CN105490606A - Protection method for preventing submersible AC permanent magnet synchronous motor from being demagnetized - Google Patents
Protection method for preventing submersible AC permanent magnet synchronous motor from being demagnetized Download PDFInfo
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- CN105490606A CN105490606A CN201510997294.4A CN201510997294A CN105490606A CN 105490606 A CN105490606 A CN 105490606A CN 201510997294 A CN201510997294 A CN 201510997294A CN 105490606 A CN105490606 A CN 105490606A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005347 demagnetization Effects 0.000 claims abstract description 26
- 238000004804 winding Methods 0.000 claims abstract description 15
- 238000005070 sampling Methods 0.000 claims description 25
- 230000009466 transformation Effects 0.000 claims description 5
- 238000005316 response function Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 230000002159 abnormal effect Effects 0.000 abstract 1
- 230000017525 heat dissipation Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a protection method for preventing a submersible AC permanent magnet synchronous motor from being demagnetized. The method comprises the following steps: (1) obtaining a three-phase current, and obtaining feedback currents I<d> and I<q> according to the three-phase current; (2) obtaining a linear voltage value; (3) calculating a real-time stator winding resistance; (4) obtaining a current motor stator temperature value; (5) comparing the obtained motor stator temperature value with a prestored temperature threshold, and when the motor stator temperature value is greater than the temperature threshold, entering the step (6); and (6) lowering the rotating speed of the permanent magnet synchronous motor, and repeating the steps (1) to (5) until the motor stator temperature value is smaller than or equal to the temperature threshold. The protection method disclosed by the invention is small in calculating amount, and simple and effective to achieve; an external detection device does not need to add; when the temperature is abnormal, the condition that the permanent magnet synchronous motor works at a normal temperature can be ensured through lowering the rotating speed; demagnetization can be effectively prevented; and according to the protection method disclosed by the invention, the service lifetime of the permanent magnet synchronous motor can be greatly prolonged.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a protection method for preventing demagnetization of an oil-submersible alternating current permanent magnet synchronous motor.
Background
At present, the permanent magnet synchronous motor is widely applied in various fields in recent years due to the advantages of simple structure, small volume, light weight, large power inertia ratio, high efficiency, high precision, wide speed regulation range and the like. However, in some special fields, the working environment of the motor is very complicated and extreme, and even the state of the motor cannot be monitored in real time, so that the motor cannot be prevented from running for a long time at high temperature, and the service life of the motor is seriously influenced due to gradual demagnetization of the motor. The replacement of the permanent magnet synchronous motor causes huge loss of manpower and material resources.
For example, in the field of oil field exploitation, oil-submersible oil production equipment, permanent magnet synchronous motors and related components extend into the ground for thousands of meters, and strict requirements are imposed on the service lives of the motors and the components. The service life of the permanent magnet synchronous motor is influenced mainly because the motor runs for a long time in a high-temperature state, demagnetization is caused, and the service life of the motor is shortened. When the temperature of the permanent magnet synchronous motor rises due to load fluctuation or mismatching of controller parameters, demagnetization may occur. When the permanent magnet synchronous motor is demagnetized, the phase current of the motor is increased, and the heat generation is also increased, so that the operating efficiency of the motor is reduced, and the service life of the motor is short. In addition, for the permanent magnet synchronous motor controlled by a sensorless motor, the position estimation error is too large due to rotor demagnetization, and the motor cannot normally operate.
Disclosure of Invention
Aiming at the problems, the invention provides a protection method for preventing the submersible alternating current permanent magnet synchronous motor from demagnetization. The problem of current PMSM demagnetization gradually, seriously influence the life of motor is solved.
The technical scheme adopted by the invention is as follows:
a protection method for preventing demagnetization of a submersible alternating current permanent magnet synchronous motor comprises the following steps:
1) under the current control mode, a current value instruction I is sent to the permanent magnet synchronous motord-refAfter the permanent magnet synchronous motor operates stably under the current value instruction, sampling is carried out to obtain the three-phase current of the permanent magnet synchronous motor, and the feedback current I of the d axis is obtained according to the three-phase currentdAnd feedback current I of q axisq；
2) According to the feedback current I of the d axis obtained in the step 1)dTo obtain a linear voltage value Ud；
3) Feedback current I of d-axis obtained according to the step 1)dQ-axis feedback current IqAnd the linear voltage value U obtained in the step 2)dCalculating the real-time stator winding resistance RS；
4) Stator winding resistance R according to step 3)SObtaining the current motor stator temperature value;
5) comparing the motor stator temperature value obtained in the step 4) with a prestored temperature threshold value, judging whether the running state of the permanent magnet synchronous motor is normal or not, and entering a step 6 when the motor stator temperature value is greater than the temperature threshold value;
6) and reducing the rotating speed of the permanent magnet synchronous motor, and repeating the steps 1) to 5) until the temperature value of the motor stator of the permanent magnet synchronous motor is less than or equal to the temperature threshold value.
The protection method does not need to add any external detection device, has small operand and is simple and effective to realize; any temperature abnormity of the permanent magnet synchronous motor occurs due to the problems of motor faults, power supply fluctuation, ventilation and heat dissipation and the like in the system, and the temperature abnormity can be timely acquired to realize early detection and early prevention, so that the timeliness of motor faults and demagnetization protection is ensured; the system works under the condition of severe environment or load fluctuation, when temperature abnormity occurs (no other faults), the motor stator temperature value obtained in real time can be obtained by comparing with a preset temperature threshold value, the permanent magnet synchronous motor is guaranteed to work under normal temperature by reducing the rotating speed, demagnetization can be effectively prevented, and the service life of the permanent magnet synchronous motor can be greatly prolonged by the protection method.
Further, in step 1), the current value command Id-refIs the d-axis current space vector; the method comprises the following specific steps of sampling to obtain the three-phase current of the permanent magnet synchronous motor:
2.1) sampling the three-phase current of the motor through a current sensor to obtain a sampling value;
2.2) eliminating leakage current of the sampling value obtained in the step 2.1) to obtain three-phase current I of the motorA、IB、IC。
Further, in the step 1), the feedback current I of the d axis is obtained according to the three-phase currentdAnd feedback current I of q axisqThe method comprises the following specific steps:
3.1) acquiring the angle theta of the current permanent magnet synchronous motor through an encoder;
3.2) to three-phase currents IA、IB、ICPerforming Clarke transformation to obtain d-axis feedback current IdAnd feedback current I of q axisqWherein, Clarke transformation formula is as follows:
further, in the step 2), a linear voltage value U is obtaineddThe specific method comprises the following steps: the current value is commanded tod-refFeedback current I with d-axisdWith the linear voltage value U as inputdAs output, a linear voltage value U is obtained by a PI regulatordThe expression for the PI regulator is:
wherein, KoIs a proportionality coefficient, THIn order to adopt the cycle, S is Laplace operator;
from the above formula of the PI regulator, the PI controller output signal u (t) simultaneously reflects the input e (t) and its integral in proportion, that is:
in practical application, the formula can be matchedDiscretizing, wherein the discretized PI controller expression is as follows:
wherein,
k is the sampling sequence number;
e (j) -the input value of the j sampling time in the sampling values from 0 to k times;
KH-an integration coefficient;
u (k) -the controller output value at the kth sampling instant;
e (k) -input value at the kth sampling time.
Further, in step 3), calculating real-time stator winding resistance RSThe formula of (1) is as follows:
wherein L isdIs d-axis inductance, LqQ-axis inductance, ω angular velocity of the rotor, Ld、LqThe motor parameters are given by the permanent magnet synchronous motor and correspond to d-axis and q-axis voltage equations of the permanent magnet synchronous motor.
Further, in the step 4), the current motor stator temperature value is obtained by matching the stator winding resistance with the resistance-temperature correspondence table.
Further, in the step 4), the current motor stator temperature value is obtained by matching the stator winding resistance with the resistance-temperature corresponding relation curve.
Further, in step 6), when the rotating speed of the permanent magnet synchronous motor is reduced, the permanent magnet synchronous motor is controlled to reduce the speed by 30-100 rpm each time, and after the permanent magnet synchronous motor runs for a plurality of preset time periods, the steps 1) to 5) are repeated.
In this application, rpm means revolutions per minute.
The invention has the beneficial effects that: no external detection device is needed, the calculation amount is small, and the realization is simple and effective; any temperature abnormity of the permanent magnet synchronous motor occurs due to the problems of motor faults, power supply fluctuation, ventilation and heat dissipation and the like in the system, and the temperature abnormity can be timely acquired to realize early detection and early prevention, so that the timeliness of motor faults and demagnetization protection is ensured; the system works under the condition of severe environment or load fluctuation, when temperature abnormity occurs (no other faults), the motor stator temperature value obtained in real time can be obtained by comparing with a preset temperature threshold value, the permanent magnet synchronous motor is guaranteed to work under normal temperature by reducing the rotating speed, demagnetization can be effectively prevented, and the service life of the permanent magnet synchronous motor can be greatly prolonged by the protection method.
Description of the drawings:
fig. 1 is a flow chart of the protection method for preventing the submersible alternating current permanent magnet synchronous motor from demagnetization.
The specific implementation mode is as follows:
the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a protection method for preventing demagnetization of a submersible alternating current permanent magnet synchronous motor comprises the following steps:
1) under the current control mode, a current value instruction I is sent to the permanent magnet synchronous motord-refAfter the permanent magnet synchronous motor operates stably under the current value instruction, sampling is carried out to obtain the three-phase current of the permanent magnet synchronous motor, and the feedback current I of the d axis is obtained according to the three-phase currentdAnd feedback current I of q axisq；
2) According to the feedback current I of the d axis obtained in the step 1)dTo obtain a linear voltage value Ud；
3) Feedback current I of d-axis obtained according to the step 1)dQ-axis feedback current IqAnd the linear voltage value U obtained in the step 2)dCalculating in real timeStator winding resistance RS；
4) Stator winding resistance R according to step 3)SObtaining the current motor stator temperature value;
5) comparing the motor stator temperature value obtained in the step 4) with a prestored temperature threshold value, judging whether the running state of the permanent magnet synchronous motor is normal or not, and entering a step 6 when the motor stator temperature value is greater than the temperature threshold value; when the temperature value of the motor stator is less than or equal to the temperature threshold value, the permanent magnet synchronous motor keeps the current parameters and continues to work normally;
6) and reducing the rotating speed of the permanent magnet synchronous motor, and repeating the steps 1) to 5) until the temperature value of the motor stator of the permanent magnet synchronous motor is less than or equal to the temperature threshold value.
In step 1) of this embodiment, the current value command Id-refIs the d-axis current space vector; the method comprises the following specific steps of sampling to obtain the three-phase current of the permanent magnet synchronous motor:
2.1) sampling the three-phase current of the motor through a current sensor to obtain a sampling value;
2.2) eliminating leakage current of the sampling value obtained in the step 2.1) to obtain three-phase current I of the motorA、IB、IC。
In step 1) of this embodiment, the feedback current I of the d-axis is obtained according to the three-phase currentdAnd feedback current I of q axisqThe method comprises the following specific steps:
3.1) acquiring the angle theta of the current permanent magnet synchronous motor through an encoder;
3.2) to three-phase currents IA、IB、ICPerforming Clarke transformation to obtain d-axis feedback current IdAnd feedback current I of q axisqWherein, Clarke transformation formula is as follows:
in step 2) of this embodiment, a linear voltage value U is obtaineddThe specific method comprises the following steps: the current value is commanded tod-refFeedback current I with d-axisdWith the linear voltage value U as inputdAs output, a linear voltage value U is obtained by a PI regulatordThe expression for the PI regulator is:
wherein, KoIs a proportionality coefficient, THIn order to adopt the cycle, S is Laplace operator;
from the above formula of the PI regulator, the PI controller output signal u (t) simultaneously reflects the input e (t) and its integral in proportion, that is:
in practical application, the formula can be matchedDiscretizing, wherein the discretized PI controller expression is as follows:
wherein,
k is the sampling sequence number;
e (j) -the input value of the j sampling time in the sampling values from 0 to k times;
KH-an integration coefficient;
u (k) -the controller output value at the kth sampling instant;
e (k) -input value at the kth sampling time.
In step 3) of this embodiment, the real-time stator winding resistance R is calculatedSThe formula of (1) is as follows:
wherein L isdIs d-axis inductance, LqQ-axis inductance, ω angular velocity of the rotor, Ld、LqThe motor parameters are given by the permanent magnet synchronous motor and correspond to d-axis and q-axis voltage equations of the permanent magnet synchronous motor.
In step 4), the current motor stator temperature value is obtained by matching the stator winding resistance with the resistance-temperature correspondence table. And processing to obtain the motor stator temperature value through a resistance-temperature corresponding relation table, and obtaining the motor stator temperature value through a preset resistance-temperature corresponding relation curve chart.
In step 6) of this embodiment, when the rotation speed of the permanent magnet synchronous motor is reduced, the permanent magnet synchronous motor is controlled to reduce the speed by 30-100 rpm each time, and after the permanent magnet synchronous motor runs for a plurality of preset time periods, the steps 1) to 5) are repeated, wherein the rpm represents revolutions per minute.
The protection method does not need to add any external detection device, has small operand and is simple and effective to realize; any temperature abnormity of the permanent magnet synchronous motor occurs due to the problems of motor faults, power supply fluctuation, ventilation and heat dissipation and the like in the system, and the temperature abnormity can be timely acquired to realize early detection and early prevention, so that the timeliness of motor faults and demagnetization protection is ensured; the system works under the condition of severe environment or load fluctuation, when temperature abnormity occurs (no other faults), the motor stator temperature value obtained in real time can be obtained by comparing with a preset temperature threshold value, the permanent magnet synchronous motor is guaranteed to work under normal temperature by reducing the rotating speed, demagnetization can be effectively prevented, and the service life of the permanent magnet synchronous motor can be greatly prolonged by the protection method.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields and are included in the scope of the present invention.
Claims (8)
1. A protection method for preventing demagnetization of a submersible alternating current permanent magnet synchronous motor is characterized by comprising the following steps:
1) under the current control mode, a current value instruction I is sent to the permanent magnet synchronous motord-refAfter the permanent magnet synchronous motor operates stably under the current value instruction, sampling is carried out to obtain the three-phase current of the permanent magnet synchronous motor, and the feedback current I of the d axis is obtained according to the three-phase currentdAnd feedback current I of q axisq；
2) According to the feedback current I of the d axis obtained in the step 1)dTo obtain linearityVoltage value Ud；
3) Feedback current I of d-axis obtained according to the step 1)dQ-axis feedback current IqAnd the linear voltage value U obtained in the step 2)dCalculating the real-time stator winding resistance RS；
4) Stator winding resistance R according to step 3)SObtaining the current motor stator temperature value;
5) comparing the motor stator temperature value obtained in the step 4) with a prestored temperature threshold value, judging whether the running state of the permanent magnet synchronous motor is normal or not, and entering a step 6 when the motor stator temperature value is greater than the temperature threshold value;
6) and reducing the rotating speed of the permanent magnet synchronous motor, and repeating the steps 1) to 5) until the temperature value of the motor stator of the permanent magnet synchronous motor is less than or equal to the temperature threshold value.
2. The method for protecting the submersible alternating current permanent magnet synchronous motor against demagnetization as claimed in claim 1, wherein in step 1), the current value command Id-refIs the d-axis current space vector; the method comprises the following specific steps of sampling to obtain the three-phase current of the permanent magnet synchronous motor:
2.1) sampling the three-phase current of the motor through a current sensor to obtain a sampling value;
2.2) eliminating leakage current of the sampling value obtained in the step 2.1) to obtain three-phase current I of the motorA、IB、IC。
3. The protection method for preventing demagnetization of the submersible alternating current permanent magnet synchronous motor according to claim 2, characterized in that in the step 1), the feedback current I of the d axis is obtained according to the three-phase currentdAnd feedback current I of q axisqThe method comprises the following specific steps:
3.1) acquiring the angle theta of the current permanent magnet synchronous motor through an encoder;
3.2) to three-phase currents IA、IB、ICPerforming Clarke transformation to obtain d-axis feedback current IdAnd feedback current I of q axisqWherein, Clarke is changedThe formula is changed as follows:
4. the method for protecting the submersible alternating current permanent magnet synchronous motor against demagnetization as claimed in claim 3, wherein in the step 2), a linear voltage value U is obtaineddThe specific method comprises the following steps: the current value is commanded tod-refFeedback current I with d-axisdAs input, toAs a response function, with a linear voltage value UdAs output, a linear voltage value U is obtaineddWherein, K isoIs a proportionality coefficient, THTo adopt the period, S is the laplacian operator.
5. The method for protecting submersible alternating current permanent magnet synchronous motor against demagnetization of claim 4, wherein in step 3), the real-time stator winding resistance R is calculatedSThe formula of (1) is as follows:
wherein L isdIs d-axis inductance, LqQ-axis inductance, ω angular velocity of the rotor, Ld、LqThe motor parameters are given by the permanent magnet synchronous motor and correspond to d-axis and q-axis voltage equations of the permanent magnet synchronous motor.
6. The protection method for preventing demagnetization of the submersible alternating current permanent magnet synchronous motor according to claim 1, wherein in the step 4), the current motor stator temperature value is obtained by matching the stator winding resistance with the resistance-temperature correspondence table.
7. The protection method for preventing demagnetization of the submersible alternating current permanent magnet synchronous motor according to claim 1, characterized in that in the step 4), the current motor stator temperature value is obtained by matching the resistance of the stator winding with a resistance-temperature corresponding relation curve graph.
8. The protection method for preventing demagnetization of the submersible alternating current permanent magnet synchronous motor according to claim 1, wherein in the step 6), when the rotating speed of the permanent magnet synchronous motor is reduced, the speed of the permanent magnet synchronous motor is controlled to be reduced by 30-100 rpm each time, and after the permanent magnet synchronous motor runs for a period of a plurality of preset time periods, the steps 1) to 5) are repeated.
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| CN201510997294.4A CN105490606B (en) | 2015-12-25 | 2015-12-25 | Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor |
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| CN201510997294.4A CN105490606B (en) | 2015-12-25 | 2015-12-25 | Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor |
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| CN105811832A (en) * | 2016-05-06 | 2016-07-27 | 湖南大学 | Temperature estimation method, device and system of permanent-magnet synchronous motor stator |
| CN105822535A (en) * | 2016-04-19 | 2016-08-03 | 广东美的制冷设备有限公司 | Control method and device of compressor and air conditioner |
| CN106487307A (en) * | 2016-11-18 | 2017-03-08 | 深圳市道通智能航空技术有限公司 | The anti-back magnetic control system of permagnetic synchronous motor, method and unmanned vehicle |
| WO2018010679A1 (en) * | 2016-07-14 | 2018-01-18 | 广州极飞科技有限公司 | Motor temperature detection method and device, and aerial vehicle |
| CN108736784A (en) * | 2017-04-14 | 2018-11-02 | 深圳市道通智能航空技术有限公司 | The method and apparatus for measuring the temperature of the stator winding of permanent magnet synchronous motor |
| CN109617504A (en) * | 2018-12-10 | 2019-04-12 | 阿特拉斯·科普柯(无锡)压缩机有限公司 | A kind of system and method for anti-demagnetization |
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| CN111162709A (en) * | 2020-01-19 | 2020-05-15 | 珠海格力电器股份有限公司 | Motor drive control method, device and system and household appliance |
| CN112737426A (en) * | 2020-12-29 | 2021-04-30 | 新乡市夏烽电器有限公司 | Temperature rise model reconstruction-based deep well permanent magnet synchronous motor demagnetization prevention control method |
| CN112737426B (en) * | 2020-12-29 | 2022-10-18 | 新乡市夏烽电器有限公司 | Temperature rise model reconstruction-based deep well permanent magnet synchronous motor demagnetization prevention control method |
| CN113489423A (en) * | 2021-03-17 | 2021-10-08 | 联合汽车电子有限公司 | Motor component working temperature online control method, storage medium, motor controller and management system |
| CN113086002A (en) * | 2021-05-25 | 2021-07-09 | 杭叉集团股份有限公司 | Automatic industrial vehicle power unit of adjusting |
| CN114785225A (en) * | 2022-05-06 | 2022-07-22 | 重庆美的通用制冷设备有限公司 | Detection method and device of permanent magnet motor, readable storage medium and permanent magnet motor |
| CN114785225B (en) * | 2022-05-06 | 2024-01-26 | 重庆美的通用制冷设备有限公司 | Permanent magnet motor detection method and device, readable storage medium and permanent magnet motor |
| CN116208064A (en) * | 2023-03-20 | 2023-06-02 | 江苏远方动力科技有限公司 | Temperature anomaly online monitoring and fault tolerance method for permanent magnet synchronous motor |
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