CN110350482B - Motor locked-rotor protection method and device - Google Patents
Motor locked-rotor protection method and device Download PDFInfo
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- CN110350482B CN110350482B CN201910630085.4A CN201910630085A CN110350482B CN 110350482 B CN110350482 B CN 110350482B CN 201910630085 A CN201910630085 A CN 201910630085A CN 110350482 B CN110350482 B CN 110350482B
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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
Abstract
The invention provides a motor locked-rotor protection method and a device, wherein the motor locked-rotor protection method comprises the following steps: circularly executing the following N1-N4 until the motor stops running; n1: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed; n2: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed; n3: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period; n4: and when the angle deviation is not less than the preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle is not less than the preset count threshold value, closing the PWM wave to realize the locked-rotor shutdown protection of the motor. The scheme provided by the invention can more effectively carry out locked-rotor protection on the motor.
Description
Technical Field
The invention relates to the technical field of equipment control, in particular to a motor locked-rotor protection method and device.
Background
For electrical equipment such as a refrigerator, a washing machine and the like which runs by means of motor driving, in the starting or running process of a motor, the mechanical jamming, the large vibration, the demagnetization and the like of the motor can be caused by factors such as wrong motor control algorithm, unreasonable parameter selection, external acting force, overlarge motor load and the like. And motor mechanical jamming, large vibration, motor demagnetization and the like can cause motor stalling, and motor stalling time is too long, so that the motor is damaged.
At present, the motor stalling protection method mainly adopts the steps that a working voltage value is compared with a wave-generating voltage threshold value, and if the working voltage value is smaller than the minimum value of the product of the wave-generating voltage threshold value and a preset coefficient, the motor stalling is judged to be generated, so that the motor stalling protection method is one of the standards for stopping the motor. The existing motor locked-rotor protection method only judges the locked-rotor protection according to the characteristics of voltage. Because the motor locked rotor can influence the voltage, the current and the rotating speed, the probability of misjudgment of the motor locked rotor is higher by only judging whether the motor is locked rotor through the voltage.
Disclosure of Invention
The embodiment of the invention provides a motor locked-rotor protection method and device, which can more effectively protect a motor from locked-rotor.
The motor locked-rotor protection method comprises the following steps:
circularly executing the following N1-N4 until the motor stops running;
n1: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed;
n2: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed;
n3: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
n4: and when the angle deviation is not less than a preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle is not less than a preset count threshold value, closing the PWM wave to realize locked-rotor shutdown protection of the motor.
Preferably, the motor locked-rotor protection method further includes:
pre-storing operation parameter sets corresponding to various models;
determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value;
initializing the target set of operating parameters.
Preferably, the obtaining d-axis estimated current, q-axis estimated current, d-axis voltage and q-axis voltage based on the FOC vector control includes:
collecting U, V, W three-phase current of the motor;
converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm;
carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage;
and carrying out PI operation in an FOC vector control algorithm on the input d-axis reference current and the input d-axis estimated current to obtain d-axis voltage.
Preferably, the calculating the angular deviation of the actual position of the rotor of the electric machine from the estimated position comprises:
calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
Preferably, the counting the locked-rotor count value of the current cycle period according to the locked-rotor count value of the previous cycle period includes:
when Delta theta < thetathresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
When Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using the locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsCharacterizing the locked-rotor count of the previous cycle corresponding to the current cycleA value; lockcountdCharacterizing a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, and is a positive integer not less than 1.
Preferably, the first and second electrodes are formed of a metal,
and L is a positive integer not less than 5.
Preferably, the counting the locked-rotor count value of the current cycle period according to the locked-rotor count value of the previous cycle period includes:
when Delta theta is not less than thetathresholdCalculating a locked rotor count value of the current cycle period by using the locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
wherein, LockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
Preferably, the first and second electrodes are formed of a metal,
the counting threshold is M-100P, wherein M represents the locked rotor protection threshold; p represents the value corresponding to the carrier frequency.
Motor locked rotor protection device includes: an acquisition unit, a deviation calculation unit, a statistical unit and a control unit, wherein,
the acquisition unit is used for acquiring d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed based on FOC vector control;
the deviation calculation unit is used for calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed acquired by the acquisition unit;
the counting unit is used for counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
and the control unit is used for closing the PWM wave when the angle deviation calculated by the deviation calculation unit is not less than a preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period counted by the counting unit is not less than the preset count threshold value so as to realize locked-rotor shutdown protection of the motor.
Preferably, the motor stall protection device further includes: a pre-processing unit, wherein,
the preprocessing unit is used for pre-storing the running parameter sets corresponding to various models; determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value; initializing the target operation parameter set;
the deviation calculation unit is used for calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
Preferably, the first and second electrodes are formed of a metal,
the acquisition unit is used for acquiring U, V, W three-phase current of the motor; converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm; carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage; and carrying out PI operation in an FOC vector control algorithm on the input d-axis reference current and the input d-axis estimated current to obtain d-axis voltage.
Preferably, the first and second electrodes are formed of a metal,
the statistical unit is used forWhen Delta theta < thetathresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
When Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using the locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdCharacterizing a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, and is a positive integer not less than 1;
when Delta theta is not less than thetathresholdCalculating a locked rotor count value of the current cycle by using a locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
The embodiment of the invention provides a motor locked-rotor protection method and a motor locked-rotor protection device, wherein the motor locked-rotor protection method is implemented by circularly executing N1-N4 until a motor stops running; n1: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed; n2: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed; n3: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period; n4: when the angle deviation is not less than the preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period is not less than the preset count threshold value, the PWM wave is closed to realize locked-rotor shutdown protection of the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a motor locked-rotor protection method according to an embodiment of the present invention;
FIG. 2 is a FOC vector control map provided by another embodiment of the present invention;
fig. 3 is a flowchart of a motor locked-rotor protection method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor locked-rotor protection device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a motor locked-rotor protection device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a motor stall protection method applied to a drive, where the method may include the following steps:
step 101: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed;
step 102: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed;
step 103: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
step 104: judging whether the angle deviation is smaller than a preset locked rotor protection threshold value, if so, executing a step 105; otherwise, go to step 106;
step 105: maintaining the motor to operate, and executing step 101;
step 106: judging whether the locked-rotor count value of the current cycle period is smaller than a preset count threshold value, if so, executing the step 105; otherwise, go to step 107;
step 107: and closing the PWM wave to realize the locked-rotor shutdown protection of the motor and finish the circulation.
In the embodiment shown in fig. 1, the following is performed by a loop: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed; calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed; counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period; when the angle deviation is not less than the preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period is not less than the preset count threshold value, the PWM wave is closed to realize locked-rotor shutdown protection of the motor.
The turning off of the PWM wave means stopping the input of the PWM wave to the motor.
In addition, the motor is a permanent magnet synchronous motor.
The FOC vector control is to realize the control of the motor by utilizing the FOC vector control diagram shown in FIG. 2.
Based on the FOC vector control map shown in fig. 2, one specific implementation of the above step 101 is: collecting U, V, W three-phase current of the motor; converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm; carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage; and carrying out PI operation in an FOC vector control algorithm on the input d-axis reference current and the input d-axis estimated current to obtain d-axis voltage. That is, U, V, W three-phase current is converted into two-phase current I respectively through CLARK coordinate transformationαAnd Iβ。IαAnd IβConverted into d-axis estimated current I through PARK coordinatedAnd q-axis estimated current Iq. Carrying out PI regulation on the d-axis reference current and the d-axis estimated current to obtain a d-axis voltage; and the q-axis reference current and the q-axis estimation current are subjected to PI regulation to obtain a q-axis voltage. The d-axis voltage and the q-axis voltage are subjected to Park inverse conversion to obtain UαAnd Uβ，UαAnd UβU, V, W three-phase current is input to the motor through an SVPWM algorithm and a three-phase inverter. The current limiting module and the voltage limiting module are used for enabling the estimated current and voltage to be within an allowable range and avoiding overlarge or undersize current entering the motor.
In FIG. 2,. omega.*Characterizing a given rotational speed, Id *Characterizing the d-axis reference current, Iq *Characterizing the q-axis reference current, VdCharacterizing the d-axis voltage; vqCharacterizing the q-axis voltage; omega characterizes the feedback speed, which is convertedThe speed is estimated by the speed estimation unit using the estimated position θ of the rotor of the motor estimated by the position estimation unit.
In addition, the motor locked-rotor protection method further comprises the following steps: pre-storing operation parameter sets corresponding to various models; determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value; a target set of operating parameters is initialized. The process can meet the requirements of motors of various models.
In another embodiment of the present invention, the specific implementation of calculating the angular deviation between the actual position and the estimated position of the rotor of the electric machine may include: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
In another embodiment of the present invention, the counting of the locked count value of the current cycle period according to the locked count value of the previous cycle period can be divided into three cases.
The first case being Δ θ < θthresholdAnd Lockcounts0; the angle deviation between the actual position and the estimated position of the delta theta motor rotor; thetathresholdCharacterizing a locked rotor protection threshold value; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle;
the second case is that Delta theta < thetathresholdAnd lockcounttsNot equal to 0; the angle deviation between the actual position and the estimated position of the delta theta motor rotor; thetathresholdCharacterizing a locked rotor protection threshold value; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle;
the third case is that Delta theta is more than or equal to thetathresholdThe angular deviation between the actual position and the estimated position of the delta theta motor rotor; thetathresholdAnd characterizing a locked rotor protection threshold value.
For the first case, Lockcountd＝0，LockcountdAnd characterizing the locked-rotor count value of the current cycle period.
Aiming at the second condition, calculating a locked rotor count value of the current cycle period by using the following locked rotor count formula group;
locked rotor counting formula group:
wherein, LockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdRepresenting a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, and is a positive integer not less than 1. Preferably, L is a positive integer not less than 5.
Aiming at the third condition, calculating a locked rotor count value of the current cycle period by using the locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
wherein, LockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
In the third case, when Δ θ ≧ θ is satisfiedthresholdOn the premise of (1), the requirement that delta theta is more than or equal to theta is metthresholdFor 100 ms.
In order to enable the counting threshold to be relatively accurate to limit the motor locked-rotor, the counting threshold is set according to the carrier frequency, in another embodiment of the present invention, the counting threshold is M-100P, where M represents a locked-rotor protection threshold; p represents the value corresponding to the carrier frequency.
In addition, in order to ensure that the locked rotor protection threshold is accurate, for a motor on the refrigerator, when the rotating speed of the motor is not more than 1800 rpm, the locked rotor protection threshold is 1000; when the rotating speed of the motor is more than 1800 rpm and not more than 2400 rpm, the locked rotor protection threshold value is 1500; when the rotating speed of the motor is greater than 2400 revolutions per minute and not greater than 3000 revolutions per minute, the locked rotor protection threshold value is 3000; when the rotating speed of the motor is more than 3000 r/min, the locked-rotor protection threshold value is 4000.
The specific operation in the motor stalling protection process can be shown in fig. 3, and includes the following steps:
step 300: pre-storing operation parameter sets corresponding to various models;
step 301: determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value;
step 302: initializing a target operation parameter set, and initializing a count value to be 0;
the execution process of step 301 is executed when the motor is operated for the first time, and step 302 can be directly executed in the subsequent operation, so as to start the motor.
Step 303: collecting U, V, W three-phase current of the motor;
step 304: converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm;
step 305: carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage;
step 306: carrying out PI operation on the input d-axis reference current and the input d-axis estimated current in an FOC vector control algorithm to obtain d-axis voltage;
step 307: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed;
the specific implementation mode of calculating the angle deviation is to calculate the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
Step 308: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
the procedure is mainly divided into three cases:
in the first case: when Delta theta < thetathresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
In the second case: when Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using the locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdA locked rotor meter characterizing the current cycle periodA numerical value; l represents a locked rotor reduction value, and is a positive integer not less than 1. Preferably, L is a positive integer not less than 5.
In the third case: when Delta theta is not less than thetathresholdAnd Δ θ is ≧ θthresholdIf the maintaining time is not less than 100ms, calculating a locked rotor count value of the current cycle by using the locked rotor count formula;
locked rotor counting formula:
LoCkcountd＝Lockcounts+1
wherein, LockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
Step 309: judging whether the angle deviation is smaller than a preset locked rotor protection threshold value, if so, executing a step 310; otherwise, go to step 311;
the value of the protection threshold value of the step directly influences the protection efficiency, if thetathresholdIf the value is larger, the locked rotor protection can not be carried out in time, if thetathresholdThe value is small, and error protection is easy to occur. ThetathresholdThe values are typically set based on debugging experience. For example, for a motor on a refrigerator, when the rotating speed of the motor is not greater than 1800 rpm, the locked rotor protection threshold is 1000; when the rotating speed of the motor is more than 1800 rpm and not more than 2400 rpm, the locked rotor protection threshold value is 1500; when the rotating speed of the motor is greater than 2400 revolutions per minute and not greater than 3000 revolutions per minute, the locked rotor protection threshold value is 3000; when the rotating speed of the motor is more than 3000 r/min, the locked-rotor protection threshold value is 4000.
Step 310: maintaining the motor to operate, and executing step 303;
step 311: judging whether the locked-rotor count value of the current cycle period is smaller than a preset count threshold value, if so, executing the step 310; otherwise, go to step 312;
the value of the counting threshold is M-100P, wherein M represents the locked rotor protection threshold; p represents the value corresponding to the carrier frequency. That is, when the carrier frequency is 5K, M is 500; when the carrier frequency is 10K, M is 1000, so that the purpose of timely eliminating interference is achieved, and error protection is avoided.
Step 312: and closing the PWM wave to realize the locked-rotor shutdown protection of the motor and finish the circulation.
As shown in fig. 4, an embodiment of the present invention provides a motor locked-rotor protection device, including: an acquisition unit 401, a deviation calculation unit 402, a statistical unit 403, and a control unit 404, wherein,
an obtaining unit 401 configured to obtain a d-axis estimated current, a q-axis estimated current, a d-axis voltage, a q-axis voltage, and a feedback rotation speed based on the FOC vector control;
a deviation calculating unit 402, configured to calculate an angle deviation between an actual position and an estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage, and the feedback rotation speed acquired by the acquiring unit 401;
a counting unit 403, configured to count a locked-rotor count value of the current cycle according to the locked-rotor count value of the previous cycle;
and a control unit 404, configured to close the PWM wave when the angle deviation calculated by the deviation calculation unit 402 is not less than a preset locked-rotor protection threshold and the locked-rotor count value of the current cycle period counted by the counting unit 403 is not less than the preset count threshold, so as to implement locked-rotor shutdown protection for the motor.
As shown in fig. 5, the motor stall protection device further includes: a pre-processing unit 501, in which,
a preprocessing unit 501, configured to store operation parameter sets corresponding to various models in advance; determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value; initializing a target operation parameter set;
a deviation calculating unit 402, configured to calculate an angle deviation between an actual position and an estimated position of a rotor of the motor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isqCharacterizing d-axis inductance in a target operating parameter set initialized by the preprocessing unit 501; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqRepresenting q-axis inductance in a target operating parameter set initialized by the preprocessing unit 501; r represents the resistance of the motor; w represents the feedback rotational speed.
In the embodiment of the present invention, the obtaining unit 401 is configured to collect U, V, W three-phase currents of the motor; converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm; carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage; and carrying out PI operation in an FOC vector control algorithm on the input d-axis reference current and the input d-axis estimated current to obtain d-axis voltage.
In another embodiment of the present invention, the statistic unit 403 is used for calculating the difference between Δ θ < θthresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
When Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using a locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdCharacterizing a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, L is not less than 1A positive integer. Preferably, L is a positive integer not less than 5.
A statistic unit 403 for counting when Delta theta is larger than or equal to thetathresholdCalculating a locked rotor count value of the current cycle period by using the locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
In addition, the statistical section 403 calculates the locked-rotor count value of the current cycle period by using the locked-rotor count formula on the premise that Δ θ ≧ θ is satisfiedthresholdOn the premise of (1), the requirement that delta theta is more than or equal to theta is metthresholdFor 100 ms.
In order to enable the counting threshold to be relatively accurate to limit the motor locked-rotor, the counting threshold is set according to the carrier frequency, in another embodiment of the present invention, the counting threshold is M-100P, where M represents the locked-rotor protection threshold; p represents the value corresponding to the carrier frequency.
In addition, in order to ensure that the locked rotor protection threshold is accurate, for a motor on the refrigerator, when the rotating speed of the motor is not more than 1800 rpm, the locked rotor protection threshold is 1000; when the rotating speed of the motor is more than 1800 rpm and not more than 2400 rpm, the locked rotor protection threshold value is 1500; when the rotating speed of the motor is greater than 2400 revolutions per minute and not greater than 3000 revolutions per minute, the locked rotor protection threshold value is 3000; when the rotating speed of the motor is more than 3000 r/min, the locked-rotor protection threshold value is 4000.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
Embodiments of the present invention provide a readable medium, which includes an execution instruction, and when a processor of a storage controller executes the execution instruction, the storage controller executes a method provided in any one of the above embodiments of the present invention.
An embodiment of the present invention provides a storage controller, including: a processor, a memory, and a bus; the memory is used for storing execution instructions, the processor is connected with the memory through the bus, and when the storage controller runs, the processor executes the execution instructions stored in the memory, so that the storage controller executes the method provided by any one of the above embodiments of the invention.
In summary, the above embodiments of the present invention have at least the following advantages:
1. in the embodiment of the invention, the N1 to N4 are executed in a circulating mode until the motor stops running; n1: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed; n2: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed; n3: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period; n4: when the angle deviation is not less than the preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period is not less than the preset count threshold value, the PWM wave is closed to realize locked-rotor shutdown protection of the motor.
2. In the embodiment of the invention, the operation parameter sets corresponding to various models are stored in advance; determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value; a target set of operating parameters is initialized. The process can meet the requirements of motors of various models, so that the motor locked-rotor protection method has universality and wide application.
3. In the embodiment of the invention, different locked-rotor count values for counting the current cycle are selected according to the comparison result of the angle deviation between the actual position and the estimated position of the motor rotor and the locked-rotor protection threshold value, so that the counting result and the locked-rotor of the motor have better consistency, and the accuracy of locked-rotor protection of the motor is ensured.
4. In the embodiment of the present invention, the count threshold is M ═ 100P, where M represents the locked rotor protection threshold; and P represents a numerical value corresponding to the carrier frequency, so that the counting threshold is set according to the carrier frequency, and the accuracy of motor locked-rotor protection is further ensured.
5. In the embodiment of the invention, for the motor on the refrigerator, when the rotating speed of the motor is not more than 1800 rpm, the locked rotor protection threshold value is 1000; when the rotating speed of the motor is more than 1800 rpm and not more than 2400 rpm, the locked rotor protection threshold value is 1500; when the rotating speed of the motor is greater than 2400 revolutions per minute and not greater than 3000 revolutions per minute, the locked rotor protection threshold value is 3000; when the rotating speed of the motor is greater than 3000 r/min, the locked-rotor protection threshold value is 4000, and the locked-rotor protection threshold value is ensured to be accurate, so that the accuracy of locked-rotor protection of the motor is further ensured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. The motor locked-rotor protection method is characterized by comprising the following steps:
circularly executing the following N1-N4 until the motor stops running;
n1: based on FOC vector control, obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed;
n2: calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed;
n3: counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
n4: when the angle deviation is not less than a preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period is not less than a preset count threshold value, closing the PWM wave to realize locked-rotor shutdown protection of the motor;
further comprising:
pre-storing operation parameter sets corresponding to various models;
determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value;
initializing the target operation parameter set;
the calculating the angular deviation between the actual position and the estimated position of the motor rotor comprises the following steps:
calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; i isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
2. The motor locked-rotor protection method according to claim 1, wherein the obtaining d-axis estimated current, q-axis estimated current, d-axis voltage, and q-axis voltage based on the FOC vector control comprises:
collecting U, V, W three-phase current of the motor;
converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm;
carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage;
and carrying out PI operation in an FOC vector control algorithm on the input d-axis reference current and the input d-axis estimated current to obtain d-axis voltage.
3. The method for protecting a locked rotor of a motor according to any one of claims 1 to 2, wherein the counting the locked rotor count value of the current cycle according to the locked rotor count value of the previous cycle comprises:
when Delta theta < thetathresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
When Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using the locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdCharacterizing a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, and is a positive integer not less than 1.
4. The motor stall protection method of claim 3,
and L is a positive integer not less than 5.
5. The method for protecting a locked rotor of a motor according to any one of claims 1 to 2, wherein the counting the locked rotor count value of the current cycle according to the locked rotor count value of the previous cycle comprises:
when Delta theta is not less than thetathresholdCalculating a locked rotor count value of the current cycle period by using the locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
wherein, LockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdA locked rotor meter characterizing the current cycle periodA numerical value;
and/or the presence of a gas in the gas,
the counting threshold is M-100P, wherein M represents the locked rotor protection threshold; p represents the value corresponding to the carrier frequency.
6. Stifled protection device that changes of motor, its characterized in that includes: an acquisition unit, a deviation calculation unit, a statistical unit and a control unit, wherein,
the acquisition unit is used for acquiring d-axis estimated current, q-axis estimated current, d-axis voltage, q-axis voltage and feedback rotating speed based on FOC vector control;
the deviation calculation unit is used for calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the d-axis estimated current, the q-axis estimated current, the d-axis voltage, the q-axis voltage and the feedback rotating speed acquired by the acquisition unit;
the counting unit is used for counting the locked rotor count value of the current cycle period according to the locked rotor count value of the previous cycle period;
the control unit is used for closing the PWM wave to realize the locked-rotor shutdown protection of the motor when the angle deviation calculated by the deviation calculation unit is not less than a preset locked-rotor protection threshold value and the locked-rotor count value of the current cycle period counted by the counting unit is not less than the preset count threshold value;
further comprising: a pre-processing unit, wherein,
the preprocessing unit is used for pre-storing the running parameter sets corresponding to various models; determining the model of the motor, and selecting a target operation parameter set from operation parameter sets corresponding to various models according to the model of the motor, wherein the operation parameter set comprises motor resistance, d-axis inductance, q-axis inductance and a preset locked rotor protection threshold value; initializing the target operation parameter set;
the deviation calculation unit is used for calculating the angle deviation between the actual position and the estimated position of the motor rotor by using the following angle deviation calculation formula;
the angle deviation calculation formula:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; u shapedCharacterizing the d-axis voltage; l isdCharacterizing the d-axis estimated current; l isdCharacterizing d-axis inductance; u shapeqCharacterizing the q-axis voltage; i isqCharacterizing the q-axis estimated current; l isqCharacterizing the q-axis inductance; r represents the resistance of the motor; w represents the feedback rotational speed.
7. The motor stall protection device of claim 6,
the acquisition unit is used for acquiring U, V, W three-phase current of the motor; converting the three-phase current into d-axis estimated current and q-axis estimated current by using CLARK conversion and PARK conversion in an FOC vector control algorithm; carrying out PI operation in an FOC vector control algorithm on the input q-axis reference current and the q-axis estimated current to obtain a q-axis voltage; carrying out PI operation on the input d-axis reference current and the input d-axis estimated current in an FOC vector control algorithm to obtain d-axis voltage;
and/or the presence of a gas in the gas,
the statistical unit is used for judging whether the delta theta is less than the thetathresholdAnd LockcountsWhen it is 0, then Lockcountd＝0；
When Delta theta < thetathresholdAnd LockcountsIf not equal to 0, calculating a locked rotor count value of the current cycle by using the locked rotor count formula group;
locked rotor counting formula group:
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsCharacterizing the upper part corresponding to the current cycleA locked-rotor count value for a cycle period; lockcountdCharacterizing a locked-rotor count value of the current cycle period; l represents a locked rotor reduction value, and is a positive integer not less than 1;
when Delta theta is not less than thetathresholdCalculating a locked rotor count value of the current cycle by using a locked rotor count formula;
locked rotor counting formula:
Lockcountd＝Lockcounts+1
the method comprises the following steps that A, delta theta represents the angle deviation between the actual position and the estimated position of a motor rotor; thetathresholdCharacterizing the locked rotor protection threshold; lockcountsRepresenting a locked-rotor count value of a previous cycle corresponding to the current cycle; lockcountdAnd characterizing the locked-rotor count value of the current cycle period.
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| CN112769360B (en) * | 2019-11-01 | 2023-05-02 | 长城汽车股份有限公司 | Control method and device for vehicle motor |
| CN111965411B (en) * | 2020-07-20 | 2022-06-07 | 四川虹美智能科技有限公司 | Refrigerator locked-rotor protector verification device, method and system |
| CN113410819B (en) * | 2021-06-12 | 2022-06-07 | 四川虹美智能科技有限公司 | Motor locked-rotor protection control method and device |
| CN114016819B (en) * | 2021-10-11 | 2023-03-28 | 德施曼机电（中国）有限公司 | Method and device for adjusting opening angle of intelligent lock, intelligent lock and storage medium |
| CN114177027B (en) * | 2021-12-22 | 2024-01-19 | 深圳市倍轻松科技股份有限公司 | Massager control method and related equipment thereof |
| CN114562352B (en) * | 2021-12-28 | 2023-06-06 | 宁波圣龙智能汽车系统有限公司 | Low-temperature cold start method of electronic oil pump |
| CN116796114B (en) * | 2023-06-25 | 2024-03-29 | 广州呗呗科技有限公司 | FOC algorithm optimization method |
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