CN106301130B - A kind of control method and system of the automatic load shedding of motor-driven dynamic overload - Google Patents
A kind of control method and system of the automatic load shedding of motor-driven dynamic overload Download PDFInfo
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Abstract
The invention discloses the control methods and system of a kind of motor-driven automatic load shedding of dynamic overload, comprising: obtains rated value, overload magnification, overload time, actual measured value and the motor operating time of the physical quantity for describing motor driven overload；According to the rated value, overload magnification and overload time of acquisition, determine that the overload of physical quantity adds up threshold value, and according to the rated value of acquisition, actual measured value and motor operating time, determine the overload aggregate-value of physical quantity；When overloading aggregate-value greater than accumulative threshold value is overloaded, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is less than or equal to rated value.The present invention realizes automatic load shedding when motor driven overload, thus the case where avoiding equipment downtime caused by overloading because of motor dynamics and damaging.
Description
Technical field
The present invention relates to drive and control of electric machine field more particularly to a kind of controls of the automatic load shedding of motor-driven dynamic overload
Method and system processed.
Background technique
Motor and driver have a nominal load power, if making the actual use power of motor under certain conditions
More than the rated power of motor, then this phenomenon is referred to as motor overload.Currently, in electric car driving, transducer drive, exchange
The fields such as servo-drive, elevator driving, after motor overload occurs, are based on for the sake of safety, in order to protect motor and related electric to set
Standby, driver generally will do it protection and alarm and shut down processing, in this way, will lead to the stagnation that user uses, and make troubles.It lifts
For example, in the application of vivid platform, when motion control instruction change rate is larger, motor driven is easy to generate of short duration dynamic
The problem of state overload shutdown is protected, in this way, greatly affected user experience.In addition, motor occurs short in many applications
Temporary dynamic overload and cause equipment is out of service to result even in dangerous generation.
Therefore, in order to avoid motor overloads, many users can be selected the type selecting of motor and driver greatly, or reduce
The dynamic of motor control instruction.But will lead in this way motor and driver increased costs and reduced performance it is undesirable
Situation.In addition, current general driver, due to itself not having the function of overloading automatic load shedding, in dynamic servo platform etc.
In application in equipment, causes user to need to make repeated attempts smooth filtering methods or the parameter such as acceleration and deceleration of control instruction, bring
Inconvenience or unnecessary additional hardware and time cost.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of controlling parties of motor-driven automatic load shedding of dynamic overload
Method and system can be realized automatic load shedding when motor driven overload, to avoid equipment downtime caused by overloading because of motor dynamics
And the case where damage.
In order to reach above-mentioned technical purpose, the present invention provides a kind of controlling party of automatic load shedding of motor-driven dynamic overload
Method, comprising: obtain rated value, overload magnification, the overload time, actual measured value of the physical quantity for describing motor driven overload
And motor operating time；According to the rated value, overload magnification and overload time of acquisition, determine that the overload of physical quantity adds up thresholding
Value, and overload aggregate-value is determined according to the rated value of acquisition, actual measured value and motor operating time；When the overload determined is tired
When evaluation is greater than accumulative threshold value is overloaded, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is less than or equal to volume
Definite value.
Further, described that overload aggregate-value is determined according to the rated value of acquisition, actual measured value and motor operating time
Later, this method further include: when the overload aggregate-value is less than zero, return-to-zero is carried out to the overload aggregate-value.
Further, the overload of the determining physical quantity adds up threshold value are as follows: (n-1) p0·Td, wherein p0Expression thing
The rated value of reason amount, n are overload magnification, TdFor overload time.
Further, when physical quantity is current of electric, the overload of the determining physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value.
Further, when physical quantity is current of electric, the overload of the determining physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value.
Further, the overload aggregate-value of the determining physical quantity are as follows:
Wherein, OL indicates the overload aggregate-value of physical quantity, p0Indicate that the rated value of physical quantity, p indicate the reality of physical quantity
Measured value, T indicate motor operating time.
Further, when physical quantity is current of electric, the overload aggregate-value of the determining physical quantity are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, IbFor
Current of electric base value, k are overload coefficient of utilization, and Tmod is the sampling time.
Further, when physical quantity is current of electric, the overload aggregate-value of the determining physical quantity are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, IbFor
Current of electric base value, k are overload coefficient of utilization, and Tmod is the sampling time.
Further, when the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, closed loop tune is carried out to physical quantity
Section, so that it includes: when physical quantity is current of electric, when the overload determined that currently practical measured value, which is less than or equal to rated value,
When aggregate-value is greater than accumulative threshold value is overloaded, torque current instruction value is reduced by closed-loop control to less than or equal to torque current
Rated value, to adjust current of electric so that the currently practical measured value of current of electric be less than or equal to rated value.
Further, this method further include: when the overload aggregate-value determined is no more than accumulative threshold value is overloaded, to object
Reason amount carries out closed loop adjusting, so that currently practical measured value is located in preset range, wherein the preset range is not less than volume
Definite value and be not more than maximum output value.
The present invention also provides a kind of control systems of motor-driven automatic load shedding of overload, comprising: data acquisition module is used
In the rated value, overload magnification, overload time, actual measured value and the motor that obtain the physical quantity for describing motor driven overload
Runing time；Computing module determines the overload of physical quantity for the rated value, overload magnification and overload time according to acquisition
Accumulative threshold value, and overload aggregate-value is determined according to the rated value of acquisition, actual measured value and motor operating time；Control mould
Block, for physical quantity being adjusted, so that currently practical when the overload aggregate-value determined is greater than and overloads accumulative threshold value
Measured value is less than or equal to rated value.
Further, which further includes processing module, in rated value of the computing module according to acquisition, reality
It is tired to the overload when the overload aggregate-value is less than zero after measured value and motor operating time determine overload aggregate-value
Evaluation carries out return-to-zero.
Further, the computing module, is specifically used for: determining that the overload of physical quantity adds up threshold value are as follows: (n-1)
p0·Td,
Wherein, p0Indicate the rated value of physical quantity, n is overload magnification, TdFor overload time.
Further, the computing module, is specifically used for: when physical quantity is current of electric, determining the overload of physical quantity
Accumulative threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value.
Further, the computing module, is specifically used for: when physical quantity is current of electric, the determining physical quantity
Overload accumulative threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value.
Further, the computing module, is specifically used for: determining the overload aggregate-value of physical quantity are as follows:
Wherein, OL indicates the overload aggregate-value of physical quantity, p0Indicate that the rated value of physical quantity, p indicate the reality of physical quantity
Measured value, T indicate motor operating time.
Further, the computing module, is specifically used for: when physical quantity is current of electric, determining the overload of physical quantity
Aggregate-value are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization, and Tmod is the sampling time.
Further, the computing module, is specifically used for: when physical quantity is current of electric, determining the overload of physical quantity
Aggregate-value are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization, and Tmod is the sampling time
Further, the control module, is specifically used for: when physical quantity is current of electric, when the overload determined is tired
When evaluation is greater than accumulative threshold value is overloaded, torque current instruction value is reduced by closed-loop control to less than or equal to torque current
Rated value, to adjust current of electric, so that the currently practical measured value of current of electric is less than or equal to rated value.
Further, the control module is also used to when the overload aggregate-value determined is no more than the accumulative threshold value of overload
When, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is located in preset range, wherein the preset range is
Not less than rated value and it is not more than maximum output value.
The control method and system of the automatic load shedding of motor-driven dynamic overload provided by the invention, are determined by calculation use
Add up threshold value and overload aggregate-value in the overload of the physical quantity of description motor driven overload, tires out when overload aggregate-value is greater than overload
When counting threshold value, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is less than or equal to rated value, in this way, making
Motor-driven output power reduces, from the automatic load shedding of dynamic overload.Control method provided by the invention can make to overload
Aggregate-value, which is less than or equal to, overloads accumulative threshold value, so that motor drive operational is under maximum output capability state, when short
When dynamic overload when while overloading accumulative threshold value (overload aggregate-value is greater than), by carrying out closed loop adjusting to physical quantity so that
Currently practical measured value reduces, so that the volume of dropping enters trouble free service boundary to motor driven automatically, retains rated continuous driving
Ability is shut down without protecting.In addition, not only there is peak value mistake after driver applications control method provided by the invention and system
Loading capability also has the ability of automatic load shedding and automatic Restoration dynamics overload, in the application in the equipment such as dynamic servo platform,
It avoids user to make repeated attempts smooth filtering methods or the parameter such as acceleration and deceleration of control instruction, reduces unnecessary additional hardware
And time cost.
Detailed description of the invention
Fig. 1 is the process of the control method for the automatic load shedding of motor-driven dynamic overload that present pre-ferred embodiments provide
Figure；
Fig. 2 is the control principle drawing for the automatic load shedding of motor-driven dynamic overload that present pre-ferred embodiments provide；
Fig. 3 is that the mark for the automatic load shedding of motor-driven dynamic overload that present pre-ferred embodiments provide changes handling principle
Figure；
Fig. 4 is the control system that provides of present pre-ferred embodiments in the partial schematic block diagram of servo-driver.
Specific embodiment
Below in conjunction with attached drawing to a preferred embodiment of the present invention will be described in detail, it should be understood that described below is excellent
Select embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 show the control method of the automatic load shedding of motor-driven dynamic overload of present pre-ferred embodiments offer
Flow chart.As shown in Figure 1, the control method packet for the automatic load shedding of motor-driven dynamic overload that present pre-ferred embodiments provide
Include following steps:
Step 11: obtaining rated value, overload magnification, the overload time, reality of the physical quantity for describing motor driven overload
Border measured value and motor operating time.
Specifically, overload capacity is determined by overload magnification with load period two indices are crossed.So-called overload magnification refers to volume
The percentage of fixed load crosses the make and break period that load period refers to overload magnification.Therefore, overload capacity is by system power device hardware
It determines, it is related with the enabled condition of heat dissipation area, overload magnification, and it is unrelated with motor control.As it can be seen that for describing motor drive
The overload magnification and overload time of the physical quantity of dynamic overload are determined by motor and driver hardware.The rated value of physical quantity is according to electricity
The setting of machine equipment determines.It is obtained in addition, the actual measured value of physical quantity detects in motor actual moving process, motor operation
Time determines according to motor practical operation situation.
Step 12: according to the rated value, overload magnification and overload time of acquisition, determining that the overload of physical quantity adds up thresholding
Value, and overload aggregate-value is determined according to the rated value of acquisition, actual measured value and motor operating time.
In this step, determine that the overload of physical quantity adds up threshold value are as follows: (n-1) p0·Td,
Wherein, p0Indicate the rated value of physical quantity, n is overload magnification, TdFor overload time.
In this step, the overload aggregate-value of physical quantity is determined are as follows:
Wherein, OL indicates the overload aggregate-value of physical quantity, p0Indicate that the rated value of physical quantity, p indicate the reality of physical quantity
Measured value, T indicate motor operating time.
After this step, this method further include: when the overload aggregate-value is less than zero, to the overload aggregate-value into
Row return-to-zero.In other words, if overload aggregate-value OL is less than zero, overload aggregate-value OL is zeroed, to guarantee that overload is tired
Evaluation is a non-negative quantity.
In first embodiment, when physical quantity is current of electric, determine that the overload of physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization, Ir p a u teFor current of electric rated value
Per unit value, IbFor current of electric base value.
In first embodiment, when physical quantity is current of electric, the overload aggregate-value of physical quantity is determined are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization, and Tmod is the sampling time.
In second embodiment, when physical quantity is current of electric, the overload of the determining physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value.
In second embodiment, when physical quantity is current of electric, the overload aggregate-value of the determining physical quantity are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization (k), and Tmod is the sampling time.
Step 13: when the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, closed loop adjusting is carried out to physical quantity,
So that currently practical measured value is less than or equal to rated value.
In this step, it is that OL is greater than (n-1) p that overload aggregate-value, which is greater than the accumulative threshold value of overload,0·dT。
In first embodiment, when physical quantity is current of electric, overload aggregate-value, which is greater than, overloads accumulative threshold value, as
Formula 3.1 is set up:
(formula 3.1)
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization (wherein, k >=1), and n is overload magnification, TdFor overload time, Tmod is to adopt
The sample time.
Specifically, defining current of electric rated value is Irate, current of electric rated peak is defined as current of electric base
Value, it may be assumed thatThen the process of electric current mark change form is as follows:
That is, the per unit value of current of electric rated value
Therefore, formula 3.1 can finally be equivalent to formula 3.2:
(formula 3.2).
In this, when formula 3.2 is set up, motor driven is in electrical current heat overload.
In second embodiment, when physical quantity is current of electric, overload aggregate-value, which is greater than, overloads accumulative threshold value, as
Formula 4.1 is set up:
(formula 4.1)
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization (wherein, k >=1), and n is overload magnification, TdFor overload time, Tmod is to adopt
The sample time.
Specifically, defining current of electric rated value is Irate, current of electric rated peak is defined as current of electric base
Value, it may be assumed thatThen the process of electric current mark change form is as follows:
That is, the per unit value of current of electric rated value
Therefore, formula 4.1 can finally be equivalent to formula 4.2:
(formula 4.2)
In this, when formula 4.2 is set up, motor driven is in current overload state.
In addition, when that is, physical quantity is non-electric current, the concept of electric current can be passed through Equivalent Conversion when there is no current detecting
Overload aggregate-value is carried out for physical quantity known to voltage or other and overloads the calculating of accumulative threshold value.Wherein, current equivalence is changed
Calculating is voltage or other know that physical quantity belongs to the well-known technique of those skilled in the art, and specific implementation is not used to limit this hair
Bright protection scope, which is not described herein again.
In addition, in this present embodiment, when the overload aggregate-value determined is no more than accumulative threshold value is overloaded, to physical quantity
Closed loop adjusting is carried out, so that currently practical measured value is located in preset range, wherein the preset range is not less than rated value
And it is not more than maximum output value.
For example, when physical quantity is current of electric, when the overload aggregate-value determined is no more than the accumulative thresholding of overload
When value, by closed-loop control the currently practical measured value of current of electric is located in preset range, wherein preset range is for example
For not less than rated value (as minimum value) and no more than current of electric maximum output value (as maximum value).Wherein, minimum value
Also it can be set by parameter.
In this step, when physical quantity is current of electric, accumulative threshold value is overloaded when the overload aggregate-value determined is greater than
When, by closed-loop control reduce torque current instruction value to less than or equal to torque current rated value, to adjust current of electric,
So that the currently practical measured value of current of electric is less than or equal to rated value.
Specifically, overloading accumulative thresholding when the overload aggregate-value of current of electric is greater than by taking electrical current heat overload as an example
It is accumulative with overload to accumulative threshold value is overloaded according to proportional integration (PI) control parameter of setting when value (when formula 3.2 is set up)
The difference of value carries out ratio and Integral Processing obtains control data, since the torque current component of current of electric produces motor overload
Therefore raw crucial effect is adjusted (as reduced torque current the torque current component of current of electric according to the control data
Instruction value), in motor-drive circuit, the reduction of torque current component will affect the actual measured value of current of electric, so that electric
The actual measured value of electromechanics stream reduces, to make motor-driven output power reduce, automatically to realize the effect of automatic load shedding
Fruit.In this, the minimum current value of torque current component is, for example, the current value for being less than or equal to load current value.Once motor is sent out
Torque current component can be reduced to minimum current value to carry out work by raw overload by the control data that proportional plus integral control obtains
Make.Wherein, different PI control parameters (such as proportionality coefficient and integration time constant), the electric current of the automatic load shedding of dynamic overload are set
Process has different smoothing processes.In this, different PI control parameters are set, so that output signal has different smooth effects
Fruit is a common technical means of those skilled in the art, and specific implementation is not intended to limit the scope of protection of the present invention, here
It repeats no more.
In addition, when the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, can lead to when physical quantity is non-electric current
It crosses closed loop and adjusts the physical quantity, so that motor-driven output power reduces, to realize the effect of automatic load shedding.However, this
Invention does not limit this.In practical application, the physical quantity of closed loop adjusting can be needed determines according to actual conditions.
In addition, present pre-ferred embodiments also provide a kind of control system of automatic load shedding of motor-driven dynamic overload,
Include:
Data acquisition module, for obtaining rated value, the overload magnification, mistake of the physical quantity for describing motor driven overload
Carry time, actual measured value and motor operating time；
Computing module determines that the overload of physical quantity is tired for the rated value, overload magnification and overload time according to acquisition
Threshold value is counted, and according to the rated value of acquisition, actual measured value and motor operating time, determines the overload aggregate-value of physical quantity；
Control module, for being closed to physical quantity when the overload aggregate-value determined is greater than and overloads accumulative threshold value
Ring is adjusted, so that currently practical measured value is less than or equal to rated value.
In this present embodiment, computing module is specifically used for:
Determine that the overload of physical quantity adds up threshold value are as follows: (n-1) p0·Td,
Wherein, p0Indicate the rated value of physical quantity, n is overload magnification, TdFor overload time；
Determine the overload aggregate-value of physical quantity are as follows:
Wherein, OL indicates the overload aggregate-value of physical quantity, p0Indicate that the rated value of physical quantity, p indicate the reality of physical quantity
Measured value, T indicate motor operating time.
In an embodiment, computing module is specifically used for:
When physical quantity is current of electric, determine that the overload of physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value；
When physical quantity is current of electric, the overload aggregate-value of physical quantity is determined are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization, and Tmod is the sampling time.
In another embodiment, computing module is specifically used for:
When physical quantity is current of electric, determine that the overload of physical quantity adds up threshold value are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the mark of current of electric rated value
Value, IbFor current of electric base value；
When physical quantity is current of electric, the overload aggregate-value of physical quantity is determined are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, Ib
For current of electric base value, k is overload coefficient of utilization (k), and Tmod is the sampling time.
In a preferred embodiment, above system further includes processing module, in computing module according to the specified of acquisition
After value, actual measured value and motor operating time determine overload aggregate-value, when overloading aggregate-value less than zero, to the overload
Aggregate-value carries out return-to-zero.
In a preferred embodiment, control module is specifically used for: when physical quantity is current of electric, when the mistake determined
It carries aggregate-value to be greater than when overloading accumulative threshold value, torque current instruction value is reduced by closed-loop control to less than or is equal to torque electricity
The rated value of stream, to adjust current of electric, so that the currently practical measured value of current of electric is less than or equal to rated value.
In a preferred embodiment, control module is also used to when the overload aggregate-value determined is no more than the accumulative door of overload
When limit value, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is located in preset range, wherein the default model
It encloses for not less than rated value and no more than maximum output value.
As shown in Fig. 2, in this, computing module is used for example including integrator, integrator by taking the processing of electric current thermal overload as an example
Aggregate-value is overloaded in determining, processing module is, for example, return-to-zero device, for take at zero when overloading aggregate-value and being negative
Reason.Control module is, for example, proportional integration PI controller, for adding up threshold value according to the overload aggregate-value and overload determined,
Adjust torque current component.Wherein, the maximum current value of torque current component is, for example, the maximum output value that motor works normally,
Minimum current value is, for example, the current value for being less than or equal to load current value.About proportion integral control with above-mentioned method and step
Described in 13, therefore repeated no more in this.Wherein, when the proportional gain of proportional plus integral control parameter and very big integral gain, PI control
Device processed can be equivalent to Bang Bang (Bang-Bang) controller, i.e., replace PI to control using Bang-Bang control.About Bang-Bang
The specific setting of control, is a common technical means of those skilled in the art, and implements and is not intended to limit the present invention
Protection scope, which is not described herein again.
In practical application, process shown in Fig. 2 can be carried out to marking change processing and be equivalent to process shown in Fig. 3, so as to
It is realized in practical application.As shown in figure 3, computing module is for example including integrator and mark processor, and integrator is for true in this
Surely aggregate-value is overloaded, mark processor is used to carry out marking to determining overload aggregate-value change and calculates, and obtains overload aggregate-value
Per unit value.
In addition, the system specific operation process provided about present pre-ferred embodiments is with described in the above method, therefore in this
It repeats no more.
Fig. 4 show the control system of present pre-ferred embodiments offer in the Some principles frame of servo-driver
Figure.Wherein, the fast current ring floating-point of double-core Digital Signal Processing (DSP) is used using the servo-driver of the control system
CLA kernel processes realize the digital vector control of full floating-point, and have good dynamic following.As shown in figure 4, motor is electric
After stream sampling, is transformed on synchronous coordinate by Clarke and Park, obtain the amplitude i of current phasor after processingmag.Overload
Automatic load shedding control system is used for the amplitude i according to obtained current phasormagIt carries out overloading automatic load shedding processing, it is internal former
Reason is as shown in Figure 2 or Figure 3.Overload limitation module is used for according to the output for overloading automatic load shedding control systemTo torque current
Bid valueAmplitude limitation is carried out, which includes positive and negative both direction.By the limitation to torque current value, electric current is adjusted
The amplitude i of vectormag, realize that the closed loop to the overload aggregate-value of current of electric is adjusted, the automatic output work for reducing servo-drive
Rate, to realize the effect of automatic load shedding.Wherein, in Fig. 4, the output of overload limitation moduleThrough inverse Park transformation, space arrow
It converts to obtain current phasor by Clarke and Park after amount pulsewidth modulation to voltage source inverter and current of electric sampling
Amplitude imagCircuit part, belong to the prior art means of those skilled in the art, specific implementation is not intended to limit the present invention
Protection scope, which is not described herein again.
In this way, the servo-driver not only has peak value overload capacity, also has using after control system provided by the invention
There is automatic load shedding and restore the ability of overload automatically, in the application in the equipment such as dynamic servo platform, avoids user repeatedly
Smooth filtering methods or the parameters such as the acceleration and deceleration of control instruction are attempted, unnecessary additional hardware and time cost are reduced.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The present invention is not by upper
The limitation of embodiment is stated, the above embodiments and description only illustrate the principle of the present invention, is not departing from the present invention
Under the premise of spirit and scope, various changes and improvements may be made to the invention, these changes and improvements both fall within claimed
In the scope of the invention.
Claims (16)
1. a kind of control method of the automatic load shedding of motor-driven dynamic overload characterized by comprising
Obtain rated value, overload magnification, overload time, actual measured value and the electricity of the physical quantity for describing motor driven overload
Machine runing time；
According to the rated value, overload magnification and overload time of acquisition, determine that the overload of physical quantity adds up threshold value, and according to obtaining
Rated value, actual measured value and the motor operating time taken determines overload aggregate-value；
When the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, closed loop adjusting is carried out to physical quantity, so that current real
Border measured value is less than or equal to rated value；
Wherein, the overload aggregate-value of the determining physical quantity are as follows:
OL indicates the overload aggregate-value of physical quantity, p0Indicate that the rated value of physical quantity, p indicate the actual measured value of physical quantity, T table
Show motor operating time；
When the physical quantity is current of electric, the overload aggregate-value of the determining physical quantity are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, IbFor motor
Electric current base value, k are overload coefficient of utilization, and Tmod is the sampling time.
2. the method as described in claim 1, it is characterised in that: described according to the rated value of acquisition, actual measured value and motor
Runing time determine overload aggregate-value after, further includes: when the overload aggregate-value is less than zero, to the overload aggregate-value into
Row return-to-zero.
3. the method as described in claim 1, it is characterised in that: the overload of the determining physical quantity adds up threshold value are as follows: (n-
1)·p0·Td,
Wherein, p0Indicate the rated value of physical quantity, n is overload magnification, TdFor overload time.
4. method as claimed in claim 3, it is characterised in that: when physical quantity is current of electric, the determining physical quantity
Overload accumulative threshold value replacement are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the per unit value of current of electric rated value,
IbFor current of electric base value.
5. method as claimed in claim 3, it is characterised in that: when physical quantity is current of electric, the determining physical quantity
Overload accumulative threshold value replacement are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the per unit value of current of electric rated value,
IbFor current of electric base value.
6. the method as described in claim 1, it is characterised in that: when physical quantity is current of electric, the determining physical quantity
Overload aggregate-value replacement are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, IbFor motor
Electric current base value, k are overload coefficient of utilization, and Tmod is the sampling time.
7. the method as described in claim 1, it is characterised in that: overload accumulative threshold value when the overload aggregate-value determined is greater than
When, closed loop adjusting is carried out to physical quantity, so that it includes: when physical quantity is motor that currently practical measured value, which is less than or equal to rated value,
When electric current, when the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, torque current instruction is reduced by closed-loop control
Value to less than or equal to torque current rated value, to adjust current of electric, so that the currently practical measured value of current of electric is small
In or equal to rated value.
8. the method as described in claim 1, which is characterized in that further include: when the overload aggregate-value determined is no more than overload
When accumulative threshold value, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is located in preset range, wherein described
Preset range is not less than rated value and to be not more than maximum output value.
9. a kind of control system of the automatic load shedding of motor-driven dynamic overload characterized by comprising
Data acquisition module, when for obtaining the rated value, overload magnification, overload of the physical quantity for describing motor driven overload
Between, actual measured value and motor operating time；
Computing module determines that the overload of physical quantity adds up door for the rated value, overload magnification and overload time according to acquisition
Limit value, and overload aggregate-value is determined according to the rated value of acquisition, actual measured value and motor operating time；Wherein, the determination
The overload aggregate-value of physical quantity are as follows:OL indicates the overload aggregate-value of physical quantity, p0Indicate physical quantity
Rated value, p indicate physical quantity actual measured value, T indicate motor operating time；When physical quantity is current of electric, determine
The overload aggregate-value of physical quantity are as follows:Wherein,For current of electric arrow
The per unit value of the amplitude of amount,For the per unit value of current of electric rated value, IbFor current of electric base value, k is that overload uses system
Number, Tmod is the sampling time；
Control module, for carrying out closed loop tune to physical quantity when the overload aggregate-value determined is greater than and overloads accumulative threshold value
Section, so that currently practical measured value is less than or equal to rated value.
10. system as claimed in claim 9, it is characterised in that: further include processing module, for the computing module according to
After rated value, actual measured value and the motor operating time of acquisition determine overload aggregate-value, when the overload aggregate-value is less than
When zero, return-to-zero is carried out to the overload aggregate-value.
11. system as claimed in claim 9, it is characterised in that: the computing module is specifically used for: determining the mistake of physical quantity
Carry accumulative threshold value are as follows: (n-1) p0·Td,
Wherein, p0Indicate the rated value of physical quantity, n is overload magnification, TdFor overload time.
12. system as claimed in claim 9, it is characterised in that: the computing module is specifically used for: when physical quantity is motor
When electric current, determine that the overload of physical quantity adds up threshold value replacement are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the per unit value of current of electric rated value,
IbFor current of electric base value.
13. system as claimed in claim 11, it is characterised in that: the computing module is specifically used for: when physical quantity is motor
When electric current, the overload of the determining physical quantity adds up threshold value replacement are as follows:
Wherein, n is overload magnification, TdFor overload time, k is overload coefficient of utilization,For the per unit value of current of electric rated value,
IbFor current of electric base value.
14. system as claimed in claim 9, it is characterised in that: the computing module is specifically used for: when physical quantity is motor
When electric current, the overload aggregate-value replacement of physical quantity is determined are as follows:
Wherein,For the per unit value of the amplitude of current of electric vector,For the per unit value of current of electric rated value, IbFor motor
Electric current base value, k are overload coefficient of utilization, and Tmod is the sampling time.
15. system as claimed in claim 9, it is characterised in that: the control module is specifically used for: when physical quantity is motor
When electric current, when the overload aggregate-value determined, which is greater than, overloads accumulative threshold value, torque current instruction is reduced by closed-loop control
Value to less than or equal to torque current rated value, to adjust current of electric, so that the currently practical measured value of current of electric is small
In or equal to rated value.
16. system as claimed in claim 9, which is characterized in that the control module is also used to when the overload determined is accumulative
When value is no more than accumulative threshold value is overloaded, closed loop adjusting is carried out to physical quantity, so that currently practical measured value is located at preset range
It is interior, wherein the preset range is not less than rated value and to be not more than maximum output value.
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| CN109560746B (en) * | 2017-09-25 | 2020-09-01 | 郑州宇通客车股份有限公司 | Overload protection method and device for electric vehicle driving system |
| CN108462142B (en) * | 2018-03-01 | 2019-06-21 | 英孚康（浙江）工业技术有限公司 | A kind of servo-driver dynamic braking thermal overload protection method |
| CN110022091B (en) * | 2019-04-17 | 2020-11-20 | 辽宁石油化工大学 | Constant-torque starting and overload intelligent protection method and device for direct current motor |
| CN110657551B (en) * | 2019-10-21 | 2021-09-21 | 宁波奥克斯电气股份有限公司 | Heavy load overload protection control method and device for air conditioning system and air conditioner |
| CN112904113B (en) * | 2021-01-19 | 2022-09-20 | 深圳市海浦蒙特科技有限公司 | Method and device for detecting overload of brake resistor |
| CN114083989A (en) * | 2021-12-24 | 2022-02-25 | 天津英捷利汽车技术有限责任公司 | Current inverse time limit protection method for pure electric vehicle |
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