and the acceleration of the motor, wherein the determined next rotating speed is greater than the current rotating speed of the motor.
Step 209: and outputting a rotating speed instruction to the motor, wherein a rotating speed value corresponding to the rotating speed instruction is the next determined rotating speed.
Step 210: and judging whether the determined next rotating speed is less than the target rotating speed, if so, taking the next rotating speed as the current rotating speed of the motor, and executing the step 208 and the step 211, otherwise, executing the step 211.
Step 211: and receiving a stop instruction sent by the upper computer.
Step 212: upon receiving the stop command, the control step 208 stops the execution and determines the type of the last executed mode control command, and when the type of the last executed mode control command is the washing command, the control step 213 is executed, and when the type of the last executed mode control command is the dehydrating command, the control step 214 is executed.
Step 213: when the lower bridge of the ABC three-phase power device is determined to be fully closed through control, the motor is controlled to stop, and step 201 is executed.
Step 214: controlling the motor to stop by closing the PWM output of the ABC three-phase power device, and executing the step 201.
Based on the above, as shown in fig. 3, an embodiment of the present invention provides a driving board for executing any one of the above motor control methods, which may include:
the receiving unit 301 is used for receiving a mode control instruction and a target rotating speed sent by an upper computer; when receiving the mode control instruction, triggering the determining unit 302;
the determining unit 302 is configured to determine a current shutdown state of the motor by being triggered by the receiving unit 301; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command;
the control unit 303 is configured to, when it is determined that the type of the currently received mode control instruction and the type of the last executed mode control instruction are both dehydration instructions, determine whether the current rotation speed of the motor is not less than a preset speed threshold, if so, control a speed loop to be closed, set an initial integral value of the speed loop to zero, and execute the currently received mode control instruction to control the motor to increase from the current rotation speed to the target rotation speed.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
As shown in fig. 4, an embodiment of the present invention provides a washing machine, which may include: an upper computer 401, a motor 402, and a drive board 403 as described above;
the driving plate 403 is respectively connected with the upper computer 401 and the motor 402;
the upper computer 401 is used for determining mode control instructions and target rotating speeds corresponding to all mode function keys on the washing machine; monitoring whether the outside triggers each mode function key on the washing machine in real time; when it is monitored that a mode function key is triggered from the outside, a mode control instruction and a target rotation speed corresponding to the mode function key are sent to the driver board 403.
In detail, after the function key arranged on the shell of the washing machine is clicked by a user, the control instruction corresponding to the function key can be issued to the upper computer. When the upper computer receives a mode control command, parameters such as acceleration, target speed and the like corresponding to the mode control command can be determined and sent to the drive plate. And when the upper computer receives the stop instruction, the stop instruction is sent to the drive board.
When the drive plate receives the mode control instruction, the drive plate can correspondingly control the rotation of the motor based on the historical control condition of the motor and the current stop state of the motor, so as to achieve the corresponding mode control effect. When the driving plate receives the stop command, the motor can be correspondingly controlled to stop based on the historical control condition of the motor.
In summary, in the washing machine provided by the embodiment of the invention, the starting effect of the driving plate on the motor is good, so that the running stability of the washing machine is ensured.
In summary, the embodiments of the present invention have at least the following advantages:
1. the motor control method provided by the embodiment of the invention comprises the following steps: the driving board receives a mode control command and a target rotating speed sent by an upper computer; when the mode control instruction is received, determining the current stop state of the motor; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command; when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be the dehydration instruction, whether the current rotating speed of the motor is not less than a preset speed threshold value or not is judged, if yes, a speed ring is controlled to be closed, an initial integral value of the speed ring is set to be zero, and the motor is controlled to be increased to the target rotating speed from the current rotating speed by executing the currently received mode control instruction. Therefore, the embodiment of the invention can improve the starting effect of the motor.
2. In the washing machine provided by the embodiment of the invention, the starting effect of the driving plate on the motor is good, so that the running stability of the washing machine is ensured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A motor control method is applied to a drive plate and comprises the following steps:
receiving a mode control instruction and a target rotating speed sent by an upper computer;
when the mode control instruction is received, determining the current stop state of the motor;
when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command;
when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be dehydration instructions, judging whether the current rotating speed of the motor is not less than a preset speed threshold value or not, if so, controlling a speed ring to be closed, setting an initial integral value of the speed ring to be zero, and executing the currently received mode control instruction to control the motor to increase from the current rotating speed to the target rotating speed;
further comprising: and when the current stop state of the motor is determined to be complete stop, controlling the motor to increase from zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
2. The method of claim 1,
further comprising:
receiving a stop instruction sent by the upper computer;
determining the type of the last executed mode control instruction when the stop instruction is received;
when the type of the last executed mode control instruction is determined to be a washing instruction, controlling the motor to stop by controlling the lower bridge of the ABC three-phase power device to be fully closed;
and when the type of the last executed mode control command is determined to be the dehydration command, controlling the motor to stop by closing the Pulse Width Modulation (PWM) output of the ABC three-phase power device.
3. The method of claim 1,
the type of the mode control instruction comprises a washing instruction and a dehydration instruction;
further comprising:
when the type of the currently received mode control command and/or the type of the last executed mode control command are determined to be a washing command, the currently executed operation for controlling the motor to stop is maintained until the motor is monitored to be completely stopped;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
4. The method of claim 1,
further comprising:
when the current rotating speed of the motor is judged to be smaller than the preset speed threshold value, maintaining the operation of controlling the motor to stop executed at present until the motor is completely stopped when the shutdown state of the motor is monitored;
and when the shutdown state of the motor is monitored to be completely stopped, controlling the motor to be increased from the zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
5. The method according to claim 3 or 4,
the determining the current shutdown state of the motor comprises the following steps: judging whether the current value of the preset state bit is a preset stop identification value, if so, determining that the current stop state of the motor is complete stop, otherwise, determining that the current stop state of the motor is incomplete stop;
the maintaining of the currently executed operation of controlling the motor to stop until the shutdown state of the motor is monitored as a complete stop includes: maintaining the operation of controlling the motor to stop executed currently, and monitoring the value change of the preset state bit in real time;
when the shutdown state of the motor is monitored to be complete shutdown, the method comprises the following steps: and when the value of the preset state bit is monitored to be changed into the shutdown identification value.
6. The method according to any one of claims 3 to 4,
the controlling the motor to increase from the zero rotation speed to the target rotation speed by executing the currently received mode control instruction comprises:
and the rotation speed of the motor is increased by utilizing a positioning and asynchronous dragging technology, the closed loop of the speed loop is controlled after the rotation speed of the motor is increased, the initial integral value of the speed loop is set to be a value larger than zero, and the motor is controlled to be increased from the current rotation speed to the target rotation speed by executing a currently received mode control instruction.
7. The method of claim 6,
the mode control instruction and the target rotating speed sent by the upper computer are received, and the method comprises the following steps: receiving a mode control command, acceleration and a target rotating speed sent by an upper computer;
the controlling the motor to increase from the current rotating speed to the target rotating speed by executing the currently received mode control instruction comprises:
a1: determining the next rotating speed according to the current rotating speed and the acceleration of the motor, wherein the determined next rotating speed is greater than the current rotating speed of the motor;
a2: outputting a rotating speed instruction to the motor, wherein a rotating speed value corresponding to the rotating speed instruction is the next determined rotating speed;
a3: when the determined next rotating speed is less than the target rotating speed, taking the next rotating speed as the current rotating speed of the motor, and executing A1;
and the number of the first and second groups,
further comprising: receiving a stop instruction sent by the upper computer; upon receiving the stop instruction, execution of a1 is stopped.
8. A drive board for executing the motor control method according to any one of claims 1 to 7, characterized by comprising:
the receiving unit is used for receiving a mode control instruction and a target rotating speed sent by an upper computer; when the mode control instruction is received, triggering a determining unit;
the determining unit is used for determining the current stop state of the motor by being triggered by the receiving unit; when the current stop state of the motor is determined to be not completely stopped, determining the type of a currently received mode control command and the type of a last executed mode control command;
the control unit is used for judging whether the current rotating speed of the motor is not less than a preset speed threshold value or not when the type of the currently received mode control instruction and the type of the last executed mode control instruction are determined to be dehydration instructions, controlling a speed ring to be closed if the current rotating speed of the motor is not less than the preset speed threshold value, setting an integral initial value of the speed ring to be zero, and executing the currently received mode control instruction to control the motor to increase the current rotating speed to the target rotating speed; and when the current stop state of the motor is determined to be complete stop, controlling the motor to increase from zero rotating speed to the target rotating speed by executing the currently received mode control instruction.
9. A washing machine, characterized by comprising:
an upper machine, a motor, and the drive plate of claim 8;
the driving plate is connected with the upper computer and the motor respectively;
the upper computer is used for determining mode control instructions and target rotating speeds corresponding to all mode function keys on the washing machine; monitoring whether the outside triggers each mode function key on the washing machine in real time; and when a mode function key is monitored to be triggered externally, a mode control instruction and a target rotating speed corresponding to the mode function key are sent to the drive board.
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| CN111676646A (en) * | 2020-05-21 | 2020-09-18 | 四川虹美智能科技有限公司 | Shutdown control method and device for washing machine |
| CN111764098B (en) * | 2020-06-09 | 2022-06-28 | 四川虹美智能科技有限公司 | Motor control method and motor control device of drum washing machine and drum washing machine |
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| KR100216126B1 (en) * | 1995-03-29 | 1999-08-16 | 다카노 야스아키 | Centrifugal dehydration apparatus |
| DE60336516D1 (en) * | 2002-05-15 | 2011-05-05 | Lg Electronics Inc | Method and control system for controlling a motor-driven washing machine |
| CN101161911A (en) * | 2006-10-13 | 2008-04-16 | 乐金电子(天津)电器有限公司 | Stand-by electric control device of washing machine and method thereof |
| KR101980854B1 (en) * | 2012-10-31 | 2019-05-22 | 삼성전자주식회사 | Washing machine and control method thereof |
| CN105350258B (en) * | 2014-08-22 | 2020-09-08 | 青岛海尔洗衣机有限公司 | Washing machine program updating method |
| JP2017023325A (en) * | 2015-07-21 | 2017-02-02 | パナソニックＩｐマネジメント株式会社 | Washing machine |
| CN106811913A (en) * | 2015-12-01 | 2017-06-09 | 无锡小天鹅股份有限公司 | Washing system and its control method |
| CN108729111B (en) * | 2017-04-24 | 2020-08-04 | 青岛海尔滚筒洗衣机有限公司 | Washing machine control method and washing machine |
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