CN109917288A - A kind of detection method of motor rotation blockage - Google Patents
A kind of detection method of motor rotation blockage Download PDFInfo
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- CN109917288A CN109917288A CN201910287975.XA CN201910287975A CN109917288A CN 109917288 A CN109917288 A CN 109917288A CN 201910287975 A CN201910287975 A CN 201910287975A CN 109917288 A CN109917288 A CN 109917288A
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Abstract
The present invention provides a kind of detection method of motor rotation blockage, software algorithm and related realization code including realizing stall detection.A kind of detection method of motor rotation blockage provided by the invention, the motor terminal voltage being calculated using inspection software, and the terminal voltage value is compared with the floating voltage value that motor operates normally, stall is judged by comparing result.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of detection method of motor rotation blockage.
Background technique
It is at present to detect the revolving speed of motor for the permanent magnet synchronous motor rotation-clogging protection detection main method of tape controller,
When motor operates normally, if the revolving speed of motor is lower than a certain threshold value suddenly, it can be judged as motor rotation blockage.This method exists
When stalling torque gradual change increases, protection can be effectively realized；But if stalling torque moment increase, it is anti-due to speed amount
The electric parameters such as electric current are lagged behind between seasonable, software can not detect the variation of speed within effective time, and speed ring control is still
Current revolving speed is so maintained, output is will lead to and torque current moment increases, cause controller hardware overcurrent occur, make for a long time
With causing certain risk to controller.
For the permanent magnet synchronous motor of existing sensorless strategy, the current rotating speed value of motor is mainly derived from various motors
The revolving speed of motor is further calculated from the position of the rotor angle of motor for the algorithm of position estimation.When stall occurs for motor
When, the algorithm of angle estimation is often no longer valid, so that the speed that estimation obtains is also not exclusively credible.From there through motor rotation blockage
Condition that the velocity amplitude at moment judges as stall is simultaneously unreasonable.
When stalling torque asymptotic expression increases, the process that a speed declines gradually is deposited, the speed estimated at this time still has
Effect, can be used as the foundation of stall Rule of judgment；But when stalling torque increases sharply, the speed of motor is from a certain value moment
Drop to 0, the speed of estimation cannot tend not to the variation that current rotating speed is arrived in reflection, and be usually associated with output electric current at this time
It increases sharply, thus will cause controller hardware overcurrent, certain risk is caused to the use of controller.
Summary of the invention
The technical problems to be solved by the present invention are: in order to overcome the shortcomings in the prior art, the present invention provides a kind of electricity
The detection method of machine stall.
Testing principle:
The voltage of controller output is for acting on two parts: the counter electromotive force and motor winding wire generated when motor operation
Inductance and ohmically pressure drop on circle.As the mathematical model of following motor:
Wherein, isIt is current of electric vector, VsIt is motor input voltage vector, esIt is counter electromotive force vector, R is winding electricity
Resistance, L is winding inductance, TsIt is the control period.
Wherein back-emf value is directly proportional to the running speed of motor, when motor speed is 0, counter electromotive force 0；Motor
When revolving speed is run in range of speeds section, back-emf value differs in size.When rotor is by stall, because electric after stall
Machine speed is zero, and back-emf is just zero, and motor terminal voltage only provides resistance and inductive drop at this time, will be significantly lower than normal work
Terminal voltage signal under condition；The design of stall identification function is carried out from this angle, is equivalent to normal need end under some speed S1
Voltage is V1, and when stall only needs V2, it is found that V1 > > V2.These certain voltage identification threshold values can change with friction speed.
Based on the above principles, the present invention, which solves its technical problem technical solution to be taken, is: a kind of motor rotation blockage
Detection method, comprising the following steps:
Step 1: in range of motor speeds, calculating current motor idle running under the revolving speed at interval of revolving speed Nrpm
The motor terminal voltage Vs of Shi Suoxu records all Vs values in range of motor speeds, by a series of point VsAn array is formed, is deposited
Enter the designated position MCU；Vs value carries out rope by the index of array；
Step 2: when motor operation, calculating the real value V of motor terminal voltage under current rotating speed every time t；
Step 3: according to the corresponding revolving speed of motor terminal voltage real value V, current rotating speed correspondence is found out in array by indexing
Idle running end voltage Vs, and according to Vs calculate end voltage threshold protection value VlimitValue；
Step 4: by the end voltage threshold protection value V in the real value V of motor terminal voltage in step 2 and step 3limitBe worth into
Row compares, as V < VlimitWhen, it can determine whether as stall.
Further, the calculation method of the real value V of motor terminal voltage described in step 2 is as follows:
If it is respectively V that controller, which is exported to vector value of the IPM drive module under α the and β axis of orthogonal rest frame,αWith
Vβ, VαAnd VβReflection is exactly voltage value size required for α and β axis, by VαAnd VβIt is synthesized, so that it may calculate motor institute
The real value Vs of the end voltage needed, calculation formula are as follows:
Vs=SQRT (Vα^2+Vβ^2)
Wherein, Vs indicates the real value of motor terminal voltage, and SQRT () is root of making even.
Further, the end voltage threshold protection value VlimitValue is motor required electricity in a certain revolving speed idle running
The a quarter of set end voltage value Vs is to half, i.e. 1/4-1/2.It is preferred that the VlimitValue is that motor is empty in a certain revolving speed
The a quarter of required motor terminal voltage value when carrying row.Required motor terminal voltage value is smaller when due to motor rotation blockage,
Therefore, a smaller voltage value is set, can be reduced and fail to judge, prevent stall false alarm.
In order to avoid erroneous judgement, compare Vs and V in step 4limitIt is continuous to be less than m times when size, i.e. duration T=mt
It is all satisfied Vs < VlimitWhen, it can determine whether as stall.Sampling time t may be selected to be the time interval for calculating Vs, and period T can basis
Experimental conditions selection determines that T is undesirable too short, otherwise be easy to cause false alarm；T cannot also take too long, otherwise be easy to cause
The alarm of hardware overcurrent causes impact damage to power device, and preferred T chooses 10-100 times of t, i.e. m value is 10-100.
Further, further comprising the steps of:
Step 5: when stall occurs, closing the PWM output of IPM drive module at this time, motor is out of service, and attempts again
Starting；
Step 6: if attempting restarting number is greater than n times, motor still stall, then motor is out of service no longer tastes
Examination, and alarm.Restart frequency n to need to determine according to practical application scene and power.
The beneficial effects of the present invention are: a kind of detection method of motor rotation blockage provided by the invention, it can be in stalling torque
The effective protection to motor and controller can be realized in the various situations such as mutation or gradual change.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the flow diagram of the detection method of motor rotation blockage of the present invention.
Specific embodiment
Presently in connection with attached drawing, the present invention is described in detail.This figure is simplified schematic diagram, is only illustrated in a schematic way
Basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment one:
The running speed range of motor is 600-3450rpm, revolving speed interval N=100rpm, sampling time in the present embodiment
Interval t takes 1ms, m to take 10, that is, the period T=10t judged, i.e. T are 10ms.
As shown in Figure 1, a kind of detection method of motor rotation blockage of the invention, comprising the following steps:
Step 1: measuring motor under 600-3450rpm operating condition at interval of every speed idle running under 100rpm
When required motor terminal voltage Vs numerical value be designed to an array by all Vs numeric renderings at table, be stored in MCU specific bit
It sets；Vs value carries out rope by the index of array；Wherein, when revolving speed is not to be spaced the integral multiple of revolving speed, remainder revolving speed is corresponding
The value of required motor terminal voltage Vs takes the unloaded motor side of terminal voltage value adjacent thereto as the revolving speed when idle running
Voltage Vs, in the present embodiment, range of speeds 600-3450rpm calculates a terminal voltage value at interval of 100rpm, i.e.,
600rpm, 700rpm, 800rpm ... 3300rpm, 3400rpm, the inadequate 100rpm of last 3400-3450rpm therefore will
The end voltage of 3400-3450rpm takes the corresponding terminal voltage value of 3400rpm can be from low speed to height when being divided at equal intervals
Speed is successively divided, and can also be divided from high speed to low speed.
It should be noted that since the idle end voltage in array is stored according to revolving speed at equal intervals, if detected
When, the revolving speed of the selection of corresponding actual speed not necessarily just can be carried out at selection according to demand in such situation
It manages, the idle end voltage by 600rpm chosen between 600-700rpm of revolving speed in the present embodiment is handled.700-800rpm it
Between all by 700rpm idle end voltage handle, it is other similar.Can also using other choose mode, such as with nearby principle into
Row is chosen, i.e. between 600-700rpm, can choose the idle end voltage processing of 600rpm in 600-650rpm,
650-700rpm can choose the idle end voltage processing of 700rpm.
Step 2: when motor operation, calculating the real value V of motor terminal voltage under current rotating speed every 1ms；
Step 3: according to the corresponding revolving speed of motor terminal voltage real value V, current rotating speed correspondence is found out in array by indexing
Idle running end voltage Vs, and according to Vs calculate end voltage threshold protection value VlimitValue, take V in the present embodimentlimit=
0.25Vs；
Step 4: by Vs value and VlimitIt is compared, as V < VlimitContinuously less than 10 times, i.e., when persistently 10ms, can determine whether
For stall.Actual test can effectively realize rotation-clogging protection under each loading condition.
Step 5: when stall occurs, closing PWM output at this time, motor is out of service, and carries out trial restarting.
Step 6: being greater than 50 times if attempting restarting number, motor still stall, then motor is out of service no longer tastes
Examination, UI show E16 alarm.
Embodiment two:
The present embodiment and embodiment one the difference is that, the parameter of selection is different, and the operation of motor turns in the present embodiment
Fast range is 500-1250rpm, and revolving speed interval N=50rpm, sampling time interval t take 1ms, m to take 20, that is, the period T judged
=20t, i.e. T are 20ms, take Vlimit=0.25Vs.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff
Various changes and amendments can be carried out without departing from the scope of the present invention completely.The technical scope of this invention is not
The content being confined on specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of detection method of motor rotation blockage, it is characterised in that: the following steps are included:
Step 1: in range of motor speeds, calculating current motor idle running when institute under the revolving speed at interval of revolving speed Nrpm
The end voltage Vs needed, records all Vs values in range of motor speeds, a series of point Vs is formed an array, deposit MCU refers to
Positioning is set；Vs value carries out rope by the index of array；
Step 2: when motor operation, calculating the real value V of motor terminal voltage under current rotating speed every time t；
Step 3: according to the corresponding revolving speed of motor terminal voltage real value V, the corresponding sky of current rotating speed is found out in array by indexing
The end voltage Vs of carrying row, and end voltage threshold protection value V is calculated according to VslimitValue；
Step 4: by the end voltage threshold protection value V in the real value V of motor terminal voltage in step 2 and step 3limitValue is compared
Compared with as V < VlimitWhen, it can determine whether as stall.
2. the detection method of motor rotation blockage as described in claim 1, it is characterised in that: motor terminal voltage described in step 2
The calculation method of real value V is as follows:
If it is respectively V that controller, which is exported to vector value of the IPM drive module under α the and β axis of orthogonal rest frame,αAnd Vβ, Vα
And VβReflection is exactly voltage value size required for α and β axis, by VαAnd VβIt is synthesized, so that it may calculate required for motor
End voltage real value Vs, calculation formula is as follows:
Vs=SQRT (Vα^2+Vβ^2)
Wherein, Vs indicates the real value of motor terminal voltage, and SQRT () is root of making even.
3. the detection method of motor rotation blockage as described in claim 1, it is characterised in that: the end voltage threshold protection value Vlimit
Value is the 1/4-1/2 of motor required motor terminal voltage value Vs in a certain revolving speed idle running.
4. the detection method of motor rotation blockage as described in claim 1, it is characterised in that: compare Vs and V in step 4limitSize
When, continuous to be less than m times, i.e. duration T=mt is all satisfied Vs < VlimitWhen, it can determine whether as stall.
5. the detection method of motor rotation blockage according to any one of claims 1-4, it is characterised in that: further comprising the steps of:
Step 5: when stall occurs, closing the PWM output of IPM drive module at this time, motor is out of service, and attempts to open again
It is dynamic；
Step 6: if attempting restarting number is greater than n times, motor still stall, then motor is out of service is no longer attempt to, and
It alarms.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111490523A (en) * | 2020-05-11 | 2020-08-04 | 卧龙电气驱动集团股份有限公司 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
| CN111828302A (en) * | 2020-06-29 | 2020-10-27 | 广东白云学院 | Locked rotor control and monitoring system and method for compressor locked rotor performance test bench |
| CN113521450A (en) * | 2021-07-14 | 2021-10-22 | 巨翊科技（上海）有限公司 | Method for automatically detecting no-load current and correcting current alarm threshold |
| CN113721144A (en) * | 2021-08-30 | 2021-11-30 | 珠海泰芯半导体有限公司 | Motor aging test method and device, storage medium and electronic equipment |
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| CN111490523A (en) * | 2020-05-11 | 2020-08-04 | 卧龙电气驱动集团股份有限公司 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
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| CN111828302A (en) * | 2020-06-29 | 2020-10-27 | 广东白云学院 | Locked rotor control and monitoring system and method for compressor locked rotor performance test bench |
| CN113521450A (en) * | 2021-07-14 | 2021-10-22 | 巨翊科技（上海）有限公司 | Method for automatically detecting no-load current and correcting current alarm threshold |
| CN113521450B (en) * | 2021-07-14 | 2022-10-25 | 巨翊科技（上海）有限公司 | Method for automatically detecting no-load current and correcting current alarm threshold |
| CN113721144A (en) * | 2021-08-30 | 2021-11-30 | 珠海泰芯半导体有限公司 | Motor aging test method and device, storage medium and electronic equipment |
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