CN105490606B - Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor - Google Patents

Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor Download PDF

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Publication number
CN105490606B
CN105490606B CN201510997294.4A CN201510997294A CN105490606B CN 105490606 B CN105490606 B CN 105490606B CN 201510997294 A CN201510997294 A CN 201510997294A CN 105490606 B CN105490606 B CN 105490606B
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China
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permanent magnet
magnet synchronous
current
synchronous motor
step
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CN201510997294.4A
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Chinese (zh)
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CN105490606A (en
Inventor
金立川
蒋金生
陈南干
尹学超
江晨
李华晶
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杭州乾景科技有限公司
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Abstract

The invention discloses a kind of guard methods for the anti-demagnetization of latent oil AC permanent magnet synchronous motor, include the following steps:1) three-phase current is obtained, feedback current I is obtained according to three-phase currentdAnd Iq;2) linear voltage value is obtained;3) real-time stator winding resistance is calculated;4) current motor stator temperature value is obtained;5) obtained motor stator temperature value is compared with the temperature threshold to prestore, when motor stator temperature value is more than temperature threshold, is entered step 6);6) rotating speed for reducing permanent magnet synchronous motor repeats step 1) to step 5), until motor stator temperature value is less than or equal to temperature threshold.The guard method of the present invention, need not increase any external detection device, and operand is small, realize simple and effective;When there is temperature anomaly, it can ensure that permanent magnet synchronous motor works at normal temperatures, can effectively prevent demagnetizing, the application guard method can greatly enhance the service life of permanent magnet synchronous motor by reducing rotating speed.

Description

Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor

Technical field

The present invention relates to permanent magnet synchronous motor technical fields, are designated specifically to the anti-demagnetization of latent oil AC permanent magnet synchronous motor Guard method.

Background technology

Small currently, permanent magnet synchronous motor is because its is simple in structure, light-weight, power ratio of inertias is big, efficient, precision It the advantages that high and speed-regulating range width, is widely used in recent years in each field.However, in some special dimensions, motor Residing working environment is sufficiently complex and very extreme, or even can not real-time monitor the state of motor, causes electromotor high-temperature long Phase operation can not prevent, and motor gradually demagnetizes, and seriously affects the service life of motor.Replacement permanent magnet synchronous electric chance causes huge Manpower and materials loss.

For example, field of oilfield exploitation, oil-submersible extracting equipment, permanent magnet synchronous motor and associated component stretch into the over thousands of rice in underground, There are strict requirements for motor and assembly life-span etc..The permanent magnet synchronous motor service life is influenced, other than other Etio. Ags, mainly The reason is that motor is in longtime running in the state of high temperature, cause to demagnetize, shortens electrical machinery life.When permanent magnet synchronous motor is because of load The reasons such as fluctuation or controller parameter mismatch cause temperature to increase, it is also possible to demagnetization phenomenon occur.Wherein, work as permanent-magnet synchronous When motor demagnetizes, electric machine phase current will increase, and fever will also increase, and be reduced so as to cause the operational efficiency of motor, short life.Separately Outside, for the permanent magnet synchronous motor of sensorless strategy, rotor demagnetization may cause position estimation error excessive, and then lead to electricity Machine is unable to operate normally.

Invention content

The present invention is in view of the above-mentioned problems, propose a kind of protection side for the anti-demagnetization of latent oil AC permanent magnet synchronous motor Method.Solves the problem of existing permanent magnet synchronous motor gradually demagnetizes, seriously affects the service life of motor.

The technical solution adopted by the present invention is as follows:

A kind of guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor includes the following steps:

1) it under current control mode, sends out current value to permanent magnet synchronous motor and instructs Id-ref, permanent magnet synchronous motor is in electricity After flow valuve is stable under instructing, sampling obtains the three-phase current of permanent magnet synchronous motor, and the feedback of d axis is obtained according to three-phase current Electric current IdWith the feedback current I of q axisq

2) according to the feedback current I of the d axis obtained in step 1)d, obtain linear voltage value Ud

3) the feedback current I of the d axis obtained according to step 1)d, q axis feedback current IqAnd step 2) obtain it is linear Voltage value Ud, calculate real-time stator winding resistance RS

4) according to the stator winding resistance R of step 3)S, obtain current motor stator temperature value;

5) the motor stator temperature value that step 4) obtains is compared with the temperature threshold to prestore, judges permanent magnet synchronous motor Whether operating status is normal, when motor stator temperature value is more than temperature threshold, enters step 6);

6) rotating speed for reducing permanent magnet synchronous motor repeats step 1) to step 5), until the motor of permanent magnet synchronous motor is fixed Sub- temperature value is less than or equal to temperature threshold.

The guard method of the application need not increase any external detection device, and operand is small, and realization simply has Effect;System, can because permanent magnet synchronous motor any temperature exception occurs in the problems such as electrical fault, power-supply fluctuation, ventilation and heat It is timely collected and realizes that early discovery early prevents, ensure that electrical fault and the promptness of demagnetization protection;System is severe It works in the case of environment or the fluctuation of load, it, can be by the motor that obtains in real time when there is temperature anomaly (without other failures) Stator temperature compares to obtain with preset temperature threshold, and ensures permanent magnet synchronous motor in normal temperature by reducing rotating speed Lower work can effectively prevent demagnetizing, and the guard method of the application can greatly enhance the service life of permanent magnet synchronous motor.

Further, in step 1), current value instructs Id-refFor d shaft current space vectors;Sampling obtains permanent magnet synchronous electric The three-phase current of machine is as follows:

2.1) three-phase current of motor is sampled by current sensor, obtains sampled value;

2.2) sampled value of step 2.1) is subjected to leakage current elimination, obtains the three-phase current I of motorA、IB、IC

Further, in step 1), the feedback current I of d axis is obtained according to three-phase currentdWith the feedback current I of q axisqTool Steps are as follows for body:

3.1) angle, θ of current permanent magnet synchronous motor is obtained by encoder;

3.2) to three-phase current IA、IB、ICClarke is carried out to convert to obtain the feedback current I of d axisdWith the feedback current of q axis Iq, wherein Clarke transformation for mula is:

Further, in step 2), linear voltage value U is obtaineddSpecific method be:Current value is instructed into Id-refWith d axis Feedback current IdDifference e (t) as input, with linear voltage value UdLinear electricity is obtained by pi regulator as output Pressure value Ud, the expression formula of pi regulator is:

Wherein, KoFor proportionality coefficient, THFor the sampling period, S is Laplace operator;

By the formula of above-mentioned pi regulator it is found that PI controller output signal u (t) while proportionally reflection input e (t) And its integral, that is, have:

It, can be to formula in practical applicationCarry out discretization, the PI controls of discretization Device expression formula is:

Wherein,

K --- sampling sequence number;

E (j) --- in 0 to k times sampled value, the input value of jth time sampling instant;

KH--- integral coefficient;

The controller output valve of u (k) --- kth time sampling instant;

The input value of e (k) --- kth time sampling instant.

Further, in step 3), real-time stator winding resistance R is calculatedSFormula it is as follows:

Wherein, LdFor d axle inductances, LqFor q axle inductances, ω is the angular speed of rotor, Ld、LqIt is provided by permanent magnet synchronous motor, It is the d axis of permanent magnet synchronous motor, the parameter of electric machine corresponding to q shaft voltage equations.

Further, it in step 4), by matching stator winding resistance with resistance v. temperature mapping table, obtains To current motor stator temperature value.

Further, in step 4), by the way that stator winding resistance and resistance v. temperature correspondence curve graph are carried out Match, obtains current motor stator temperature value.

Further, in step 6), when reducing the rotating speed of permanent magnet synchronous motor, speed is reduced per secondary control permanent magnet synchronous motor 30~100rpm is spent, and after the period that permanent magnet synchronous motor runs several preset durations, repeats step 1) to step 5).

In the application, rpm expressions rpm.

The beneficial effects of the invention are as follows:Any external detection device need not be increased, and operand is small, realization simply has Effect;System, can because permanent magnet synchronous motor any temperature exception occurs in the problems such as electrical fault, power-supply fluctuation, ventilation and heat It is timely collected and realizes that early discovery early prevents, ensure that electrical fault and the promptness of demagnetization protection;System is severe It works in the case of environment or the fluctuation of load, it, can be by the motor that obtains in real time when there is temperature anomaly (without other failures) Stator temperature compares to obtain with preset temperature threshold, and ensures permanent magnet synchronous motor in normal temperature by reducing rotating speed Lower work can effectively prevent demagnetizing, and the guard method of the application can greatly enhance the service life of permanent magnet synchronous motor.

Description of the drawings:

Fig. 1 is the flow chart of guard method of the present invention for the anti-demagnetization of latent oil AC permanent magnet synchronous motor.

Specific implementation mode:

With reference to each attached drawing, the present invention is described in detail.

As shown in Figure 1, a kind of guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor, includes the following steps:

1) it under current control mode, sends out current value to permanent magnet synchronous motor and instructs Id-ref, permanent magnet synchronous motor is in electricity After flow valuve is stable under instructing, sampling obtains the three-phase current of permanent magnet synchronous motor, and the feedback of d axis is obtained according to three-phase current Electric current IdWith the feedback current I of q axisq

2) according to the feedback current I of the d axis obtained in step 1)d, obtain linear voltage value Ud

3) the feedback current I of the d axis obtained according to step 1)d, q axis feedback current IqAnd step 2) obtain it is linear Voltage value Ud, calculate real-time stator winding resistance RS

4) according to the stator winding resistance R of step 3)S, obtain current motor stator temperature value;

5) the motor stator temperature value that step 4) obtains is compared with the temperature threshold to prestore, judges permanent magnet synchronous motor Whether operating status is normal, when motor stator temperature value is more than temperature threshold, enters step 6);When motor stator temperature value is small When equal to temperature threshold, permanent magnet synchronous motor keeps parameter current, continues to work normally;

6) rotating speed for reducing permanent magnet synchronous motor repeats step 1) to step 5), until the motor of permanent magnet synchronous motor is fixed Sub- temperature value is less than or equal to temperature threshold.

In the present embodiment step 1), current value instructs Id-refFor d shaft current space vectors;Sampling obtains permanent magnet synchronous motor Three-phase current be as follows:

2.1) three-phase current of motor is sampled by current sensor, obtains sampled value;

2.2) sampled value of step 2.1) is subjected to leakage current elimination, obtains the three-phase current I of motorA、IB、IC

In the present embodiment step 1), the feedback current I of d axis is obtained according to three-phase currentdWith the feedback current I of q axisqTool Steps are as follows for body:

3.1) angle, θ of current permanent magnet synchronous motor is obtained by encoder;

3.2) to three-phase current IA、IB、ICClarke is carried out to convert to obtain the feedback current I of d axisdWith the feedback current of q axis Iq, wherein Clarke transformation for mula is:

In the present embodiment step 2), linear voltage value U is obtaineddSpecific method be:Current value is instructed into Id-refWith d axis Feedback current IdDifference e (t) as input, with linear voltage value UdLinear voltage is obtained by pi regulator as output Value Ud, the expression formula of pi regulator is:

Wherein, KoFor proportionality coefficient, THFor the sampling period, S is Laplace operator;

By the formula of above-mentioned pi regulator it is found that PI controller output signal u (t) while proportionally reflection input e (t) And its integral, that is, have:

It, can be to formula in practical applicationCarry out discretization, the PI controls of discretization Device expression formula is:

Wherein,

K --- sampling sequence number;

E (j) --- in 0 to k times sampled value, the input value of jth time sampling instant;

KH--- integral coefficient;

The controller output valve of u (k) --- kth time sampling instant;

The input value of e (k) --- kth time sampling instant.

In the present embodiment step 3), real-time stator winding resistance R is calculatedSFormula it is as follows:

Wherein, LdFor d axle inductances, LqFor q axle inductances, ω is the angular speed of rotor, Ld、LqIt is provided by permanent magnet synchronous motor, It is the d axis of permanent magnet synchronous motor, the parameter of electric machine corresponding to q shaft voltage equations.

In the present embodiment step 4), by matching stator winding resistance with resistance v. temperature mapping table, obtain Current motor stator temperature value.Processing obtains motor stator temperature value by resistance v. temperature mapping table, can also pass through Preset resistance v. temperature correspondence curve graph obtains motor stator temperature value.

In the present embodiment step 6), when reducing the rotating speed of permanent magnet synchronous motor, speed is reduced per secondary control permanent magnet synchronous motor 30~100rpm is spent, and after the period that permanent magnet synchronous motor runs several preset durations, repeats step 1) to step 5), Middle rpm expressions rpm.

The guard method of the application need not increase any external detection device, and operand is small, and realization simply has Effect;System, can because permanent magnet synchronous motor any temperature exception occurs in the problems such as electrical fault, power-supply fluctuation, ventilation and heat It is timely collected and realizes that early discovery early prevents, ensure that electrical fault and the promptness of demagnetization protection;System is severe It works in the case of environment or the fluctuation of load, it, can be by the motor that obtains in real time when there is temperature anomaly (without other failures) Stator temperature compares to obtain with preset temperature threshold, and ensures permanent magnet synchronous motor in normal temperature by reducing rotating speed Lower work can effectively prevent demagnetizing, and the guard method of the application can greatly enhance the service life of permanent magnet synchronous motor.

The foregoing is merely the preferred embodiment of the present invention, not thereby limit the scope of patent protection of the present invention, all It is directly or indirectly to be used in other relevant technologies with equivalent structure transformation made by description of the invention and accompanying drawing content Field includes similarly within the scope of the present invention.

Claims (4)

1. a kind of guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor, which is characterized in that include the following steps:
1) it under current control mode, sends out current value to permanent magnet synchronous motor and instructs Id-ref, permanent magnet synchronous motor is in current value Under instruction it is stable after, sampling obtain permanent magnet synchronous motor three-phase current, the feedback current of d axis is obtained according to three-phase current IdWith the feedback current I of q axisq
2) according to the feedback current I of the d axis obtained in step 1)d, obtain linear voltage value Ud
3) the feedback current I of the d axis obtained according to step 1)d, q axis feedback current IqAnd the linear voltage that step 2) obtains Value Ud, calculate real-time stator winding resistance RS
4) according to the stator winding resistance R of step 3)S, obtain current motor stator temperature value;
5) the motor stator temperature value that step 4) obtains is compared with the temperature threshold to prestore, judges the operation of permanent magnet synchronous motor Whether state is normal, when motor stator temperature value is more than temperature threshold, enters step 6);
6) rotating speed for reducing permanent magnet synchronous motor repeats step 1) to step 5), until the motor stator temperature of permanent magnet synchronous motor Angle value is less than or equal to temperature threshold;
In step 1), current value instructs Id-refFor d shaft current space vectors;Sampling obtains the three-phase current of permanent magnet synchronous motor It is as follows:
2.1) three-phase current of motor is sampled by current sensor, obtains sampled value;
2.2) sampled value of step 2.1) is subjected to leakage current elimination, obtains the three-phase current I of motorA、IB、IC
In step 1), the feedback current I of d axis is obtained according to three-phase currentdWith the feedback current I of q axisqIt is as follows:
3.1) angle, θ of current permanent magnet synchronous motor is obtained by encoder;
3.2) to three-phase current IA、IB、ICClarke is carried out to convert to obtain the feedback current I of d axisdWith the feedback current I of q axisq, In, Clarke transformation for mula is:
In step 2), linear voltage value U is obtaineddSpecific method be:Current value is instructed into Id-refWith the feedback current I of d axisd's Difference e (t) is used as input, withFunction in response, with linear voltage value UdAs output, linear voltage is obtained Value Ud, wherein KoFor proportionality coefficient, THFor the sampling period, S is Laplace operator;
In step 3), real-time stator winding resistance R is calculatedSFormula it is as follows:
Wherein, LdFor d axle inductances, LqFor q axle inductances, ω is the angular speed of rotor, Ld、Lq
It is provided by permanent magnet synchronous motor, is the d axis of permanent magnet synchronous motor, the parameter of electric machine corresponding to q shaft voltage equations;
In step 4), by matching stator winding resistance with resistance v. temperature mapping table or curve graph, obtain current Motor stator temperature value;
In step 6), when reducing the rotating speed of permanent magnet synchronous motor, 30~100rpm of speed is reduced per secondary control permanent magnet synchronous motor, And after the period that permanent magnet synchronous motor runs several preset durations, step 1) is repeated to step 5).
CN201510997294.4A 2015-12-25 2015-12-25 Guard method for the anti-demagnetization of latent oil AC permanent magnet synchronous motor CN105490606B (en)

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CN105822535B (en) * 2016-04-19 2018-06-29 广东美的制冷设备有限公司 Control method, device and the air conditioner of compressor
CN105811832B (en) * 2016-05-06 2018-04-03 湖南大学 The method of estimation of permanent-magnetic synchronous motor stator temperature, apparatus and system
CN106257823B (en) * 2016-07-14 2019-01-08 广州极飞科技有限公司 Motor temperature detection method, device and aircraft
CN106487307B (en) * 2016-11-18 2019-03-26 深圳市道通智能航空技术有限公司 Anti-back magnetic control system, method and the unmanned vehicle 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
CN109861623A (en) * 2019-02-28 2019-06-07 宁波奥克斯电气股份有限公司 Control method, device and the air conditioner for preventing motor overload from protecting

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CN102741021A (en) * 2010-02-05 2012-10-17 Abb股份有限公司 Method and system for heating of robots in cold environments
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Application publication date: 20160413

Assignee: Heng Heng Petroleum Equipment Co., Ltd.

Assignor: HANGZHOU QIANJING TECHNOLOGY CO., LTD.

Contract record no.: 2019330000044

Denomination of invention: Protection method for preventing submersible AC permanent magnet synchronous motor from being demagnetized

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License type: Common License

Record date: 20190327

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