CN109039175B - Method for detecting and protecting loss of synchronism of permanent magnet synchronous motor - Google Patents
Method for detecting and protecting loss of synchronism of permanent magnet synchronous motor Download PDFInfo
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- CN109039175B CN109039175B CN201810746408.1A CN201810746408A CN109039175B CN 109039175 B CN109039175 B CN 109039175B CN 201810746408 A CN201810746408 A CN 201810746408A CN 109039175 B CN109039175 B CN 109039175B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method for detecting and protecting the loss of synchronism of a permanent magnet synchronous motor, which comprises the steps of calculating the real-time back electromotive force of the motor according to a formula Eq-Uq-R Iq; judging the current motion state of the motor, namely the acceleration or deceleration state; obtaining the maximum value of the motor back electromotive force according to the current motor motion state; judging whether the motor is out of step; if the judgment result is that the motor does not lose step, the motor is enabled to continue to work; if the judgment result is that the motor is out of step, the motor stops working, the method can simply and quickly detect the out of step of the motor, avoids complex mathematical operation, enables the detection result to be more accurate and reliable, can effectively prevent the out of step condition in the working process of the motor, and avoids the damage of the motor.
Description
Technical Field
The invention relates to the technical field of motor detection, in particular to a method for detecting and protecting the step-out of a permanent magnet synchronous motor.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of large torque, high efficiency, small rotational inertia, high power factor, wide speed regulation range, simple structure, easiness in maintenance and the like, and is widely applied and deeply researched along with the development of electronic power technology, permanent magnet material technology, motor control theory and the like in recent years.
When the three-phase symmetrical winding of the stator of the permanent magnet synchronous motor is introduced with sine wave current with three-phase difference of 120 degrees, a rotating sine distribution magnetic field is generated on the stator side, and the rotating speed of the magnetic field is the synchronous speed. When direct current exciting current is introduced to the rotor, a sinusoidal distribution magnetic field is generated on the rotor side. When the permanent magnet synchronous motor normally operates, the stator magnetic field attracts the rotor magnetic field to operate at a synchronous speed, the rotor magnetic field lags behind the stator magnetic field theta angle, when the permanent magnet synchronous motor drags a load to operate, the electromagnetic torque and the load torque have torque balance, and when the torque balance on the motor rotating shaft is damaged, the rotor rotating speed and the stator rotating speed are not synchronized any more, and the motor is out of step.
There are many reasons for the loss of synchronism of the motor, and the two reasons can be roughly classified into the following two types: when the rotor exciting current and voltage are seriously underexcited, the magnetic field of the rotor is slowly attenuated, the electromagnetic torque is reduced, the load torque is unchanged, and the magnetic field of the rotor lags behind the rotating magnetic field of the stator by a large angle, so that the torque balance of a motor is lost, the synchronous rotating speed of the rotor is lost, and the step-out phenomenon is generated; and secondly, when the load of the motor is greatly increased suddenly or the motor is blocked, the load torque is increased, the magnetic field of the rotor leads the magnetic field of the stator by a large angle, the rotating shaft of the motor loses the moment balance, and the step-out is generated.
When the motor is out of step, moment balance is destroyed, the motor can be subjected to large impact current and impact torque, the motor can be burnt out due to long-time fluctuation, the relation between the back electromotive force and the rotating speed of the motor can be obtained according to a formula Eq which is Ce phi n (Ce electromotive force constant, phi which armature magnetic potential and n which rotating speed), the relation between the back electromotive force and the rotating speed of the motor is shown in figure 1, when the motor is in normal operation, the rotating speed is continuously increased along with the increase of time, the back electromotive force is continuously increased, when the target rotating speed is reached, the rotating speed is not changed, the back electromotive force is not changed, once the out of step phenomenon occurs on the motor, the rotating speed of the motor starts to be reduced, and the back electromotive force is reduced.
As shown in fig. 2, when the motor is out of step, the back electromotive force no longer keeps rising or the steady trend starts to fall, the motor starts to be out of step at time T1, the back electromotive force starts to fall and the falling trend lasts for a long time, so that the motor can be judged to be out of step; if the descending trend of the back electromotive force is small and the ascending trend starts at the time T2, the fluctuation is considered to be step loss within an acceptable range, the step loss of the motor is not judged, a large amount of mathematical operation exists due to the fact that the back electromotive force is directly calculated according to Eq ═ Ce φ n, the complexity of the algorithm is increased, by utilizing FOC control, the three-phase current of the motor is sampled, Id and Iq are obtained through Clark and Park conversion, a Ud and Uq are obtained through a PI control loop, wherein a q axis is a quadrature axis, the quadrature axis back electromotive force Eq ═ Uq-R ═ Iq, wherein Uq: quadrature axis voltage, R: motor phase resistance, Iq: the motor loss detection method has the advantages that the motor loss detection method is used for detecting the motor loss of synchronism, and the motor loss detection method is used for detecting the motor loss and making corresponding protection measures.
Disclosure of Invention
The invention provides a method for detecting and protecting the loss of synchronism of a permanent magnet synchronous motor, aiming at the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a permanent magnet synchronous motor step-out detection and protection method comprises the following steps:
s10: calculating to obtain real-time back electromotive force of the motor according to a formula Eq-Uq-R Iq;
s20: judging the current motion state of the motor, namely the acceleration, deceleration or constant speed state;
s30: obtaining the maximum value of the motor back electromotive force according to the current motor motion state;
s40: judging whether the motor is out of step;
s50: if the judgment result is that the motor does not lose step, the motor is enabled to continue to work; and if the judgment result is that the motor is out of step, stopping the motor.
As a preferred technical solution of the present invention, in step S20, a specific manner of determining the acceleration or deceleration state of the motor is:
a. if the rotating speed of the current motor is greater than or equal to the rotating speed of the previous period, the motor is considered to be in an acceleration or stable state, and the maximum value of the reverse electromotive force of the motor at the moment is recorded;
b. and if the current motor rotating speed is less than the rotating speed of the previous period, the motor is considered to be in a speed reduction state, and the maximum value of the back electromotive force of the motor is cleared.
As a preferred technical solution of the present invention, in step S40, it is determined whether the motor is out of step, which is specifically divided into two cases:
a. setting the minimum value of the back electromotive force when the motor normally runs, and judging that the motor is out of step when the back electromotive force is less than the minimum value for a period of time;
b. and setting the fluctuation range of the maximum value of the back electromotive force, and judging that the motor is out of step when the real-time back electromotive force of the motor is continuously less than the lowest set value of the maximum value of the back electromotive force for a period of time.
Compared with the prior art, the invention has the beneficial effects that: the invention can simply and rapidly detect the step-out of the motor, avoids complex mathematical operation, ensures that the detection result is more accurate and reliable, can effectively prevent the step-out condition in the working process of the motor and avoids the damage of the motor.
Drawings
FIG. 1 is a diagram illustrating the relationship between the back electromotive force and the rotation speed of a motor;
FIG. 2 is a schematic diagram of the variation of the out-of-step back electromotive force of the motor;
fig. 3 is a schematic step diagram of a method for detecting and protecting step loss of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for detecting and protecting step-out of a permanent magnet synchronous motor according to an embodiment of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3 and 4, the present invention provides a method for detecting and protecting a permanent magnet synchronous motor from step loss, comprising the following steps:
s10: calculating to obtain real-time back electromotive force of the motor according to a formula Eq-Uq-R Iq;
s20: judging the current motion state of the motor, namely the acceleration, deceleration or constant speed state;
s30: obtaining the maximum value of the motor back electromotive force according to the current motor motion state;
s40: judging whether the motor is out of step;
s50: if the judgment result is that the motor does not lose step, the motor is enabled to continue to work; and if the judgment result is that the motor is out of step, stopping the motor.
In a specific implementation process, the specific manner of determining the acceleration or deceleration state of the motor in step S20 is as follows:
a. if the rotating speed of the current motor is greater than or equal to the rotating speed of the previous period, the motor is considered to be in an acceleration or stable state, and the maximum value of the reverse electromotive force of the motor at the moment is recorded;
b. and if the current motor rotating speed is less than the rotating speed of the previous period, the motor is considered to be in a speed reduction state, and the maximum value of the back electromotive force of the motor is cleared.
In the specific implementation process, the step S40 is to determine whether the motor is out of step, which is specifically divided into two cases:
a. setting the minimum value of the back electromotive force when the motor normally runs, and judging that the motor is out of step when the back electromotive force is less than the minimum value for a period of time;
b. and setting the fluctuation range of the maximum value of the back electromotive force, and judging that the motor is out of step when the real-time back electromotive force of the motor is continuously less than the lowest set value of the maximum value of the back electromotive force for a period of time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (2)
1. A permanent magnet synchronous motor step-out detection and protection method is characterized by comprising the following steps:
s10: calculating to obtain real-time back electromotive force of the motor according to a formula Eq-Uq-R Iq;
the motor phase resistance detection method comprises the following steps that Eq is quadrature axis reverse electromotive force, Uq is quadrature axis voltage, R is motor phase resistance, and Iq is quadrature axis current;
s20: judging the current motion state of the motor, namely the acceleration, deceleration or constant speed state;
s30: obtaining the maximum value of the motor back electromotive force according to the current motor motion state;
s40: judging whether the motor is out of step;
s50: if the judgment result is that the motor does not lose step, the motor is enabled to continue to work; if the judgment result is that the motor is out of step, stopping the motor;
in S20, the specific manner of determining the acceleration or deceleration state of the motor is:
a. if the rotating speed of the current motor is greater than or equal to the rotating speed of the previous period, the motor is considered to be in an acceleration or stable state, and the maximum value of the reverse electromotive force of the motor at the moment is recorded;
b. and if the current motor rotating speed is less than the rotating speed of the previous period, the motor is considered to be in a speed reduction state, and the maximum value of the back electromotive force of the motor is cleared.
2. The method for detecting and protecting the step loss of the permanent magnet synchronous motor according to claim 1, characterized in that: in step S40, it is determined whether the motor is out of step, which is specifically divided into two cases:
a. setting the minimum value of the back electromotive force when the motor normally runs, and judging that the motor is out of step when the back electromotive force is less than the minimum value for a period of time;
b. and setting the fluctuation range of the maximum value of the back electromotive force, and judging that the motor is out of step when the real-time back electromotive force of the motor is continuously less than the lowest set value of the maximum value of the back electromotive force for a period of time.
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| CN109039175B true CN109039175B (en) | 2022-09-02 |
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| CN110022099A (en) * | 2019-04-29 | 2019-07-16 | 青岛海信日立空调系统有限公司 | A kind of detection method and device of permanent magnet synchronous motor step-out |
| 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 |
| CN112737474A (en) * | 2019-10-29 | 2021-04-30 | 杭州先途电子有限公司 | Control method, control device and controller |
| CN113137395B (en) * | 2021-05-13 | 2022-09-27 | 中国工程物理研究院机械制造工艺研究所 | Acceleration control method of molecular pump |
Citations (4)
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| CN101854144A (en) * | 2009-03-31 | 2010-10-06 | 半导体元件工业有限责任公司 | Method for detecting a step loss condition |
| CN102136820A (en) * | 2010-01-27 | 2011-07-27 | 建准电机工业股份有限公司 | Sensor-free start control method for brushless DC motor |
| CN107769655A (en) * | 2017-11-06 | 2018-03-06 | 广东美的暖通设备有限公司 | Permagnetic synchronous motor turn count method, apparatus, computing device and storage medium |
| CN108111082A (en) * | 2017-11-16 | 2018-06-01 | 中冶南方（武汉）自动化有限公司 | The IF control stall detection methods and system of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2012016221A (en) * | 2010-07-02 | 2012-01-19 | Minebea Co Ltd | Motor control device and step-out state detection method |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101854144A (en) * | 2009-03-31 | 2010-10-06 | 半导体元件工业有限责任公司 | Method for detecting a step loss condition |
| CN102136820A (en) * | 2010-01-27 | 2011-07-27 | 建准电机工业股份有限公司 | Sensor-free start control method for brushless DC motor |
| CN107769655A (en) * | 2017-11-06 | 2018-03-06 | 广东美的暖通设备有限公司 | Permagnetic synchronous motor turn count method, apparatus, computing device and storage medium |
| CN108111082A (en) * | 2017-11-16 | 2018-06-01 | 中冶南方（武汉）自动化有限公司 | The IF control stall detection methods and system of permanent magnet synchronous motor |
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