CN-121970998-A - High-efficiency driving speed control system of brushless motor of high-end household dust collector

CN121970998ACN 121970998 ACN121970998 ACN 121970998ACN-121970998-A

Abstract

The invention discloses a high-efficiency driving speed control system of a brushless motor of a high-end household dust collector, which relates to the technical field of motor control and aims to solve the technical problem that the air flow pulsation and suction are discontinuous due to neglecting the dynamic characteristics of an air path when the mode of the existing dust collector is switched, and the high-efficiency driving speed control system comprises an air path parameter sensing module, a speed control module and a speed control module, wherein the air path parameter sensing module is used for acquiring air path parameters representing the air path load state of the dust collector in real time; the flow resistance online identification module is connected with the gas path parameter sensing module and used for online identifying and updating the equivalent flow resistance parameter of the current gas path system based on the gas path parameter acquired in real time, and the smooth switching track planning module is connected with the flow resistance online identification module.

Inventors

ZHOU YANLI
LIU JUNJUN
DUAN XINPING
GUO LIXUAN
SHI FURONG

Assignees

深圳市宏健达电子有限公司

Dates

Publication Date: 20260505
Application Date: 20260211

Claims (10)

1. A high-end domestic vacuum cleaner brushless motor high-efficient drive accuse speed system, characterized in that includes: the air channel parameter sensing module is used for acquiring air channel parameters representing the air channel load state of the dust collector in real time; The flow resistance online identification module is connected with the gas circuit parameter sensing module and is used for online identifying and updating the equivalent flow resistance parameter of the current gas circuit system based on the gas circuit parameters acquired in real time; the smooth switching track planning module is connected with the flow resistance online identification module and is used for generating an expected running track of the motor for smoothing the change of the pneumatic power online by taking the smoothness of the pneumatic power in the switching process as a core optimization target based on the updated equivalent flow resistance parameter and a target pneumatic power index corresponding to a target working mode when a working mode switching instruction is received; The feedforward control quantity generation module is connected with the smooth switching track planning module and is used for analyzing and calculating the feedforward control quantity of the brushless motor required by realizing the track based on a preset pneumatic-electromechanical coupling model according to the expected running track of the motor; the state feedback control module is used for acquiring the running state of the brushless motor in real time and calculating the feedback control quantity based on the deviation between the running state and the expected running track of the motor; the driving execution module is respectively connected with the feedforward control quantity generation module and the state feedback control module and is used for synthesizing the feedforward control quantity and the feedback control quantity, generating a driving signal and controlling the brushless motor to operate, thereby realizing the optimal control on the pneumatic power smoothness in the mode switching process.
2. The high-efficiency driving and speed controlling system for a brushless motor of a high-end household cleaner according to claim 1, wherein the air path parameter sensing module comprises at least one of a wind pressure sensor and a flow sensor, or estimates the pneumatic power as the air path parameter through the electrical operation parameter of the motor.
3. The high-efficiency driving and speed controlling system of a brushless motor of a high-end household dust collector according to claim 1, wherein the flow resistance online identification module adopts any one of a recursive least square method, a Kalman filter or a model reference adaptive algorithm to identify and update the equivalent flow resistance parameter of the air path system online; when the recursive least square method is adopted, the identification and updating process is realized through the following formula iteration: ; ; ; In the formula, Is that An estimated value of an equivalent flow resistance parameter of the gas circuit system at the moment; Is that An estimated value of equivalent flow resistance parameter at the moment; Is that Gain vector of moment; is a regression vector; Is that The regression vector of the moment is transposed; Is that Measuring or estimating the obtained pneumatic power value at the moment; Is that A covariance matrix of the time; Is that A covariance matrix of the time; is a forgetting factor.
4. The high-efficiency driving and speed controlling system for brushless motor of high-end household dust collector according to claim 1, wherein the smooth switching track planning module is specifically configured to plan a motor expected running track for smoothly transiting from a current aerodynamic power value to a target aerodynamic power value in a space formed by aerodynamic power as a flat output, wherein the motor expected running track is a polynomial curve for minimizing the integral of the square of the higher derivative of aerodynamic power; The expected running track of the motor is formed by the following steps of Polynomial description: ; In the formula, Is that A desired aerodynamic power value at a moment; Is the polynomial first The coefficients of the minor term are used to determine, ; As a function of the time variable, , The total time of the mode switching process is preset; is the order of the polynomial.
5. The high-end household vacuum cleaner brushless motor high-efficiency driving speed control system according to claim 4, wherein the expected motor running track is a polynomial curve of five or seven times, and the coefficients are obtained by solving a quadratic programming problem with linear constraint; Taking as an example the minimization of the square integral of the third derivative of the aerodynamic power, the objective function of the quadratic programming problem The boundary constraints are: ; The constraint conditions are as follows: 、、、 ; In the formula, Is an optimized objective function value; third derivative of desired aerodynamic power with respect to time; to switch over the starting time # - ) Is set to the desired aerodynamic power value; For the switching end time ) Is set to the desired aerodynamic power value; A first derivative of pneumatic power for the switching start time; The first derivative of the pneumatic power at the end of the switch; a switching start pneumatic power boundary value; Switching the target pneumatic power boundary value; Switching an initial aerodynamic power change rate boundary value; for switching the target pneumatic power change rate boundary value, the polynomial coefficient By solving this optimization problem.
6. The high-efficiency driving and speed controlling system for a brushless motor of a high-end household dust collector according to claim 1, wherein the feedforward control amount generating module is specifically configured to analyze and map an expected value of aerodynamic power and derivatives thereof in an expected running track of the motor into an expected rotating speed track and an expected torque current feedforward amount of the brushless motor according to the aerodynamic-electromechanical coupling model based on a differential flatness theory; According to pneumatic power With motor speed Torque current Equivalent flow resistance The coupling relation between the two is realized through the following formulas: ; ; In the formula, Is that Expected motor speed at time; Is that A time-of-day desired torque current feed-forward amount; A mapping function from pneumatic power to motor speed determined by the pneumatic-electromechanical coupling model; a mapping function from aerodynamic power and its derivatives to torque current determined by the aerodynamic-electromechanical coupling model; Is that A desired aerodynamic power value at a moment; Is that A desired rate of change of aerodynamic power at a time; and the equivalent flow resistance parameters of the gas circuit system are obtained through on-line identification at the current moment.
7. The high-end household vacuum cleaner brushless motor high-efficiency drive speed control system according to claim 1, wherein the state feedback control module comprises a disturbance observer for estimating system disturbance caused by abrupt load change or model error and generating a corresponding disturbance compensation amount as a part of the feedback control amount; The disturbance observer is a high-order sliding mode observer or an extended state observer.
8. The high-end domestic vacuum cleaner brushless motor high-efficiency drive speed control system according to claim 7, wherein when using the extended state observer, it is used to observe a desired rotation speed And the actual rotation speed The total disturbance contained in the dynamic error between the two is expressed as follows: ; ; ; In the formula, Is the error between the rotation speed observation value and the actual measurement value; is an observed value of the rotating speed of the motor; The observed value of the total disturbance of the system is disturbance compensation quantity; is an actual rotational speed measurement of the motor; Controlling the current for feedback; 、 is an observer gain parameter; to control gain coefficients; As a nonlinear function; 、 The value range is the index parameter of the nonlinear function ; A linear interval threshold that is a nonlinear function.
9. The high-efficiency drive control system of a brushless motor of a high-end household cleaner according to claim 1, wherein the drive execution module is a driver based on magnetic field directional control, which synthesizes the feedforward control amount and the feedback control amount, and generates a space vector pulse width modulation signal to drive the brushless motor.
10. A control method for high-end household dust collector brushless motor high-efficiency driving speed control, which is applied to the high-end household dust collector brushless motor high-efficiency driving speed control system as claimed in any one of claims 1-9, and is characterized by comprising the following steps: acquiring gas path parameters in real time, and identifying and updating equivalent flow resistance parameters of a gas path system on line; when a working mode switching instruction is received, generating a motor expected running track by taking pneumatic power smoothness as an optimization target based on the updated equivalent flow resistance parameter and the target pneumatic power index; Based on a pneumatic-electromechanical coupling model, analyzing and calculating feedforward control quantity according to the expected running track of the motor; acquiring the running state of the motor in real time, and calculating the deviation between the running state and the expected running track of the motor to obtain a feedback control quantity; And the feedforward control quantity and the feedback control quantity are synthesized to drive the brushless motor to run, so that smooth switching is realized.

Description

High-efficiency driving speed control system of brushless motor of high-end household dust collector Technical Field The invention relates to the technical field of motor control, in particular to a high-efficiency driving speed control system of a brushless motor of a high-end household dust collector. Background With the continuous improvement of the requirements of users on household cleaning quality, high-end household dust collectors are developing towards stronger suction, lower noise, longer endurance and more intelligent experience. The performance of a driving control system of a core power source, namely a brushless motor, is important, and particularly, the smoothness of switching among different cleaning modes (such as energy saving, standard and powerful modes) is an important index for measuring the high-end of a product. Currently, the main technical scheme in the field focuses on the closed-loop control of the rotating speed of the motor body, for example, an advanced magnetic field directional control algorithm is adopted to match with a high-performance microprocessor, so as to realize rapid rotating speed tracking and stable torque output. However, these solutions have a common core problem that, in the dynamic process of mode switching, the control objective is usually limited only to the electrical or mechanical variables of the motor itself (such as rotation speed, current), and the final output performance of the whole vacuum cleaner system, namely the continuity and stability of the air flow in the air duct, is completely neglected. This "electromechanical" control concept results in a significant user experience defect in that when the user switches modes of operation, the motor speed may have been adjusted rapidly and accurately, but the impeller-driven airflow tends to experience significant pulsations or even brief interruptions. The root cause is that the air path system of the dust collector is a load with complex dynamic characteristics, and the equivalent flow resistance can change in real time along with the type of the suction head, the ground material and the blocking degree of the filter screen. The step or simple ramp of the motor speed cannot be matched with the dynamically changing gas path load characteristics, thereby causing severe fluctuation of the pneumatic power (i.e. the effective power of the driving gas flow). The unsmooth air flow is directly expressed as the instant change of the suction force, so that not only the cleaning effect is affected, but also unpleasant noise is generated, and the performance and the user experience of the high-end dust collector are severely restricted. Therefore, there is a need for a brushless motor driving speed control system that can directly target the air flow smoothness and adapt to the air path change, and in view of this, we propose a brushless motor efficient driving speed control system for a high-end household vacuum cleaner. Disclosure of Invention The invention aims to provide a high-efficiency driving speed control system of a brushless motor of a high-end household dust collector, which aims to solve the technical problem that airflow pulsation and suction are discontinuous due to neglecting of air path dynamic characteristics when the mode of the existing dust collector is switched. In order to solve the technical problems, the invention provides the following technical scheme that the high-efficiency driving speed control system for the brushless motor of the high-end household dust collector comprises the following components: the air channel parameter sensing module is used for acquiring air channel parameters representing the air channel load state of the dust collector in real time; The flow resistance online identification module is connected with the gas circuit parameter sensing module and is used for online identifying and updating the equivalent flow resistance parameter of the current gas circuit system based on the gas circuit parameters acquired in real time; the smooth switching track planning module is connected with the flow resistance online identification module and is used for generating an expected running track of the motor for smoothing the change of the pneumatic power online by taking the smoothness of the pneumatic power in the switching process as a core optimization target based on the updated equivalent flow resistance parameter and a target pneumatic power index corresponding to a target working mode when a working mode switching instruction is received; The feedforward control quantity generation module is connected with the smooth switching track planning module and is used for analyzing and calculating the feedforward control quantity of the brushless motor required by realizing the track based on a preset pneumatic-electromechanical coupling model according to the expected running track of the motor; the state feedback control module is used for acquiring the running state of the