CN109283384B - Motor three-phase signal validity determination method and determination device - Google Patents

Motor three-phase signal validity determination method and determination device Download PDF

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CN109283384B
CN109283384B CN201810939481.0A CN201810939481A CN109283384B CN 109283384 B CN109283384 B CN 109283384B CN 201810939481 A CN201810939481 A CN 201810939481A CN 109283384 B CN109283384 B CN 109283384B
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CN109283384A (en
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谭维耿
周东东
杨盼杰
刘志勇
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Shanghai Yingheng Electronic Co ltd
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Abstract

The invention discloses a method and a device for judging the effectiveness of a three-phase signal of a motor, wherein the method comprises the following steps: acquiring a three-phase signal of a motor; calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals, and calculating a second angular speed of the motor at the current moment according to the three-phase current signals; if the directions of the first angular speed and the second angular speed are not consistent, judging that the three-phase signal is invalid; if the directions of the first angular velocity and the second angular velocity are consistent, calculating a direct current component and a ripple amplitude of the square sum of the three-phase voltage; and if the ratio of the ripple amplitude to the direct current component is greater than or equal to a first threshold value, determining that the three-phase signal is invalid. According to the embodiment of the invention, the correctness of obtaining the three-phase voltage signal and the three-phase current signal can be ensured, so that reliable input is provided for subsequent torque calculation, and the problem of torque monitoring failure is avoided.

Description

Motor three-phase signal validity determination method and determination device
Technical Field
The embodiment of the invention relates to a motor control technology, in particular to a method and a device for judging the effectiveness of a three-phase signal of a motor.
Background
The motor controller is one of the core parts of the new energy automobile, and has the main function of controlling the motor to generate expected torque so as to ensure the normal running of the automobile.
In order to avoid unexpected loss of control of the output torque of the motor, which endangers the personal safety of drivers and passengers, real-time monitoring of the output torque of the motor is often required. When the output torque is monitored, a current sensor and a voltage sampling circuit are required to be arranged in a motor control system to detect the three-phase current and the three-phase voltage of the motor in real time, the three-phase voltage and the three-phase current are sampled in real time through a digital-to-analog conversion module in the controller, torque estimation is carried out according to the sampled three-phase current and the sampled three-phase voltage of the motor, the output torque of the motor is further obtained, and then whether the estimated output torque of the motor is within an expected range or not is judged.
However, when the three-phase current and the three-phase voltage of the motor are collected, hardware in a motor control system may be in failure, and the three-phase wiring of the motor may also be in a wrong connection or disconnection condition, so that the three-phase voltage or the current phase sequence is inconsistent with the expectation, and the three-phase voltage is asymmetric, and the like, so that the detected three-phase current and three-phase voltage values are incorrect, and the torque value estimated according to the current value and the voltage value cannot reflect the actual output torque of the motor, thereby causing the failure of torque estimation and finally causing the failure of torque monitoring on the motor.
Disclosure of Invention
The invention provides a method and a device for judging validity of a three-phase signal of a motor, which are used for ensuring the correctness of obtaining a three-phase voltage signal and a three-phase current signal, further providing reliable input for subsequent torque calculation and avoiding the problem of torque monitoring failure.
In a first aspect, an embodiment of the present invention provides a method for determining validity of a three-phase signal of a motor, including:
acquiring three-phase signals of a motor, wherein the three-phase signals comprise three-phase voltage signals and three-phase current signals;
calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals, and calculating a second angular speed of the motor at the current moment according to the three-phase current signals;
if the directions of the first angular speed and the second angular speed are not consistent, judging that the three-phase signal is invalid;
if the directions of the first angular velocity and the second angular velocity are consistent, calculating a direct current component and a ripple amplitude of the square sum of the three-phase voltage;
and if the ratio of the ripple amplitude to the direct current component is greater than or equal to a first threshold value, determining that the three-phase signal is invalid.
In a second aspect, an embodiment of the present invention further provides a device for determining validity of a three-phase signal of a motor, including:
the motor control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring three-phase signals of a motor, and the three-phase signals comprise three-phase voltage signals and three-phase current signals;
the angular speed calculation module is used for calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals and calculating a second angular speed of the motor at the current moment according to the three-phase current signals;
the judging module is used for judging that the three-phase signal is invalid if the directions of the first angular speed and the second angular speed are inconsistent;
the voltage square sum component calculation module is used for calculating the direct current component and the ripple amplitude of the square sum of the three-phase voltage if the directions of the first angular velocity and the second angular velocity are consistent;
the judging module is further used for judging that the three-phase signal is invalid if the ratio of the ripple amplitude to the direct current component is larger than or equal to a first threshold value.
According to the motor three-phase signal effectiveness judging method and device, the three-phase voltage signals and the three-phase current signals of the three-phase motor are obtained, the first angular speed and the second angular speed of the motor at the current moment are calculated according to the three-phase voltage signals respectively, and the condition that the phase sequence of the three-phase voltage or the three-phase current is inconsistent with the expectation can be judged in time by comparing the directions of the first angular speed and the second angular speed; the ratio of the ripple amplitude of the sum of the squares of the three-phase voltage to the direct-current component is calculated, the ratio is compared with a preset first threshold, when the ratio is larger than or equal to the first threshold, the fluctuation range of the three-phase voltage signal is judged to be too large, and then the condition that the three-phase voltage is asymmetrical can be judged in time, for example, the condition that a certain phase of a three-phase motor is disconnected can be judged in time, and then the condition that hardware in a motor control system is connected in a wrong or disconnected mode can be judged in time, so that the correctness of obtaining the three-phase voltage signal and the three-phase current signal can be ensured, reliable input is provided for subsequent torque calculation, and the problem that torque monitoring is invalid is avoided.
Drawings
Fig. 1 is a flowchart of a method for determining validity of a three-phase signal of a motor according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for determining validity of a three-phase signal of a motor according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a three-phase signal validity determination apparatus for a motor according to a third embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a three-phase signal validity determination apparatus of a motor according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for determining validity of a three-phase signal of a motor according to an embodiment of the present invention, where the method may be executed by a device for determining validity of a three-phase signal of a motor, and specifically includes the following steps:
step 100, acquiring three-phase signals of a motor, wherein the three-phase signals comprise three-phase voltage signals and three-phase current signals;
specifically, a motor control system generally includes a motor, an inverter, and a controller, as well as a current sensor for acquiring a current signal and a phase voltage sampling circuit for acquiring a voltage signal. The motor is connected with the controller through the inverter, the controller executes a control algorithm to output a control command, and the inverter realizes power amplification to drive the motor to run. The motor three-phase controller is internally provided with an analog-digital conversion module, the controller can acquire three-phase current signals and three-phase voltage signals acquired by the current sensor and the phase voltage sampling circuit through a motor three-phase signal effectiveness judgment device integrated in the controller, can convert sampling results into digital quantity through the digital-analog conversion module, estimates torque through the controller and monitors the torque.
Step 200, calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals, and calculating a second angular speed of the motor at the current moment according to the three-phase current signals;
for example, taking calculating the second angular velocity of the motor at the current moment according to the three-phase current signal as an example, first converting the three-phase current into two-phase currents I _ alpha and I _ beta according to Clarke coordinate transformation, then performing arc tangent operation on the I _ beta/I _ alpha to obtain an angle value, i.e., a position of a current vector, dividing an angle variation within a period of time by time to obtain an average angular velocity, and determining the average angular velocity as the second angular velocity of the motor at the current moment. The process of calculating the first angular velocity of the motor at the present time based on the three-phase voltage signals is similar to the above-described process of calculating the second angular velocity based on the three-phase current signals, and will not be described here.
Step 300, if the directions of the first angular speed and the second angular speed are not consistent, determining that the three-phase signal is invalid;
specifically, if the motor control system is all normal and has no fault, the direction of the first angular speed calculated according to the three-phase voltage signal and the direction of the second angular speed calculated according to the three-phase current signal should be consistent, and if the directions of the first angular speed and the second angular speed are not consistent, it indicates that the phase sequence of the three-phase voltage signal or the three-phase current signal has a problem inconsistent with the expectation, for example, the two phases may be connected reversely when the motor is wired, and the torque value estimated according to the three-phase voltage signal and the three-phase current signal at this time cannot reflect the time torque of the motor, so it is determined that the three-phase signal of the motor is invalid in this case, so as to avoid the torque monitoring failure of the motor. The controller can control the motor not to run any more according to the invalid condition of the three-phase signal, so that the whole motor control system enters a safe state.
Step 400, if the directions of the first angular velocity and the second angular velocity are consistent, calculating a direct current component and a ripple amplitude of the square sum of the three-phase voltage;
specifically, if the directions of the first angular velocity and the second angular velocity are consistent, it can be determined that the phase sequences of the three-phase voltage signals and the three-phase current signals are consistent with respective expected phase sequences, and then the next validity determination can be performed on the three-phase signals of the motor. Ideally, the three-phase voltages have equal amplitudes, the phase difference is 120 degrees, the sum of the squares of the three-phase voltages (i.e., the three-phase voltages are squared and then summed) should be a constant value, when the amplitudes of the three-phase signals are unequal, or the phase differences are inconsistent, i.e., the three-phase voltages are asymmetric, the sum of the squares signals can fluctuate around the constant value, the more asymmetric the three-phase signals are, the larger the general fluctuation degree is. To determine the extent of the ripple, the dc component of the sum of the squares of the three-phase voltages needs to be calculated first, which may be replaced by an average value, for example. Secondly, the ripple amplitude needs to be calculated.
Since the frequency of the three-phase voltage squared and ripple is generally mainly concentrated at twice the current electrical angular velocity, this electrical angular velocity can be calculated from the three-phase current signals alone as the second electrical angular velocity. Optionally, the ripple amplitude of the sum of the squares of the three-phase voltages is an amplitude component of the sum of the squares of the three-phase voltages at twice the second angular velocity.
The ripple amplitude of the sum of the squares of the three-phase voltages can be obtained by means of fourier transformation, and the specific process is as follows:
firstly, the square sum of the three-phase voltages is calculated, and the calculation formula is as follows:
Figure BDA0001768679230000061
wherein u isu(t)、uv(t)、uw(t) represents u-, v-, and w-phase voltages, respectively,
Figure BDA0001768679230000062
and x (t) represents the square sum of the u, v and w three-phase voltages respectively.
Then, the amplitude component of the three-phase voltage, which is obtained by multiplying the square sum x (t) of the three-phase voltages by the current second angular velocity, is extracted, and the calculation formula is as follows:
Figure BDA0001768679230000063
Figure BDA0001768679230000064
wherein the content of the first and second substances,
Figure BDA0001768679230000065
Figure BDA0001768679230000066
wherein, for a periodic signal, T represents a period of the periodic signal, and ω represents the periodic signalFundamental frequency of the number, k being the harmonic order, akAnd bkTwo amplitude components of the k harmonic, respectively, and a is the amplitude of the k harmonic.
For a three-phase voltage sum-of-squares signal, when the voltage sum-of-squares signal fluctuates due to signal asymmetry, the fluctuating signal can be regarded as the fundamental frequency of 2 x ωeThe fundamental amplitude of the periodic signal of (2) can be extracted by fourier transform, so k is 1. OmegaeRepresenting a current second angular velocity; accordingly, a represents the amplitude component of the k-th harmonic of the sum-of-squares signal of the three-phase voltages at twice the second angular velocity, i.e., the ripple amplitude of the sum-of-squares of the three-phase voltages.
And 500, if the ratio of the ripple amplitude to the direct current component is greater than or equal to a first threshold value, determining that the three-phase signal is invalid.
Specifically, when the ratio of the ripple amplitude to the dc component is too large, for example, larger than a preset first threshold, it may be determined that the motor control system may have a situation where the three-phase voltage is asymmetric, for example, a situation where one phase of the three-phase motor is disconnected in the wiring may occur, and then a three-phase motor signal is determined, and the controller may control the motor not to operate under such a situation, so that the motor control system enters a safe state.
According to the motor three-phase signal validity judging method provided by the embodiment, the three-phase voltage signals and the three-phase current signals of the three-phase motor are obtained, the first angular speed and the second angular speed of the motor at the current moment are calculated according to the three-phase voltage signals respectively, and the condition that the phase sequence of the three-phase voltage or the three-phase current is inconsistent with the expectation can be judged in time by comparing the directions of the first angular speed and the second angular speed; the ratio of the ripple amplitude of the sum of the squares of the three-phase voltage to the direct-current component is calculated, the ratio is compared with a preset first threshold, when the ratio is larger than or equal to the first threshold, the fluctuation range of the three-phase voltage signal is judged to be too large, and then the condition that the three-phase voltage is asymmetrical can be judged in time, for example, the condition that a certain phase of a three-phase motor is disconnected can be judged in time, and then the condition that hardware in a motor control system is connected in a wrong or disconnected mode can be judged in time, so that the correctness of obtaining the three-phase voltage signal and the three-phase current signal can be ensured, reliable input is provided for subsequent torque calculation, and the problem that torque monitoring is invalid is avoided.
Example two
Fig. 2 is a flowchart of a method for determining validity of a three-phase signal of a motor according to a second embodiment of the present invention. On the basis of the above embodiments, the present embodiment further provides an optional method for determining validity of three-phase signals of a motor.
Optionally, the method for determining the validity of the three-phase signal of the motor further includes:
and step 600, when the ratio of the ripple amplitude to the direct current component is smaller than a first threshold value, if the sum of the squares of the three-phase voltages is smaller than the first voltage square threshold value, and when the second angular velocity is larger than a second angular velocity threshold value, the sum of the squares of the three-phase voltages is larger than the second voltage square threshold value, determining that the three-phase signal of the motor is effective.
Specifically, when the ratio of the ripple amplitude to the dc component is smaller than the first threshold, it can be determined that the ripple amplitude is within the normal range, and the validity of the three-phase signal of the motor can be continuously determined. Under the condition that the motor normally operates, the sum of the squares of the three phases of voltages cannot be overlarge, so that a first voltage square threshold value can be preset, the first voltage square threshold value can be the square of the bus voltage of the motor, and when the sum of the squares of the three phases of voltages is larger than or equal to the first voltage square threshold value, the fact that the three-phase signal of the motor is invalid can be judged.
In addition, the consistency of the voltage signal and the rotation speed signal of the motor needs to be checked. When the second angular speed of the motor is greater than a certain lower limit value, for example, the lower limit value is a preset second angular speed threshold value, the sum of the squares of the three-phase voltages must be greater than the second voltage square threshold value to overcome the back electromotive force of the motor. Since the magnitude of the phase voltage mainly depends on the back electromotive force, which is the product of the flux linkage and the electrical frequency, the second voltage square threshold value may be selected to be 1.5 times the square of the back electromotive force corresponding to the current second angular velocity. It should be noted that, a person skilled in the art may set the first square threshold and the second square threshold according to actual situations and leave certain margins. Therefore, under the condition that the ratio of the ripple amplitude to the dc component is smaller than the first threshold, if the following two conditions are satisfied:
the sum of the squares of the three-phase voltages is less than a first voltage square threshold;
when the second angular velocity is larger than a second angular velocity threshold value, the sum of the squares of the three-phase voltages is larger than a second voltage square threshold value;
the three-phase signal of the motor is judged to be effective. When the ratio of the ripple amplitude to the direct current component is smaller than a first threshold value, if the three-phase voltage square sum signal does not meet the two conditions, the motor three-phase signal can be judged to be invalid.
On the basis of the above scheme, optionally, the operation corresponding to step 100, acquiring a three-phase signal of the motor specifically includes:
step 110, obtaining a sampling result of a three-phase voltage signal and a sampling result of a three-phase current signal of the motor; the sampling result of the three-phase voltage signal at least comprises a first phase voltage sampling value, a second phase voltage sampling value and a third phase voltage sampling value, and the sampling result of the three-phase current signal at least comprises a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
specifically, the three-phase voltage signals and the three-phase current signals of the motor are obtained through sampling of an analog-to-digital conversion module in the controller, and the effectiveness judgment device for the three-phase signals of the motor can obtain the sampling results of the three-phase voltage signals and the three-phase current signals of the motor in the analog-to-digital conversion module and carry out follow-up judgment on the effectiveness of the three-phase signals of the motor according to the sampling results.
Step 120, performing range check on a first phase voltage sampling value, a second phase voltage sampling value, a third phase voltage sampling value, a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
specifically, a sampling interface of the analog-to-digital conversion module in the controller may be short-circuited to ground or power, so that a range check needs to be performed on sampling values of each phase voltage and each phase current of the motor.
And step 130, if any range check of the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value and the third phase current sampling value fails, determining that the three-phase signal is invalid.
Specifically, if any phase voltage sampling value or any phase current sampling value exceeds a preset range, the situation that a signal is short-circuited to the ground or the signal is short-circuited to a power supply and the like in the motor control system can be judged, and then the situation that the three-phase voltage signal and the three-phase current signal acquired at the moment are invalid is judged, the controller controls the motor not to run, and the motor control system is ensured to enter a safe state.
Optionally, the operation corresponding to the step 120 is to perform range check on the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value, and the third phase current sampling value, and specifically includes:
step 121, presetting a first upper limit voltage value, a second upper limit voltage value, a third upper limit voltage value, a first upper limit current value, a second upper limit current value and a third upper limit current value;
specifically, the range of the current value may be determined according to the effective range of the current sensor. The effective range of the voltage value can be determined according to the bus voltage, for example, the bus voltage can be divided by
Figure BDA0001768679230000101
A certain margin may be left for the maximum value of the phase voltage amplitude.
Step 122, if the first phase voltage sampling value is less than or equal to the first upper limit voltage value, the second phase voltage sampling value is less than or equal to the second upper limit voltage value, and the third phase voltage sampling value is less than or equal to the third upper limit voltage value, it is determined that the phase voltage range check is passed;
as described above, the first upper limit voltage value, the second upper limit voltage value, and the third upper limit voltage value may be respectively set to the corresponding bus voltage divided by the bus voltage
Figure BDA0001768679230000102
And a certain margin is left. When the phase voltage sample value of each phase is less than or equal to its corresponding upper limit voltage value, it can be determined that the range voltage range check passes.
And 123, if the first phase current sampling value is less than or equal to the first upper limit current value, the second phase current sampling value is less than or equal to the second upper limit current value, and the third phase current sampling value is less than or equal to the third upper limit current value, determining that the phase current range check is passed.
Similarly, when the phase voltage sampling value of each phase is less than or equal to its corresponding upper limit voltage value, it can be determined that the range voltage range check passes. If the phase voltage and/or phase current check is not passed, the obtained three-phase signal of the motor is invalid, and a correct torque estimation value cannot be obtained, so that the controller can control the motor to stop running, and the motor control system enters a safe state.
Optionally, the sampling result of the three-phase voltage signal further includes a first phase voltage sampling channel number, a second phase voltage sampling channel number, and a third phase voltage sampling channel number; the sampling result of the three-phase current signal also comprises a first phase current sampling channel number, a second phase current sampling channel number and a third phase current sampling channel number; the operation corresponding to step 100, acquiring a three-phase signal of the motor further includes:
step 140, checking a first phase voltage sampling channel number, a second phase voltage sampling channel number, a third phase voltage sampling channel number, a first phase current sampling channel number, a second phase current sampling channel number and a third phase current sampling channel number;
specifically, the controller in the motor control system may be an AURIX single chip microcomputer and include a plurality of sampling channels, each phase voltage signal in the three-phase voltage signals corresponds to one sampling channel, each phase in the three-phase current signals corresponds to one sampling channel, and in order to detect that the three-phase voltage signals are incorrect due to channel configuration errors of the single chip microcomputer, the sampling channels in the sampling results need to be checked.
And 150, if any one of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number fails to check, judging that the three-phase signal is invalid.
Specifically, under the condition that all of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number pass the inspection, the problem that the configuration error of the sampling channel does not occur can be determined, and then the inspection of the sampling channel is judged to pass.
Optionally, the operation of checking the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number, and the third phase current sampling channel number in step 140 specifically includes:
comparing the first phase voltage sampling channel number with a preset first sampling channel number; comparing the second phase voltage sampling channel number with a preset second sampling channel number; comparing the third phase voltage sampling channel number with a preset third sampling channel number; comparing the first phase current sampling channel number with a preset fourth sampling channel number; comparing the number of the second phase current sampling channel with a preset fifth sampling channel number; and comparing the third phase current sampling channel number with a preset sixth sampling channel number.
Specifically, a first sampling channel number corresponding to the first phase voltage, a second sampling channel number corresponding to the second phase voltage, and a third sampling channel number corresponding to the third phase voltage may be set in the controller in advance; and when all the sampling channel numbers in the sampling result are consistent with the sampling channel numbers preset in the controller corresponding to the sampling channel numbers, the condition that the inspection of the sampling channels is passed can be judged, and further the follow-up flow of the validity judgment of the three-phase signals of the motor is continued.
Optionally, the sampling result of the three-phase voltage signal further includes a first flag bit, a second flag bit, and a third flag bit; the sampling result of the three-phase current signal further comprises a fourth zone bit, a fifth zone bit and a sixth zone bit; the operation corresponding to step 100, acquiring a three-phase signal of the motor further includes:
step 160, if the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number are all checked to pass, whether the first zone bit, the second zone bit, the third zone bit, the fourth zone bit, the fifth zone bit and the sixth zone bit are updated is detected;
specifically, the analog-to-digital conversion module in the controller may be stuck, and then the three-phase voltage sampling value and the three-phase current sampling value obtained by the analog-to-digital conversion module may be not updated, so that the obtained three-phase voltage sampling value or the obtained three-phase current sampling value is incorrect, and further the torque estimation is incorrect, which causes the problem of failure of torque monitoring, and therefore, the flag bit corresponding to each phase voltage in the sampling result needs to be checked.
Step 170, if any flag bit of the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit and the sixth flag bit is not updated, determining that the sampling channel fails to update and detect, and determining that the three-phase signal is invalid;
specifically, for example, if each flag bit is not updated, the flag bit is 0, and the updated flag bit is 1, then whether each flag bit is updated or not can be determined by detecting the value of each flag bit. If any flag bit is not updated, it indicates that the phase voltage or phase current value corresponding to the flag bit is not updated, and further, the motor three-phase signal is judged to be invalid.
And step 180, if the first zone bit, the second zone bit, the third zone bit, the fourth zone bit, the fifth zone bit and the sixth zone bit are updated, carrying out range check on the voltage sum of the three-phase voltage signals and the current sum of the three-phase current signals.
Specifically, if each flag bit is updated, the determination process of the validity of the three-phase signal of the motor can be continued.
Optionally, in step 180, the operation corresponding to the range check is performed on the voltage sum of the three-phase voltage signal and the current sum of the three-phase current signal, and the operation specifically includes:
step 181, calculating a first phase voltage physical value, a second phase voltage physical value and a third phase voltage physical value according to the sampling result of the three-phase voltage signal; calculating a first phase current physical value, a second phase current physical value and a third phase current physical value according to the sampling result of the three-phase current signal;
specifically, what the analog-to-digital conversion module samples is a digital quantity, and there is a linear relationship between the digital quantity and the actual physical values of the three-phase voltage and current, that is: the physical value (sampling result-offset of the analog-to-digital conversion module) is the sampling gain. Wherein the offset and gain are determined by the sensor and the sampling circuit.
Step 182, calculating the voltage sum of the three-phase voltage signals according to the first phase voltage physical value, the second phase voltage physical value and the third phase voltage physical value; calculating the current sum of the three-phase current signal according to the first phase current physical value, the second phase current physical value and the third phase current physical value;
specifically, the theoretical value of the sum of the three-phase currents should be zero, and the current generally has a small margin in consideration of a sampling error, that is, the current should fluctuate within a small range from zero up to zero, so that the first current threshold of the sum of the currents of the three-phase electrical signals can be preset.
183, if the sum of the currents of the three-phase current signals is equal to or larger than the first current threshold value, checking to pass, and otherwise, judging that the three-phase signals are invalid;
specifically, the first current threshold is an upper limit value of the sum of currents of the three-phase current signals, and a second current threshold may be preset, where the second current threshold is a lower limit value of the sum of currents of the three-phase current signals, and when the sum of currents of the three-phase current signals is greater than or equal to the second current threshold and is less than or equal to the first current threshold, it may be determined that the check of the sum of currents of the three-phase current signals passes.
And step 184, if the sum of the voltages of the three-phase voltage signals is less than or equal to the first voltage threshold, checking to pass, otherwise, judging that the three-phase signals are invalid.
Specifically, the first voltage threshold is an upper limit value of the sum of voltages of the three-phase voltage signals, and a second voltage threshold may be preset, where the second voltage threshold is a lower limit value of the sum of voltages of the three-phase voltage signals, and when the sum of voltages of the three-phase voltage signals is greater than or equal to the second voltage threshold and is less than or equal to the first voltage threshold, it may be determined that the sum of voltages of the three-phase voltage signals passes the check.
By checking whether the current sum of the three-phase current signals is within a preset range and checking whether the voltage sum of the three-phase voltage signals is within the preset range, current gain or cheap errors caused by various sensors, such as a current sensor, a voltage sampling circuit or an analog-to-digital conversion module, in the motor control system can be judged in time, hardware faults in the motor control system can be found in time, and monitoring failure of torque is avoided.
Optionally, the step 100 of obtaining a three-phase signal of the motor further includes:
step 191, respectively calculating a first phase voltage physical value, a second phase voltage physical value, a third phase voltage physical value, a first phase current physical value, a second phase current physical value and a corrected physical value of the third phase current physical value, wherein the formula is as follows:
Iu＝Iu_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iv＝Iv_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iw＝Iw_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3；
Uu＝Uu_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uv＝Uv_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uw＝Uw_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3；
wherein Iu is a corrected physical value of the first phase current, and Iu _ Raw is a physical value of the first phase current; iv is the corrected physical value of the second phase current, Iv _ Raw is the physical value of the second phase current; iw is a corrected physical value of the third phase current, and Iw _ Raw is a physical value of the third phase current; uu is a corrected physical value of the first phase voltage, and Uu _ Raw is a first phase voltage physical value; uv is a corrected physical value of the second phase voltage, and Uv _ Raw is a second phase voltage physical value; uw is a corrected physical value of the third phase voltage, and Uw _ Raw is a physical value of the third phase voltage;
specifically, because the sampling signal of the analog-digital conversion module in the controller has a certain error, the three-phase voltage sampling value and the three-phase current sampling value have certain deviation, the three-phase voltage physical value and the three-phase current physical value obtained by calculation according to the three-phase voltage sampling value and the three-phase current sampling value have certain error, the three-phase voltage physical value and the three-phase current physical value are corrected through the formula, the corrected physical value of the three-phase voltage and the corrected physical value of the three-phase current are obtained, and the judgment on the validity of the three-phase signal of the motor can be more correct and reliable.
Step 192, obtain the corrected physical value of the first phase current, the corrected physical value of the second phase current, the corrected physical value of the third phase current, the corrected physical value of the first phase voltage, the corrected physical value of the second phase voltage, and the corrected physical value of the third phase voltage.
Specifically, after the corrected physical values of the three-phase voltage and the three-phase current are calculated, the controller may obtain the corrected physical value of the first-phase current, the corrected physical value of the second-phase current, the corrected physical value of the third-phase current, the corrected physical value of the first-phase voltage, the corrected physical value of the second-phase voltage, and the corrected physical value of the third-phase voltage, calculate the first angular velocity according to the corrected physical value of the first-phase voltage, the corrected physical value of the second-phase voltage, and the corrected physical value of the third-phase voltage, calculate the second angular velocity according to the corrected physical value of the first-phase current, the corrected physical value of the second-phase current, and the corrected physical value of the third-phase current, obtain more correct first and second angular velocities, and increase the correctness and reliability of the validity determination of the three-phase signal of the motor.
According to the motor three-phase signal validity judging method provided by the embodiment, the problem that the back electromotive force is too large in a motor control system can be judged in time by checking the voltage square sum of the motor and the consistency of the voltage and the rotating speed of the motor; the condition that the signal collected by the controller is short-circuited to the ground or the power supply can be found in time by carrying out range check on the three-phase voltage signal and the three-phase current signal of the motor; the problem of wrong configuration of a sampling channel of the analog-digital conversion module in the controller can be found in time through the inspection of the sampling passing; the problem of clamping stagnation of the analog-digital conversion module can be judged in time through the check of the flag bit; current gain or offset errors caused by a sensor, a sampling circuit or an analog-to-digital conversion module can be found in time through the current and inspection of the three-phase current signals and the voltage and inspection of the three-phase voltage signals; and the correctness and the reliability of the validity judgment of the three-phase signal of the motor are improved by the calculation of the correction physical value. The motor three-phase signal validity judging method provided by the embodiment can prevent current or voltage errors caused by random failure of each hardware in the operation process of a motor control system, and further prevent subsequent torque calculation errors from influencing torque monitoring; the correctness of obtaining the three-phase voltage signals and the three-phase current signals is guaranteed, reliable input is provided for subsequent torque calculation, and the problem of torque monitoring failure is avoided.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a three-phase signal validity determination apparatus for a motor according to a third embodiment of the present invention, where the determination apparatus is capable of executing a three-phase signal validity determination method for a motor according to any of the embodiments, and the determination apparatus includes:
the motor control device comprises an acquisition module 10, a control module and a control module, wherein the acquisition module is used for acquiring three-phase signals of a motor, and the three-phase signals comprise three-phase voltage signals and three-phase current signals;
the angular velocity calculation module 20 is used for calculating a first angular velocity of the motor at the current moment according to the three-phase voltage signals and calculating a second angular velocity of the motor at the current moment according to the three-phase current signals;
the judging module 30 is used for judging that the three-phase signal is invalid if the directions of the first angular speed and the second angular speed are not consistent;
the voltage square sum component calculation module 40 is used for calculating a direct current component and a ripple amplitude of the square sum of the three-phase voltage if the directions of the first angular velocity and the second angular velocity are consistent;
the determining module 30 is further configured to determine that the three-phase signal is invalid if the ratio of the ripple amplitude to the dc component is greater than or equal to a first threshold.
According to the motor three-phase signal validity judging device provided by the embodiment, the three-phase voltage signals and the three-phase current signals of the three-phase motor are obtained through the obtaining module, the angular velocity calculating module calculates the first angular velocity and the second angular velocity of the motor at the current moment according to the three-phase voltage signals respectively, and the condition that the phase sequence of the three-phase voltage or the three-phase current is inconsistent with the expectation can be judged in time by comparing the directions of the first angular velocity and the second angular velocity; the ratio of the ripple amplitude of the sum of the squares of the three-phase voltage to the direct-current component is calculated, the judgment module compares the ratio with a preset first threshold, when the ratio is larger than or equal to the first threshold, the fluctuation range of the three-phase voltage signal is judged to be too large, the situation that the three-phase voltage is asymmetrical can be judged in time, for example, the situation that a certain phase of a three-phase motor is disconnected can be judged in time, the situation that the hardware in a motor control system is connected in a wrong or disconnected mode can be judged in time, the correctness of the three-phase voltage signal and the three-phase current signal can be obtained, reliable input is provided for subsequent torque calculation, and the problem that torque monitoring fails is avoided.
Example four
Fig. 4 is a schematic structural diagram of a motor three-phase signal validity determination apparatus according to a fourth embodiment of the present invention, and this embodiment further provides an optional motor three-phase signal validity determination apparatus on the basis of the third embodiment.
Optionally, the ripple amplitude of the sum of squares of the three-phase voltages is an amplitude component of the sum of squares of the three-phase voltages at twice the second angular velocity.
Optionally, the determining module 30 is further configured to determine that the three-phase signal is valid if the ratio of the ripple amplitude to the dc component is smaller than a first threshold, if the sum of the squares of the three-phase voltages is smaller than a first voltage square threshold, and if the sum of the squares of the three-phase voltages is larger than a second voltage square threshold when the second angular velocity is larger than the second angular velocity threshold.
Optionally, the obtaining module 10 specifically includes:
a sampling signal obtaining unit 11, configured to obtain a sampling result of a three-phase voltage signal and a sampling result of a three-phase current signal of the motor; the sampling result of the three-phase voltage signal at least comprises a first phase voltage sampling value, a second phase voltage sampling value and a third phase voltage sampling value, and the sampling result of the three-phase current signal at least comprises a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
the sampling value range checking unit 12 is used for performing range checking on a first phase voltage sampling value, a second phase voltage sampling value, a third phase voltage sampling value, a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
the determination module 30 is further configured to determine that the three-phase signal is invalid if any one of the range check of the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value, and the third phase current sampling value fails.
Optionally, the sampling value range checking unit 12 includes a preset subunit, configured to preset a first upper limit voltage value, a second upper limit voltage value, a third upper limit voltage value, a first upper limit current value, a second upper limit current value, and a third upper limit current value;
the determination module 30 is further configured to determine that the phase voltage range check is passed if the first phase voltage sampling value is less than or equal to the first upper limit voltage value, the second phase voltage sampling value is less than or equal to the second upper limit voltage value, and the third phase voltage sampling value is less than or equal to the third upper limit voltage value;
the determining module 30 is further configured to determine that the phase current range check is passed if the first phase current sampling value is less than or equal to the first upper limit current value, the second phase current sampling value is less than or equal to the second upper limit current value, and the third phase current sampling value is less than or equal to the third upper limit current value.
Optionally, the sampling result of the three-phase voltage signal further includes a first phase voltage sampling channel number, a second phase voltage sampling channel number, and a third phase voltage sampling channel number; the sampling result of the three-phase current signal also comprises a first phase current sampling channel number, a second phase current sampling channel number and a third phase current sampling channel number; the acquisition module 10 further comprises:
a sampling channel checking unit 13 for checking a first phase voltage sampling channel number, a second phase voltage sampling channel number, a third phase voltage sampling channel number, a first phase current sampling channel number, a second phase current sampling channel number, and a third phase current sampling channel number;
the determination module 30 is further configured to determine that the three-phase signal is invalid if any one of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number, and the third phase current sampling channel number fails to be checked.
Optionally, the specific checking process of the sampling channel checking unit 13 includes:
comparing the first phase voltage sampling channel number with a preset first sampling channel number; comparing the second phase voltage sampling channel number with a preset second sampling channel number; comparing the third phase voltage sampling channel number with a preset third sampling channel number; comparing the first phase current sampling channel number with a preset fourth sampling channel number; comparing the number of the second phase current sampling channel with a preset fifth sampling channel number; and comparing the third phase current sampling channel number with a preset sixth sampling channel number.
Optionally, the sampling result of the three-phase voltage signal further includes a first flag bit, a second flag bit, and a third flag bit; the sampling result of the three-phase current signal further comprises a fourth zone bit, a fifth zone bit and a sixth zone bit; the acquisition module 10 further comprises:
the identification bit checking unit 14 is configured to detect whether the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit and the sixth flag bit are updated or not if the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number are all checked to pass;
the determining module 30 is further configured to determine that the sampling channel fails to update and the three-phase signal is invalid if any one of the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit, and the sixth flag bit is not updated;
the obtaining module 10 further includes a voltage sum, current sum range checking unit 15, configured to perform range checking on the voltage sum of the three-phase voltage signals and the current sum of the three-phase current signals if the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit, and the sixth flag bit are updated.
Optionally, the voltage sum, current sum and range checking unit 15 specifically includes:
the physical value calculating operator unit is used for calculating a first phase voltage physical value, a second phase voltage physical value and a third phase voltage physical value according to the sampling result of the three-phase voltage signal; calculating a first phase current physical value, a second phase current physical value and a third phase current physical value according to the sampling result of the three-phase current signal;
the voltage sum and current sum calculating subunit is used for calculating the voltage sum of the three-phase voltage signals according to the first phase voltage physical value, the second phase voltage physical value and the third phase voltage physical value; calculating the current sum of the three-phase current signal according to the first phase current physical value, the second phase current physical value and the third phase current physical value;
the determination module 30 is further configured to check that the sum of the currents of the three-phase current signals is smaller than or equal to the first current threshold, and otherwise, determine that the three-phase current signals are invalid;
the determination module 30 is further configured to check that the sum of the voltages of the three-phase voltage signals is less than or equal to the first voltage threshold, and otherwise determine that the three-phase voltage signals are invalid.
Optionally, the obtaining module 10 further includes:
a corrected physical value calculating unit 16, configured to calculate corrected physical values of the first phase voltage physical value, the second phase voltage physical value, the third phase voltage physical value, the first phase current physical value, the second phase current physical value, and the third phase current physical value, respectively, according to the following formula:
Iu＝Iu_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iv＝Iv_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iw＝Iw_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3；
Uu＝Uu_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uv＝Uv_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uw＝Uw_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3；
wherein Iu is a corrected physical value of the first phase current, and Iu _ Raw is a physical value of the first phase current; iv is the corrected physical value of the second phase current, Iv _ Raw is the physical value of the second phase current; iw is a corrected physical value of the third phase current, and Iw _ Raw is a physical value of the third phase current; uu is a corrected physical value of the first phase voltage, and Uu _ Raw is a first phase voltage physical value; uv is a corrected physical value of the second phase voltage, and Uv _ Raw is a second phase voltage physical value; uw is a corrected physical value of the third phase voltage, and Uw _ Raw is a physical value of the third phase voltage;
an obtaining subunit 17, configured to obtain a corrected physical value of the first phase current, a corrected physical value of the second phase current, a corrected physical value of the third phase current, a corrected physical value of the first phase voltage, a corrected physical value of the second phase voltage, and a corrected physical value of the third phase voltage.
According to the motor three-phase signal effectiveness judging device provided by the embodiment, the judgment module can judge whether the motor control system has the problem of overlarge back electromotive force or not in time by checking the voltage square sum of the motor and the consistency of the voltage and the rotating speed of the motor; the sampling value range checking unit is used for checking the ranges of the three-phase voltage signals and the three-phase current signals of the motor, so that the condition that the signals collected by the controller are short-circuited to the ground or the power supply can be found in time; the problem of wrong configuration of the sampling channel of the analog-digital conversion module in the controller can be found in time through the inspection of the sampling channel by the sampling channel inspection unit; the problem that the analog-digital conversion module is blocked can be judged in time by checking the flag bit through the flag bit checking unit; current gain or offset errors caused by a sensor, a sampling circuit or an analog-to-digital conversion module can be found in time through the current and inspection of the three-phase current signals and the voltage and inspection of the three-phase voltage signals; and the correctness and the reliability of the validity judgment of the three-phase signal of the motor are improved by calculating the correction physical value through the correction physical value calculating unit. The motor three-phase signal validity judging device provided by the embodiment can prevent current or voltage errors caused by random failure of each hardware in the operation process of a motor control system, and further prevent subsequent torque calculation errors from influencing torque monitoring; the correctness of obtaining the three-phase voltage signals and the three-phase current signals is guaranteed, reliable input is provided for subsequent torque calculation, and the problem of torque monitoring failure is avoided. The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (20)

1. A method for judging the validity of a three-phase signal of a motor is characterized by comprising the following steps:
acquiring three-phase signals of the motor, wherein the three-phase signals comprise three-phase voltage signals and three-phase current signals;
calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals, and calculating a second angular speed of the motor at the current moment according to the three-phase current signals;
if the directions of the first angular velocity and the second angular velocity are not consistent, determining that the three-phase signal is invalid;
if the directions of the first angular velocity and the second angular velocity are consistent, calculating a direct current component of the square sum of the three-phase voltages and a ripple amplitude of the square sum of the three-phase voltages;
and if the ratio of the ripple amplitude to the direct-current component is greater than or equal to a first threshold value, determining that the three-phase signal is invalid.
2. The determination method according to claim 1, characterized in that the ripple amplitude of the sum of squares of the three-phase voltages is an amplitude component of the sum of squares of the three-phase voltages at twice the second angular velocity.
3. The method according to claim 1, wherein when the ratio of the ripple amplitude to the dc component is smaller than the first threshold value, the three-phase signal is determined to be valid if the sum of squares of the three-phase voltages is smaller than a first voltage square threshold value and the sum of squares of the three-phase voltages is larger than a second voltage square threshold value when the second angular velocity is larger than a second angular velocity threshold value.
4. The determination method according to claim 1, wherein the acquiring of the three-phase signal of the motor specifically comprises:
acquiring a sampling result of the three-phase voltage signal and a sampling result of the three-phase current signal of the motor; the sampling result of the three-phase voltage signal at least comprises a first phase voltage sampling value, a second phase voltage sampling value and a third phase voltage sampling value, and the sampling result of the three-phase current signal at least comprises a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
performing range check on the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value and the third phase current sampling value;
and if any range check of the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value and the third phase current sampling value fails, determining that the three-phase signal is invalid.
5. The method according to claim 4, wherein the range checking the first phase voltage sample value, the second phase voltage sample value, the third phase voltage sample value, the first phase current sample value, the second phase current sample value, and the third phase current sample value specifically comprises:
presetting a first upper limit voltage value, a second upper limit voltage value, a third upper limit voltage value, a first upper limit current value, a second upper limit current value and a third upper limit current value;
if the first phase voltage sampling value is less than or equal to the first upper limit voltage value, the second phase voltage sampling value is less than or equal to the second upper limit voltage value, and the third phase voltage sampling value is less than or equal to the third upper limit voltage value, the phase voltage range check is judged to be passed;
and if the first phase current sampling value is smaller than or equal to the first upper limit current value, the second phase current sampling value is smaller than or equal to the second upper limit current value, and the third phase current sampling value is smaller than or equal to the third upper limit current value, judging that the phase current range check is passed.
6. The determination method according to claim 4, wherein the sampling result of the three-phase voltage signal further includes a first phase voltage sampling pass number, a second phase voltage sampling pass number, and a third phase voltage sampling pass number; the sampling result of the three-phase current signal also comprises a first phase current sampling channel number, a second phase current sampling channel number and a third phase current sampling channel number; the acquiring of the three-phase signal of the motor further comprises:
checking the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number;
and if any one of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number fails to be checked, judging that the three-phase signal is invalid.
7. The method according to claim 6, wherein the checking the first phase voltage sampling lane number, the second phase voltage sampling lane number, the third phase voltage sampling lane number, the first phase current sampling lane number, the second phase current sampling lane number, and the third phase current sampling lane number specifically includes:
comparing the first phase voltage sampling channel number with a preset first sampling channel number; comparing the second phase voltage sampling channel number with a preset second sampling channel number; comparing the third phase voltage sampling channel number with a preset third sampling channel number; comparing the first phase current sampling channel number with a preset fourth sampling channel number; comparing the second phase current sampling channel number with a preset fifth sampling channel number; and comparing the third phase current sampling channel number with a preset sixth sampling channel number.
8. The determination method according to claim 6, wherein the sampling result of the three-phase voltage signal further includes a first flag bit, a second flag bit, and a third flag bit; the sampling result of the three-phase current signal further comprises a fourth zone bit, a fifth zone bit and a sixth zone bit; the acquiring of the three-phase signal of the motor further comprises:
if all of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number and the third phase current sampling channel number pass the check, detecting whether the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit and the sixth flag bit are updated;
if any flag bit of the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit and the sixth flag bit is not updated, it is determined that the sampling channel update detection fails and the three-phase signal is invalid;
and if the first zone bit, the second zone bit, the third zone bit, the fourth zone bit, the fifth zone bit and the sixth zone bit are updated, performing range check on the voltage sum of the three-phase voltage signals and the current sum of the three-phase current signals.
9. The determination method according to claim 8, wherein the range checking of the voltage sum of the three-phase voltage signals and the current sum of the three-phase current signals specifically includes:
calculating a first phase voltage physical value, a second phase voltage physical value and a third phase voltage physical value according to the sampling result of the three-phase voltage signal; calculating a first phase current physical value, a second phase current physical value and a third phase current physical value according to the sampling result of the three-phase current signal;
calculating the voltage sum of the three-phase voltage signals according to the first phase voltage physical value, the second phase voltage physical value and the third phase voltage physical value; calculating the current sum of the three-phase current signals according to the first phase current physical value, the second phase current physical value and the third phase current physical value;
if the sum of the currents of the three-phase current signals is smaller than or equal to a first current threshold value, checking to pass, and otherwise, judging that the three-phase signals are invalid;
and if the voltage sum of the three-phase voltage signals is smaller than or equal to a first voltage threshold value, checking to pass, and otherwise, judging that the three-phase signals are invalid.
10. The determination method according to claim 9, wherein the acquiring of the three-phase signal of the motor further comprises:
respectively calculating correction physical values of the first phase voltage physical value, the second phase voltage physical value, the third phase voltage physical value, the first phase current physical value, the second phase current physical value and the third phase current physical value, wherein the formula is as follows:
Iu＝Iu_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iv＝Iv_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iw＝Iw_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3；
Uu＝Uu_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uv＝Uv_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uw＝Uw_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3；
wherein Iu is a corrected physical value of the first phase current, and Iu _ Raw is a physical value of the first phase current; iv is the corrected physical value of the second phase current, Iv _ Raw is the physical value of the second phase current; iw is a corrected physical value of the third phase current, and Iw _ Raw is a physical value of the third phase current; uu is a corrected physical value of the first phase voltage, and Uu _ Raw is a first phase voltage physical value; uv is a corrected physical value of the second phase voltage, and Uv _ Raw is a second phase voltage physical value; uw is a corrected physical value of the third phase voltage, and Uw _ Raw is a physical value of the third phase voltage;
and acquiring a corrected physical value of the first phase current, a corrected physical value of the second phase current, a corrected physical value of the third phase current, a corrected physical value of the first phase voltage, a corrected physical value of the second phase voltage and a corrected physical value of the third phase voltage.
11. A motor three-phase signal validity determination device is characterized by comprising:
the motor control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring three-phase signals of the motor, and the three-phase signals comprise three-phase voltage signals and three-phase current signals;
the angular speed calculation module is used for calculating a first angular speed of the motor at the current moment according to the three-phase voltage signals and calculating a second angular speed of the motor at the current moment according to the three-phase current signals;
the judging module is used for judging that the three-phase signals are invalid if the directions of the first angular speed and the second angular speed are not consistent;
the voltage square sum component calculation module is used for calculating a direct current component of the square sum of the three-phase voltages and a ripple amplitude of the square sum of the three-phase voltages if the directions of the first angular velocity and the second angular velocity are consistent;
the judging module is further used for judging that the three-phase signal is invalid if the ratio of the ripple amplitude to the direct-current component is larger than or equal to a first threshold.
12. The determination device according to claim 11, characterized in that the ripple amplitude of the sum of squares of the three-phase voltages is an amplitude component of the sum of squares of the three-phase voltages at twice the second angular velocity.
13. The determination device according to claim 11, wherein the determination module is further configured to determine that the three-phase signal is valid if the ratio of the ripple amplitude to the dc component is smaller than the first threshold, if the sum of the squares of the three-phase voltages is smaller than a first voltage square threshold, and if the sum of the squares of the three-phase voltages is larger than a second voltage square threshold when the second angular velocity is larger than a second angular velocity threshold.
14. The apparatus according to claim 11, wherein the acquiring module specifically includes:
a sampling signal acquisition unit for acquiring a sampling result of the three-phase voltage signal and a sampling result of the three-phase current signal of the motor; the sampling result of the three-phase voltage signal at least comprises a first phase voltage sampling value, a second phase voltage sampling value and a third phase voltage sampling value, and the sampling result of the three-phase current signal at least comprises a first phase current sampling value, a second phase current sampling value and a third phase current sampling value;
the sampling value range checking unit is used for carrying out range checking on the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value and the third phase current sampling value;
the determination module is further configured to determine that the three-phase signal is invalid if any one of the range check of the first phase voltage sampling value, the second phase voltage sampling value, the third phase voltage sampling value, the first phase current sampling value, the second phase current sampling value, and the third phase current sampling value fails.
15. The determination device according to claim 14, wherein the sampling value range checking unit includes a presetting subunit operable to preset a first upper limit voltage value, a second upper limit voltage value, a third upper limit voltage value, a first upper limit current value, a second upper limit current value, and a third upper limit current value;
the determination module is further configured to determine that the phase voltage range check is passed if the first phase voltage sampling value is less than or equal to the first upper limit voltage value, the second phase voltage sampling value is less than or equal to the second upper limit voltage value, and the third phase voltage sampling value is less than or equal to the third upper limit voltage value;
the determination module is further configured to determine that the phase current range check is passed if the first phase current sampling value is less than or equal to the first upper limit current value, the second phase current sampling value is less than or equal to the second upper limit current value, and the third phase current sampling value is less than or equal to the third upper limit current value.
16. The determination device according to claim 14, wherein the sampling result of the three-phase voltage signal further includes a first phase voltage sampling channel number, a second phase voltage sampling channel number, and a third phase voltage sampling channel number; the sampling result of the three-phase current signal also comprises a first phase current sampling channel number, a second phase current sampling channel number and a third phase current sampling channel number; the acquisition module further comprises:
a sampling channel checking unit, configured to check the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number, and the third phase current sampling channel number;
the determination module is further configured to determine that the three-phase signal is invalid if any one of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number, and the third phase current sampling channel number fails to be checked.
17. The determination device according to claim 16, wherein the specific checking process of the sampling channel checking unit includes:
comparing the first phase voltage sampling channel number with a preset first sampling channel number; comparing the second phase voltage sampling channel number with a preset second sampling channel number; comparing the third phase voltage sampling channel number with a preset third sampling channel number; comparing the first phase current sampling channel number with a preset fourth sampling channel number; comparing the second phase current sampling channel number with a preset fifth sampling channel number; and comparing the third phase current sampling channel number with a preset sixth sampling channel number.
18. The determination device according to claim 16, wherein the sampling result of the three-phase voltage signals further includes a first flag bit, a second flag bit, and a third flag bit; the sampling result of the three-phase current signal further comprises a fourth zone bit, a fifth zone bit and a sixth zone bit; the acquisition module further comprises:
an identification bit checking unit, configured to detect whether the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit, and the sixth flag bit are updated if all of the first phase voltage sampling channel number, the second phase voltage sampling channel number, the third phase voltage sampling channel number, the first phase current sampling channel number, the second phase current sampling channel number, and the third phase current sampling channel number pass the check;
the determination module is further configured to determine that the sampling channel fails to update and detect if any flag bit of the first flag bit, the second flag bit, the third flag bit, the fourth flag bit, the fifth flag bit, and the sixth flag bit is not updated, and the three-phase signal is invalid;
the obtaining module further comprises a voltage sum and current sum range checking unit, and the voltage sum and current sum range checking unit is used for checking the voltage sum of the three-phase voltage signals and the current sum of the three-phase current signals if the first zone bit, the second zone bit, the third zone bit, the fourth zone bit, the fifth zone bit and the sixth zone bit are updated.
19. The determination device according to claim 18, wherein the voltage sum, current sum range checking unit specifically includes:
the physical value calculating operator unit is used for calculating a first phase voltage physical value, a second phase voltage physical value and a third phase voltage physical value according to the sampling result of the three-phase voltage signal; calculating a first phase current physical value, a second phase current physical value and a third phase current physical value according to the sampling result of the three-phase current signal;
the voltage sum and current sum calculating subunit is used for calculating the voltage sum of the three-phase voltage signals according to the first phase voltage physical value, the second phase voltage physical value and the third phase voltage physical value; calculating the current sum of the three-phase current signals according to the first phase current physical value, the second phase current physical value and the third phase current physical value;
the determination module is further used for checking whether the sum of the currents of the three-phase current signals is smaller than or equal to a first current threshold value or not, and otherwise, determining that the three-phase current signals are invalid;
the determination module is further used for checking whether the sum of the voltages of the three-phase voltage signals is smaller than or equal to a first voltage threshold value or not, and otherwise, determining that the three-phase voltage signals are invalid.
20. The apparatus according to claim 19, wherein the acquisition module further includes:
a corrected physical value calculating unit, configured to calculate corrected physical values of the first phase voltage physical value, the second phase voltage physical value, the third phase voltage physical value, the first phase current physical value, the second phase current physical value, and the third phase current physical value, respectively, according to the following formula:
Iu＝Iu_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iv＝Iv_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3，
Iw＝Iw_Raw-(Iu_Raw+Iv_Raw+Iw_Raw)/3；
Uu＝Uu_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uv＝Uv_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3，
Uw＝Uw_Raw-(Uu_Raw+Uv_Raw+Uw_Raw)/3；
wherein Iu is a corrected physical value of the first phase current, and Iu _ Raw is a physical value of the first phase current; iv is the corrected physical value of the second phase current, Iv _ Raw is the physical value of the second phase current; iw is a corrected physical value of the third phase current, and Iw _ Raw is a physical value of the third phase current; uu is a corrected physical value of the first phase voltage, and Uu _ Raw is a first phase voltage physical value; uv is a corrected physical value of the second phase voltage, and Uv _ Raw is a second phase voltage physical value; uw is a corrected physical value of the third phase voltage, and Uw _ Raw is a physical value of the third phase voltage;
an obtaining subunit, configured to obtain a corrected physical value of the first phase current, a corrected physical value of the second phase current, a corrected physical value of the third phase current, a corrected physical value of the first phase voltage, a corrected physical value of the second phase voltage, and a corrected physical value of the third phase voltage.
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Citations (2)

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Publication number Priority date Publication date Assignee Title
CN103278771A (en) * 2013-05-22 2013-09-04 广西电网公司电力科学研究院 Identification method for abnormal state of three-phase asynchronous motor at industrial site
CN104297514A (en) * 2014-10-27 2015-01-21 武汉华工电气自动化有限责任公司 Method and system for using three-phase single-point sampling values for calculating angular speed of rotor

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Publication number Priority date Publication date Assignee Title
FR2806551B1 (en) * 2000-03-15 2002-05-10 Valeo Electronique METHODS AND DEVICES FOR MONITORING THE ROTATION OF DIRECT CURRENT ELECTRIC MOTORS

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103278771A (en) * 2013-05-22 2013-09-04 广西电网公司电力科学研究院 Identification method for abnormal state of three-phase asynchronous motor at industrial site
CN104297514A (en) * 2014-10-27 2015-01-21 武汉华工电气自动化有限责任公司 Method and system for using three-phase single-point sampling values for calculating angular speed of rotor

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