CN110350482A - Motor rotation blockage guard method and device - Google Patents
Motor rotation blockage guard method and device Download PDFInfo
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- CN110350482A CN110350482A CN201910630085.4A CN201910630085A CN110350482A CN 110350482 A CN110350482 A CN 110350482A CN 201910630085 A CN201910630085 A CN 201910630085A CN 110350482 A CN110350482 A CN 110350482A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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Abstract
The present invention provides a kind of motor rotation blockage guard method and device, which includes: that circulation executes following N1 to N4, until motor is out of service；N1: being based on FOC vector controlled, obtains d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed；N2: using d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed, the angular deviation of rotor physical location and estimated position is calculated；N3: according to the stall count value of a upper cycle period, the stall count value in previous cycle period is counted；N4: when angular deviation is not less than preset rotation-clogging protection threshold value, and the stall count value in previous cycle period is not less than preset count threshold, PWM wave is closed, to realize motor rotation blockage stoppage protection.Scheme provided by the invention more efficiently can carry out rotation-clogging protection to motor.
Description
Technical field
The present invention relates to equipment control technology field, in particular to a kind of motor rotation blockage guard method and device.
Background technique
For the electrical equipment run as refrigerator, washing machine etc. by motor driven, in electric motor starting or ran
Cheng Zhong, may due to motor control algorithms mistake, parameter selection is unreasonable, applied external force, motor load are excessive etc., and factors are made
It is stuck at electromechanics, vibration is big, motor demagnetization etc..And that electromechanics are stuck, vibration is big, motor demagnetization etc. will cause motor is stifled
Turn, motor rotation blockage overlong time will lead to motor breaking-up.
Currently, motor rotation blockage guard method is mainly compared using by operating voltage value with hair wave voltage threshold value,
If operating voltage value be less than hair wave voltage threshold value and predetermined coefficient product minimum value, determine motor generation stall, using as
Stop one of the standard of motor operation.Existing this motor rotation blockage guard method only carries out rotation-clogging protection from the feature of voltage and sentences
It is fixed.Since motor rotation blockage will affect voltage, electric current and revolving speed, and only judge whether motor occurs stall and make electricity by voltage
The probability of machine stall erroneous judgement is bigger.
Summary of the invention
The embodiment of the invention provides a kind of motor rotation blockage guard method and devices, can more efficiently carry out to motor
Rotation-clogging protection.
Motor rotation blockage guard method, comprising:
Circulation executes following N1 to N4, until the motor is out of service；
N1: being based on FOC vector controlled, obtains d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and anti-
Present revolving speed；
N2: d axis estimation electric current, q axis estimation electric current, the d shaft voltage, the q shaft voltage and institute are utilized
Feedback revolving speed is stated, the angular deviation of rotor physical location and estimated position is calculated；
N3: according to the stall count value of a upper cycle period, the stall count value in previous cycle period is counted；
N4: when the angular deviation is not less than preset rotation-clogging protection threshold value, and the stall meter in the previous cycle period
When numerical value is not less than preset count threshold, PWM wave is closed, to realize motor rotation blockage stoppage protection.
Preferably, above-mentioned motor rotation blockage guard method further comprises:
The corresponding operating parameter collection of various models is stored in advance；
The model of the motor is determined, and according to the model of the motor, from the corresponding operating parameter of the various models
Concentrate, selected target operating parameter collection, wherein the operating parameter concentrate include electric motor resistance, d axle inductance, q axle inductance and
Preset rotation-clogging protection threshold value；
Initialize the target operating parameters collection.
Preferably, described to be based on FOC vector controlled, obtain d axis estimation electric current, q axis estimation electric current, d shaft voltage, q axis electricity
Pressure, comprising:
Acquire U, V, W three-phase current of motor；
Using the CLARK transformation and PARK transformation in FOC vector control algorithm, the three-phase current is converted into d axis and is estimated
Calculate electric current, q axis estimates electric current；
The q axis reference current of input and q axis estimation electric current are obtained by the PI operation in FOC vector control algorithm
Q shaft voltage；
The d axis reference current of input and d axis estimation electric current are obtained into d axis by the PI operation in FOC vector control algorithm
Voltage.
Preferably, the angular deviation for calculating rotor physical location and estimated position, comprising:
Using following angular deviation calculation formula, the angular deviation of rotor physical location and estimated position is calculated；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterize d
Axis estimates electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterization electricity
Electromechanics resistance；W characterization feedback revolving speed.
Preferably, the stall count value according to a upper cycle period counts the stall count value in previous cycle period,
Include:
As Δ θ < θthreshold, and Lockcounts=0, then Lockcountd=0；
As Δ θ < θthreshold, and Lockcounts≠ 0, then following stall Counting Formula groups are utilized, previous cycle is calculated
The stall count value in period；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1.
Preferably,
The L is the positive integer not less than 5.
Preferably, the stall count value according to a upper cycle period counts the stall count value in previous cycle period,
Include:
As Δ θ >=θthreshold, then following stall Counting Formulas are utilized, the stall count value in previous cycle period is calculated；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period.
Preferably,
The count threshold is M=100P, wherein M characterizes the rotation-clogging protection threshold value；P characterizes the corresponding numerical value of carrier frequency.
Motor rotation blockage protective device, comprising: acquiring unit, deviation computing unit, statistic unit and control unit,
In,
The acquiring unit, for be based on FOC vector controlled, obtain d axis estimation electric current, q axis estimation electric current, d shaft voltage,
Q shaft voltage and feedback revolving speed；
The deviation computing unit, the d axis for being got using the acquiring unit estimate electric current, the q axis
It estimates electric current, the d shaft voltage, the q shaft voltage and the feedback revolving speed, calculates rotor physical location and estimation position
The angular deviation set；
The statistic unit counts the stall in previous cycle period for the stall count value according to a upper cycle period
Count value；
Described control unit, for being protected when the calculated angular deviation of deviation computing unit not less than preset stall
Protect threshold value, and when the stall count value in previous cycle period that counts of the statistic unit is not less than preset count threshold,
PWM wave is closed, to realize motor rotation blockage stoppage protection.
Preferably, above-mentioned motor rotation blockage protective device further comprises: pretreatment unit, wherein
The pretreatment unit, for the corresponding operating parameter collection of various models to be stored in advance；Determine the type of the motor
Number, and according to the model of the motor, concentrated from the corresponding operating parameter of the various models, selected target operating parameter collection,
Wherein, it includes electric motor resistance, d axle inductance, q axle inductance and preset rotation-clogging protection threshold value that the operating parameter, which is concentrated,；Initially
Change the target operating parameters collection；
The deviation computing unit, for utilize following angular deviation calculation formula, calculate rotor physical location with
The angular deviation of estimated position；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterize d
Axis estimates electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterization electricity
Electromechanics resistance；W characterization feedback revolving speed.
Preferably,
The acquiring unit, for acquiring U, V, W three-phase current of motor；Utilize the CLARK in FOC vector control algorithm
The three-phase current is converted to d axis estimation electric current by transformation and PARK transformation, q axis estimates electric current；By the q axis of input with reference to electricity
The PI operation that stream and q axis estimation electric current pass through in FOC vector control algorithm obtains q shaft voltage；By the d axis of input with reference to electricity
The PI operation that stream and d axis estimation electric current pass through in FOC vector control algorithm obtains d shaft voltage.
Preferably,
The statistic unit, for working as Δ θ < θthreshold, and Lockcounts=0, then Lockcountd=0；
As Δ θ < θthreshold, and Lockcounts≠ 0, then following stall Counting Formula groups are utilized, previous cycle is calculated
The stall count value in period；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1；
As Δ θ >=θthreshold, then following stall Counting Formulas, calculate the stall count value in previous cycle period；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period.
The embodiment of the invention provides a kind of motor rotation blockage guard method and device, which passes through
Circulation executes N1 to N4, until motor is out of service；N1: being based on FOC vector controlled, obtains d axis estimation electric current, q axis estimation electricity
Stream, d shaft voltage, q shaft voltage and feedback revolving speed；N2: electric current, d shaft voltage, q shaft voltage are estimated using d axis estimation electric current, q axis
And feedback revolving speed, calculate the angular deviation of rotor physical location and estimated position；N3: according to the stifled of a upper cycle period
Turn count value, counts the stall count value in previous cycle period；N4: when angular deviation be not less than preset rotation-clogging protection threshold value,
And the stall count value in previous cycle period be not less than preset count threshold when, close PWM wave, with realize motor rotation blockage shut down
Protection, since motor rotation blockage is to be codetermined by angular deviation and stall count value, and angular deviation is to estimate electricity by d axis
Stream, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed calculate acquisition, so that the angular deviation more can accurately
Reflect motor rotation blockage situation, therefore, scheme provided by the invention more efficiently can carry out rotation-clogging protection to motor.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the flow chart of motor rotation blockage guard method provided by one embodiment of the present invention；
Fig. 2 is the FOC vector controlled figure that another embodiment of the present invention provides；
Fig. 3 is the flow chart of motor rotation blockage guard method provided by one embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of motor rotation blockage protective device provided by one embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of motor rotation blockage protective device provided by one embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, being applied to driver, this method the embodiment of the invention provides a kind of motor rotation blockage guard method
It may comprise steps of:
Step 101: be based on FOC vector controlled, obtain d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage with
And feedback revolving speed；
Step 102: using d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed, calculating
The angular deviation of rotor physical location and estimated position；
Step 103: according to the stall count value of a upper cycle period, counting the stall count value in previous cycle period；
Step 104: judging whether angular deviation is less than preset rotation-clogging protection threshold value, if so, thening follow the steps 105；
Otherwise, step 106 is executed；
Step 105: maintaining motor operation, and execute step 101；
Step 106: judge whether the stall count value in previous cycle period is less than preset count threshold, if it is,
Execute step 105；Otherwise, step 107 is executed；
Step 107: PWM wave is closed, to realize motor rotation blockage stoppage protection, and end loop.
In the embodiment shown in fig. 1, it is executed by circulation: being based on FOC vector controlled, obtained d axis and estimate electric current, q axis
Estimate electric current, d shaft voltage, q shaft voltage and feedback revolving speed；Electric current, d shaft voltage, q axis are estimated using d axis estimation electric current, q axis
Voltage and feedback revolving speed, calculate the angular deviation of rotor physical location and estimated position；According to a upper cycle period
Stall count value counts the stall count value in previous cycle period；When angular deviation be not less than preset rotation-clogging protection threshold value, and
When the stall count value in previous cycle period is not less than preset count threshold, PWM wave is closed, is protected with realizing that motor rotation blockage is shut down
Shield, since motor rotation blockage is to be codetermined by angular deviation and stall count value, and angular deviation is to estimate electric current, q by d axis
Axis estimates that electric current, d shaft voltage, q shaft voltage and feedback revolving speed calculate acquisition, so that the angular deviation can accurately more reflect
Motor rotation blockage situation, therefore, scheme provided by the invention more efficiently can carry out rotation-clogging protection to motor.
Above-mentioned closing PWM wave refers to that stopping is that motor inputs PWM wave.
In addition, above-mentioned motor is permanent magnet synchronous motor.
FOC vector controlled is the control realized using FOC vector controlled figure shown in Fig. 2 to motor.
Then it is based on FOC vector controlled figure shown in Fig. 2, a kind of specific embodiment of above-mentioned steps 101 are as follows: acquisition motor
U, V, W three-phase current；Using the CLARK transformation and PARK transformation in FOC vector control algorithm, three-phase current is converted into d
Axis estimates that electric current, q axis estimate electric current；By the q axis reference current of input and q axis estimation electric current by FOC vector control algorithm
PI operation obtain q shaft voltage；By the d axis reference current of input and d axis estimation electric current by the PI in FOC vector control algorithm
Operation obtains d shaft voltage.That is, it is respectively I that U, V, W three-phase current, which become biphase current by CLARK coordinate transform,αWith
Iβ。IαAnd IβBecome d axis by PARK coordinate transform and estimates electric current IdElectric current I is estimated with q axisq.D axis reference current and d axis are estimated
Electric current is calculated to adjust to obtain d shaft voltage by PI；Q axis reference current and q axis estimation electric current adjust to obtain q shaft voltage by PI.D axis
Voltage and q shaft voltage pass through Park inverse transform and obtain UαAnd Uβ, UαAnd UβIt is motor by SVPWM algorithm and three-phase inverter
Input U, V, W three-phase current.Current limiting module and voltage limit module are then to be able to make to estimate that electric current and voltage are located at
In allowed band, the electric current for avoiding enter into motor is excessive or too small.
In Fig. 2, ω*Characterize given rotating speed, Id *Characterize d axis reference current, Iq *Characterize q axis reference current, VdCharacterize d axis
Voltage；VqCharacterize q shaft voltage；ω characterization feedback revolving speed, which is that velocity estimation unit is estimated using position estimation unit
What the rotor estimated position θ of calculating was estimated.
In addition, above-mentioned motor rotation blockage guard method further comprises: the corresponding operating parameter collection of various models is stored in advance；
It determines the model of motor, and according to the model of motor, is concentrated from the corresponding operating parameter of various models, selected target operating parameter
Collection, wherein it includes electric motor resistance, d axle inductance, q axle inductance and preset rotation-clogging protection threshold value that operating parameter, which is concentrated,；Initialization
Target operating parameters collection.The process can satisfy the demand of various model motors.
In an alternative embodiment of the invention, the tool of the angular deviation of above-mentioned calculating rotor physical location and estimated position
Body embodiment can include: utilize following angular deviation calculation formula, calculate the angle of rotor physical location and estimated position
Spend deviation；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterize d
Axis estimates electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterization electricity
Electromechanics resistance；W characterization feedback revolving speed.
In an alternative embodiment of the invention, the above-mentioned stall count value according to a upper cycle period, statistics previous cycle week
The stall count value of phase can be divided into three kinds of situations.
The first situation is Δ θ < θthreshold, and Lockcounts=0；Δ θ rotor physical location and estimation position
The angular deviation set；θthresholdCharacterize rotation-clogging protection threshold value；LockcountsCharacterize a previous cycle period corresponding upper circulation
The stall count value in period；
Second situation is Δ θ < θthreshold, and Lockcounts≠0；Δ θ rotor physical location and estimation position
The angular deviation set；θthresholdCharacterize rotation-clogging protection threshold value；LockcountsCharacterize a previous cycle period corresponding upper circulation
The stall count value in period；
The third situation is Δ θ >=θthreshold, the angular deviation of Δ θ rotor physical location and estimated position；
θthresholdCharacterize rotation-clogging protection threshold value.
For the first situation, Lockcountd=0, LockcountdCharacterize the stall count value in previous cycle period.
The stall count value in previous cycle period is calculated using following stall Counting Formula groups for second situation；
Stall Counting Formula group:
Wherein, LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1.Compare
Preferably, L is the positive integer not less than 5.
The stall count value in previous cycle period is calculated using following stall Counting Formulas for the third situation；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period.
In addition, meeting Δ θ >=θ for for the third above-mentioned situationthresholdUnder the premise of, while Δ θ need to be met
≥θthresholdPersistently keep 100ms.
In order to make count threshold more accurately limit motor rotation blockage, according to Carrier frequency configuration count threshold, in this hair
In bright another embodiment, above-mentioned count threshold is M=100P, wherein M characterizes rotation-clogging protection threshold value；P characterizes the corresponding number of carrier frequency
Value.
In addition, in order to guarantee that rotation-clogging protection threshold value comparison is accurate, for the motor on refrigerator, when motor speed is little
When 1800 turns/min, rotation-clogging protection threshold value is 1000；When motor speed is greater than 1800 turns/min and is not more than 2400 turns/min
When, rotation-clogging protection threshold value is 1500；When motor speed is greater than 2400 turns/min and is not more than 3000 turns/min, rotation-clogging protection threshold
Value is 3000；When motor speed is greater than 3000 turns/min, rotation-clogging protection threshold value is 4000.
Concrete operations during motor rotation blockage protection can be as shown in figure 3, include the following steps:
Step 300: the corresponding operating parameter collection of various models is stored in advance；
Step 301: it determines the model of motor, and according to the model of motor, is concentrated from the corresponding operating parameter of various models,
Selected target operating parameter collection, wherein it includes electric motor resistance, d axle inductance, q axle inductance and preset stifled that operating parameter, which is concentrated,
Rotation protection threshold value；
Step 302: initialized target operating parameter collection, and count initialized value is 0；
The implementation procedure of above-mentioned steps 301 is execution when motor is run for the first time, and step can be directly executed in follow-up operation
Rapid 302, realize starting motor.
Step 303: acquiring U, V, W three-phase current of motor；
Step 304: using the CLARK transformation and PARK transformation in FOC vector control algorithm, three-phase current being converted into d
Axis estimates that electric current, q axis estimate electric current；
Step 305: by the q axis reference current of input and q axis estimation electric current by the PI operation in FOC vector control algorithm
Obtain q shaft voltage；
Step 306: by the d axis reference current of input and d axis estimation electric current by the PI operation in FOC vector control algorithm
Obtain d shaft voltage；
Step 307: using d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed, calculating
The angular deviation of rotor physical location and estimated position；
The specific embodiment that the step calculates angular deviation is to utilize following angular deviation calculation formula, calculates motor and turns
The angular deviation of sub- physical location and estimated position；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterize d
Axis estimates electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterization electricity
Electromechanics resistance；W characterization feedback revolving speed.
Step 308: according to the stall count value of a upper cycle period, counting the stall count value in previous cycle period；
The step is broadly divided into three kinds of situations:
The first situation: as Δ θ < θthreshold, and Lockcounts=0, then Lockcountd=0；
Second situation: as Δ θ < θthreshold, and Lockcounts≠ 0, then utilize following stall Counting Formula groups, meter
Calculate the stall count value in previous cycle period；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1.
Preferably, L is the positive integer not less than 5.
The third situation: as Δ θ >=θthreshold, and Δ θ >=θthresholdDuration is maintained to be not less than 100ms, then under utilizing
Stall Counting Formula is stated, the stall count value in previous cycle period is calculated；
Stall Counting Formula:
LoCkcountd=Lockcounts+1
Wherein, LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in previous cycle period.
Step 309: judging whether angular deviation is less than preset rotation-clogging protection threshold value, if so, thening follow the steps 310；
Otherwise, step 311 is executed；
The efficiency for protecting threshold value value value to directly affect protection of fabricating of the step, if θthresholdValue takes greatly, cannot
Rotation-clogging protection is carried out in time, if θthresholdValue take it is small, be easy to appear accidentally protect.θthresholdValue is generally set according to commissioning experience
It sets.For example, when motor speed is not more than 1800 turns/min, rotation-clogging protection threshold value is 1000 for for the motor on refrigerator；
When motor speed is greater than 1800 turns/min and is not more than 2400 turns/min, rotation-clogging protection threshold value is 1500；When motor speed is big
In 2400 turns/min and be not more than 3000 turns/min when, rotation-clogging protection threshold value be 3000；When motor speed is greater than 3000 turns/min
When, rotation-clogging protection threshold value is 4000.
Step 310: maintaining motor operation, and execute step 303；
Step 311: judge whether the stall count value in previous cycle period is less than preset count threshold, if it is,
Execute step 310；Otherwise, step 312 is executed；
The value of the count threshold is M=100P, wherein M characterizes the rotation-clogging protection threshold value；It is corresponding that P characterizes carrier frequency
Numerical value.I.e. when carrier frequency is 5K, M takes 500；When carrier frequency is 10K, M takes 1000, the purpose for the arrangement is that eliminating interference in time, keeps away
Exempt from accidentally to protect.
Step 312: PWM wave is closed, to realize motor rotation blockage stoppage protection, and end loop.
As shown in figure 4, the embodiment of the present invention provides a kind of motor rotation blockage protective device, the motor rotation blockage protective device packet
It includes: acquiring unit 401, deviation computing unit 402, statistic unit 403 and control unit 404, wherein
Acquiring unit 401 obtains d axis estimation electric current, q axis estimates electric current, d shaft voltage, q for being based on FOC vector controlled
Shaft voltage and feedback revolving speed；
Deviation computing unit 402, d axis estimation electric current, q axis for being got using acquiring unit 401 estimate electric current, d
Shaft voltage, q shaft voltage and feedback revolving speed, calculate the angular deviation of rotor physical location and estimated position；
Statistic unit 403 counts the stall meter in previous cycle period for the stall count value according to a upper cycle period
Numerical value；
Control unit 404, for being not less than preset rotation-clogging protection when the calculated angular deviation of deviation computing unit 402
Threshold value, and when the stall count value in previous cycle period that counts of statistic unit 403 is not less than preset count threshold, it closes
PWM wave, to realize motor rotation blockage stoppage protection.
As shown in figure 5, above-mentioned motor rotation blockage protective device, further comprises: pretreatment unit 501, wherein
Pretreatment unit 501, for the corresponding operating parameter collection of various models to be stored in advance；Determine the model of motor, and
According to the model of motor, concentrated from the corresponding operating parameter of various models, selected target operating parameter collection, wherein operating parameter
Concentrate includes electric motor resistance, d axle inductance, q axle inductance and preset rotation-clogging protection threshold value；Initialized target operating parameter collection；
Deviation computing unit 402 calculates rotor physical location and estimates for utilizing following angular deviation calculation formula
Calculate the angular deviation of position；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterize d
Axis estimates electric current；LqCharacterize the d axle inductance that the target operating parameters that pretreatment unit 501 initializes are concentrated；UqCharacterize q shaft voltage；
IqIt characterizes q axis and estimates electric current；LqCharacterize the q axle inductance that the target operating parameters that pretreatment unit 501 initializes are concentrated；R characterization electricity
Electromechanics resistance；W characterization feedback revolving speed.
In embodiments of the present invention, acquiring unit 401, for acquiring U, V, W three-phase current of motor；Utilize FOC vector
The three-phase current is converted to d axis estimation electric current by CLARK transformation and PARK transformation in control algolithm, q axis estimates electric current；
The q axis reference current of input and q axis estimation electric current are obtained into q shaft voltage by the PI operation in FOC vector control algorithm；
The d axis reference current of input and d axis estimation electric current are obtained into d shaft voltage by the PI operation in FOC vector control algorithm.
In an alternative embodiment of the invention, statistic unit 403, for working as Δ θ < θthreshold, and Lockcounts=0,
Then Lockcountd=0；
As Δ θ < θthreshold, and Lockcounts≠ 0, then following stall Counting Formula groups, calculate the previous cycle period
Stall count value；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1.
Preferably, which is the positive integer not less than 5.
Statistic unit 403, for working as Δ θ >=θthreshold, then following stall Counting Formulas are utilized, previous cycle week is calculated
The stall count value of phase；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the stall
Protect threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period.
In addition, utilizing stall Counting Formula in statistic unit 403, the premise of the stall count value in previous cycle period is calculated
It is to meet Δ θ >=θthresholdUnder the premise of, while Δ θ >=θ need to be metthresholdPersistently keep 100ms.
In order to make count threshold more accurately limit motor rotation blockage, according to Carrier frequency configuration count threshold, in this hair
In bright another embodiment, above-mentioned count threshold is M=100P, wherein M characterizes the rotation-clogging protection threshold value；It is corresponding that P characterizes carrier frequency
Numerical value.
In addition, in order to guarantee that rotation-clogging protection threshold value comparison is accurate, for the motor on refrigerator, when motor speed is little
When 1800 turns/min, rotation-clogging protection threshold value is 1000；When motor speed is greater than 1800 turns/min and is not more than 2400 turns/min
When, rotation-clogging protection threshold value is 1500；When motor speed is greater than 2400 turns/min and is not more than 3000 turns/min, rotation-clogging protection threshold
Value is 3000；When motor speed is greater than 3000 turns/min, rotation-clogging protection threshold value is 4000.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
The embodiment of the invention provides a kind of readable mediums, including execute instruction, when the processor of storage control executes
Described when executing instruction, the storage control executes the method that any of the above-described embodiment of the present invention provides.
The embodiment of the invention provides a kind of storage controls, comprising: processor, memory and bus；The memory
It is executed instruction for storing, the processor is connect with the memory by the bus, when the storage control is run
When, the processor executes the described of memory storage and executes instruction, so that the storage control executes in the present invention
The method that any embodiment offer is provided.
In conclusion more than the present invention each embodiment at least has the following beneficial effects:
1, N1 to N4 in embodiments of the present invention, is executed by circulation, until motor is out of service；N1: it is based on FOC vector
Control obtains d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed；N2: electricity is estimated using d axis
Stream, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed, calculate the angle of rotor physical location and estimated position
Spend deviation；N3: according to the stall count value of a upper cycle period, the stall count value in previous cycle period is counted；N4: work as angle
Deviation is not less than preset rotation-clogging protection threshold value, and the stall count value in previous cycle period is not less than preset count threshold
When, PWM wave is closed, to realize motor rotation blockage stoppage protection, since motor rotation blockage is common by angular deviation and stall count value
It determines, and angular deviation is calculated by d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback revolving speed
It obtains, so that the angular deviation can accurately more reflect motor rotation blockage situation, therefore, scheme provided by the invention can be more
Rotation-clogging protection effectively is carried out to motor.
2, the corresponding operating parameter collection of various models in embodiments of the present invention, is stored in advance；Determine the model of motor, and
According to the model of motor, concentrated from the corresponding operating parameter of various models, selected target operating parameter collection, wherein operating parameter
Concentrate includes electric motor resistance, d axle inductance, q axle inductance and preset rotation-clogging protection threshold value；Initialized target operating parameter collection.
The process can satisfy the demand of various model motors, so that above-mentioned motor rotation blockage guard method, which is applied, has universality and application
Popularity.
3, in embodiments of the present invention, according to the angular deviation of rotor physical location and estimated position and rotation-clogging protection
The comparison result of threshold value selects the stall count value in different statistics previous cycle periods, so that statistical result and motor rotation blockage
With preferable consistency, to ensure that the accuracy of motor rotation blockage protection.
4, in embodiments of the present invention, count threshold M=100P, wherein M characterizes rotation-clogging protection threshold value；P characterizes carrier frequency
Corresponding numerical value realizes the accuracy that motor rotation blockage protection is further ensured according to Carrier frequency configuration count threshold.
5, in embodiments of the present invention, for for the motor on refrigerator, when motor speed is not more than 1800 turns/min,
Rotation-clogging protection threshold value is 1000；When motor speed is greater than 1800 turns/min and is not more than 2400 turns/min, rotation-clogging protection threshold value
It is 1500；When motor speed is greater than 2400 turns/min and is not more than 3000 turns/min, rotation-clogging protection threshold value is 3000；Work as motor
When revolving speed is greater than 3000 turns/min, rotation-clogging protection threshold value is 4000, guarantees that rotation-clogging protection threshold value comparison is accurate, to further protect
The accuracy of motor rotation blockage protection is demonstrate,proved.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. motor rotation blockage guard method characterized by comprising
Circulation executes following N1 to N4, until the motor is out of service；
N1: being based on FOC vector controlled, obtains d axis estimation electric current, q axis estimation electric current, d shaft voltage, q shaft voltage and feedback and turns
Speed；
N2: d axis estimation electric current, q axis estimation electric current, the d shaft voltage, the q shaft voltage and described anti-are utilized
Revolving speed is presented, the angular deviation of rotor physical location and estimated position is calculated；
N3: according to the stall count value of a upper cycle period, the stall count value in previous cycle period is counted；
N4: when the angular deviation is not less than preset rotation-clogging protection threshold value, and the stall count value in the previous cycle period
When not less than preset count threshold, PWM wave is closed, to realize motor rotation blockage stoppage protection.
2. motor rotation blockage guard method according to claim 1, which is characterized in that further comprise:
The corresponding operating parameter collection of various models is stored in advance；
It determines the model of the motor, and according to the model of the motor, is concentrated from the corresponding operating parameter of the various models,
Selected target operating parameter collection, wherein the operating parameter is concentrated including electric motor resistance, d axle inductance, q axle inductance and preset
Rotation-clogging protection threshold value；
Initialize the target operating parameters collection.
3. motor rotation blockage guard method according to claim 1, which is characterized in that it is described to be based on FOC vector controlled, it obtains
D axis estimates that electric current, q axis estimate electric current, d shaft voltage, q shaft voltage, comprising:
Acquire U, V, W three-phase current of motor；
Using the CLARK transformation and PARK transformation in FOC vector control algorithm, the three-phase current is converted into d axis estimation electricity
Stream, q axis estimate electric current；
The q axis reference current of input and q axis estimation electric current are obtained into q axis by the PI operation in FOC vector control algorithm
Voltage；
The d axis reference current of input and d axis estimation electric current are obtained into d shaft voltage by the PI operation in FOC vector control algorithm.
4. motor rotation blockage guard method according to claim 2, which is characterized in that the calculating rotor physical location
With the angular deviation of estimated position, comprising:
Using following angular deviation calculation formula, the angular deviation of rotor physical location and estimated position is calculated；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterization d axis is estimated
Calculate electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterizes motor electricity
Resistance；W characterization feedback revolving speed.
5. motor rotation blockage guard method according to any one of claims 1 to 4, which is characterized in that described according to a upper circulation
The stall count value in period counts the stall count value in previous cycle period, comprising:
As Δ θ < θthreshold, and Lockcounts=0, then Lockcountd=0；
As Δ θ < θthreshold, and Lockcounts≠ 0, then following stall Counting Formula groups are utilized, the previous cycle period is calculated
Stall count value；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the rotation-clogging protection
Threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；LockcountdTable
Levy the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1.
6. motor rotation blockage guard method according to claim 5, which is characterized in that
The L is the positive integer not less than 5.
7. motor rotation blockage guard method according to any one of claims 1 to 4, which is characterized in that described according to a upper circulation
The stall count value in period counts the stall count value in previous cycle period, comprising:
As Δ θ >=θthreshold, then following stall Counting Formulas are utilized, the stall count value in previous cycle period is calculated；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；
LockcountdCharacterize the stall count value in the previous cycle period；
And/or
The count threshold is M=100P, wherein M characterizes the rotation-clogging protection threshold value；P characterizes the corresponding numerical value of carrier frequency.
8. motor rotation blockage protective device characterized by comprising acquiring unit, deviation computing unit, statistic unit and control
Unit, wherein
The acquiring unit obtains d axis estimation electric current, q axis estimates electric current, d shaft voltage, q axis for being based on FOC vector controlled
Voltage and feedback revolving speed；
The deviation computing unit, the d axis estimation electric current for being got using the acquiring unit, q axis estimation
Electric current, the d shaft voltage, the q shaft voltage and the feedback revolving speed, calculating rotor physical location and estimated position
Angular deviation；
The statistic unit, for the stall count value according to a upper cycle period, the stall for counting the previous cycle period is counted
Value；
Described control unit, for being not less than preset rotation-clogging protection threshold when the calculated angular deviation of deviation computing unit
Value, and when the stall count value in previous cycle period that counts of the statistic unit is not less than preset count threshold, it closes
PWM wave, to realize motor rotation blockage stoppage protection.
9. motor rotation blockage protective device according to claim 8, which is characterized in that further comprise: pretreatment unit,
In,
The pretreatment unit, for the corresponding operating parameter collection of various models to be stored in advance；Determine the model of the motor, and
According to the model of the motor, concentrated from the corresponding operating parameter of the various models, selected target operating parameter collection, wherein
It includes electric motor resistance, d axle inductance, q axle inductance and preset rotation-clogging protection threshold value that the operating parameter, which is concentrated,；Described in initialization
Target operating parameters collection；
The deviation computing unit calculates rotor physical location and estimation for utilizing following angular deviation calculation formula
The angular deviation of position；
Angular deviation calculation formula:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；UdCharacterize d shaft voltage；IdCharacterization d axis is estimated
Calculate electric current；LdCharacterize d axle inductance；UqCharacterize q shaft voltage；IqIt characterizes q axis and estimates electric current；LqCharacterize q axle inductance；R characterizes motor electricity
Resistance；W characterization feedback revolving speed.
10. motor rotation blockage protective device according to claim 8 or claim 9, which is characterized in that
The acquiring unit, for acquiring U, V, W three-phase current of motor；It is converted using the CLARK in FOC vector control algorithm
It is converted with PARK, the three-phase current is converted into d axis estimation electric current, q axis estimates electric current；By the q axis reference current of input and
The q axis estimation electric current obtains q shaft voltage by the PI operation in FOC vector control algorithm；By the d axis reference current of input and
D axis estimation electric current obtains d shaft voltage by the PI operation in FOC vector control algorithm；
And/or
The statistic unit, for working as Δ θ < θthreshold, and Lockcounts=0, then Lockcountd=0；
As Δ θ < θthreshold, and Lockcounts≠ 0, then following stall Counting Formula groups are utilized, the previous cycle period is calculated
Stall count value；
Stall Counting Formula group:
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the rotation-clogging protection
Threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；LockcountdTable
Levy the stall count value in the previous cycle period；L characterizes stall depreciation, and L is the positive integer not less than 1；
As Δ θ >=θthreshold, then following stall Counting Formulas, calculate the stall count value in previous cycle period；
Stall Counting Formula:
Lockcountd=Lockcounts+1
Wherein, Δ θ characterizes the angular deviation of rotor physical location and estimated position；θthresholdCharacterize the rotation-clogging protection
Threshold value；LockcountsCharacterize the stall count value of a previous cycle period corresponding upper cycle period；LockcountdTable
Levy the stall count value in the previous cycle period.
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