CN110729703A - Locked rotor protection method based on FOC motor control and motor control device - Google Patents

Locked rotor protection method based on FOC motor control and motor control device Download PDF

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Publication number
CN110729703A
CN110729703A CN201911313457.7A CN201911313457A CN110729703A CN 110729703 A CN110729703 A CN 110729703A CN 201911313457 A CN201911313457 A CN 201911313457A CN 110729703 A CN110729703 A CN 110729703A
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China
Prior art keywords
motor
rotor
foc
locked
coordinate
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CN201911313457.7A
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Chinese (zh)
Inventor
李宝荣
毕磊
毕超
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Fengmin Technology Shenzhen Co Ltd
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Fengmin Technology Shenzhen Co Ltd
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Priority to CN201911313457.7A priority Critical patent/CN110729703A/en
Publication of CN110729703A publication Critical patent/CN110729703A/en
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a locked rotor protection method based on FOC motor control and a motor control device, wherein the motor control device comprises a non-inductive FOC controller used for estimating the position of a motor rotor and the amplitude of back electromotive force; obtaining the rotor rotating speed of the motor according to the obtained current position of the motor rotor; if the rotor rotating speed of the motor is less than the first preset rotating speed, judging that the motor is locked, and controlling the motor to stop; and acquiring the ratio of the counter electromotive force amplitude of the motor to the rotor speed, and if the ratio of the counter electromotive force amplitude to the rotor speed is smaller than a second preset threshold, judging that the motor is locked, and controlling the motor to stop. The invention improves the reliability of the locked rotor detection of the motor.

Description

Locked rotor protection method based on FOC motor control and motor control device
Technical Field
The invention relates to the technical field of motor control, in particular to a locked rotor protection method based on FOC motor control and a motor control device.
Background
The motor stalling is a condition that the motor still outputs torque when the rotating speed is zero. The efficiency is zero when the motor is locked, the current in locked rotor can reach 7 times of rated current at most, even higher, and the motor can be burnt out after a little long time.
In the control of a high-performance three-phase brushless direct current motor and a permanent magnet synchronous motor, a FOC algorithm without a position sensor is generally used for controlling the motor, and the position of a motor rotor is estimated by sampling the current of the motor and combining a motor estimation model. The control mode can not detect the rotor position at low speed and zero speed, and the reliability of locked rotor state detection is reduced.
Disclosure of Invention
The invention mainly aims to provide a locked rotor protection method and a motor control device based on FOC motor control, aiming at improving the reliability of locked rotor detection of a motor.
In order to achieve the above object, the present invention provides a locked rotor protection method based on FOC motor control, where the motor control device includes a motor, and an noninductive FOC controller for estimating a rotor position and a back electromotive force amplitude of the motor, and the locked rotor protection method based on FOC motor control includes:
acquiring the current position of the rotor of the motor estimated by the non-inductive FOC controller;
obtaining the rotor rotating speed of the motor according to the obtained current position of the motor rotor;
if the rotor rotating speed of the motor is less than a first preset rotating speed, judging that the motor is locked, and controlling the motor to stop;
and acquiring the ratio of the counter electromotive force amplitude of the motor to the rotor speed, and if the ratio of the counter electromotive force amplitude to the rotor speed is smaller than a second preset threshold, judging that the motor is locked, and controlling the motor to stop.
Optionally, the step of obtaining the rotor speed of the motor according to the obtained current position of the rotor of the motor further includes:
and if the rotating speed of the rotor of the motor is greater than or equal to a first preset rotating speed, controlling to obtain the motor back electromotive force amplitude estimated by the non-inductive FOC controller.
Optionally, the obtaining a ratio of a back electromotive force amplitude of the motor to a rotor speed, if the ratio is smaller than a second preset threshold, determining that the motor is locked, and controlling the motor to stop further includes:
and if the ratio of the counter electromotive force amplitude to the rotor speed is greater than or equal to a second preset threshold, controlling to continuously acquire the counter electromotive force amplitude of the motor and the rotor speed.
Optionally, the formula of the ratio of the back electromotive force amplitude to the rotation speed of the motor is specifically:
ke = EMF/v, where EMF is a back electromotive force amplitude of the motor, v is a rotor speed of the motor, and Ke is a ratio of the back electromotive force amplitude to the speed of the motor.
The invention also provides a motor control device, which comprises a non-inductive FOC controller, a memory, a processor and a locked rotor protection program based on the FOC motor control, wherein the locked rotor protection program based on the FOC motor control is stored on the memory and can be operated on the processor, and the locked rotor protection method based on the FOC motor control is realized when the processor executes the locked rotor protection program based on the FOC motor control.
Optionally, the non-inductive FOC controller comprises a PI controller, a first coordinate inverter, a second coordinate inverter, a three-phase full bridge inverter, a first coordinate converter, a second coordinate converter, and a rotor position estimator, wherein,
a first end of the PI controller inputs a reference current, a second end of the PI controller is connected with a first end of the first coordinate inverter, a second end of the first coordinate inverter is connected with a first end of the second coordinate inverter, a second end of the second coordinate inverter is connected with a first end of the three-phase full-bridge inverter, a second end of the three-phase full-bridge inverter is connected with the motor, a first end of the first coordinate converter is connected between the second end of the three-phase full-bridge inverter and the input end of the motor, a second end of the first coordinate converter is connected with a first end of the second coordinate converter, a second end of the second coordinate converter is connected with a first end of the PI controller, the first coordinate inverter and the second coordinate converter are connected with each other, and a first end of the rotor position estimator is connected between the first coordinate inverter and the second coordinate converter, the rotor position estimator is connected between the second end of the first coordinate transformer and the first end of the second coordinate transformer.
Optionally, the motor in the motor control device is a three-phase dc brushless motor or a permanent magnet synchronous motor.
According to the technical scheme, the locked rotor protection method based on the FOC motor control obtains the current position and the back electromotive force amplitude of the rotor of the motor estimated by the non-inductive FOC controller, and then obtains the rotor rotating speed of the motor according to the obtained current position of the rotor of the motor; and comparing the acquired rotor rotating speed with a first preset rotating speed, and comparing the ratio of the acquired back electromotive force amplitude to the rotor rotating speed with a second preset threshold value to judge the locked-rotor condition in the running process of the motor. Specifically, if the rotor speed of the motor is less than a first preset speed, judging that the motor is locked, and controlling the motor to stop; and if the rotor rotating speed of the motor is greater than or equal to a first preset rotating speed and the obtained ratio of the counter electromotive force amplitude of the motor to the rotor rotating speed is less than a second preset threshold value, judging that the motor is locked, and controlling the motor to stop. In the noninductive FOC control technology of the motor, because the motor is in a locked-rotor state and works normally, the difference between the estimated back electromotive force amplitude and the rotating speed is large, a user only needs to set a preset threshold value, and the size of the threshold value can be adjusted at will to adjust the response speed and accuracy of locked-rotor judgment. The problem of under the noninductive FOC control method the motor is in the lower accuracy of detection locked rotor state under the different output state is solved. The technical scheme of the invention improves the reliability of the locked rotor detection 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 described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a locked rotor protection method based on FOC motor control according to the present invention;
fig. 2 is a schematic structural diagram of an embodiment of an noninductive FOC controller in the locked rotor protection method based on FOC motor control according to the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name (R)
100 PI controller 500 First coordinate transformer
200 First coordinate inverter 600 Second coordinate transformer
300 Second coordinate inverter 700 Rotor position estimator
400 Three-phase full-bridge inverter 800 Electric machine
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a locked rotor protection method based on FOC motor control, which is applied to a motor control device. The current threshold of the scheme is difficult to calibrate, the motor is in a low-voltage output state and in a locked rotor state in a high-voltage output state, the locked rotor current has a large difference, the locked rotor current during low-voltage output is possibly smaller than the normal working current during high-voltage output, and the locked rotor state cannot be detected under the condition.
In order to solve the above problem, in an embodiment of the present invention, as shown in fig. 1, the motor control apparatus includes a motor, an noninductive FOC controller for estimating a rotor position and a back electromotive force amplitude of the motor, and the locked rotor protection method based on the FOC motor control includes:
step S10, acquiring the current position of the rotor of the motor estimated by the non-inductive FOC controller;
step S20, obtaining the rotor speed of the motor according to the obtained current position of the motor rotor;
step S30, if the rotor speed of the motor is less than a first preset speed, judging that the motor is locked, and controlling the motor to stop;
and step S40, acquiring the ratio of the counter electromotive force amplitude of the motor to the rotor speed, and if the ratio of the counter electromotive force amplitude to the rotor speed is smaller than a second preset threshold, judging that the motor is locked, and controlling the motor to stop.
In this embodiment, based on the motor in the locked rotor protection method based on the FOC motor control in this embodiment, it can be understood that the motor may be an ac motor that uses a dc power supply for input, converts the dc power supply into an ac power supply through an inverter bridge, and has rotor position feedback.
It should be noted that, in the related art, the brushless dc motor having the hall needs to be matched with the hall sensor, which is relatively complex, and brings adverse factors to the reliability and the manufacturing process of the motor, for example: the installation hall sensor can increase the volume of motor, if the signal transmission line of sensor is more, that causes the interference to the motor very easily, and the operational environment and the temperature of motor reduce hall sensor's reliability, if the installation to hall sensor is inaccurate in addition, can cause the runnability problem of motor.
Aiming at the problems, the Hall-free direct current brushless motor runs stably and is reliable to start, a rotor Hall sensor is not directly used, but a rotor position signal is needed to control the phase change of the motor in the running process of the motor, and the position signal detection of the rotor mostly adopts the detection of stator voltage, current and the like to estimate the position of the rotor. In the scheme, the motor in the motor control device is not provided with a Hall sensor, the position and the back electromotive force amplitude of the rotor are estimated by detecting the voltage, the current and the like of the stator and adopting the non-inductive FOC controller, so that the use of the sensor in the locked rotor protection method based on the FOC motor control is reduced, and the overall cost of the locked rotor protection method based on the FOC motor control applied to the motor is reduced.
In this embodiment, the current and the voltage of the motor are detected by the non-inductive FOC controller, the detected current and voltage are substituted according to the motor estimation model, the estimated back electromotive force amplitude of the motor is obtained through a sliding mode control algorithm, and the current position of the rotor and the rotating speed of the rotor of the motor are obtained by using a back-tangent method.
Estimating the rotor position and the back electromotive force amplitude of the motor based on the above, judging whether the calculated rotor speed of the motor is less than a first preset speed according to the estimated rotor position of the motor and the rotor speed of the motor, and judging that the motor is locked when the calculated rotor speed of the motor is less than the first preset speed; and when the calculated rotor rotating speed of the motor is greater than or equal to the first preset rotating speed, continuously comparing the ratio of the counter electromotive force amplitude of the motor to the rotor rotating speed with a second preset threshold, and when the ratio of the counter electromotive force amplitude to the rotor rotating speed is less than the second preset threshold, judging that the motor is locked. Therefore, the locked-rotor condition of the motor in the running process is accurately judged, the motor is controlled to perform timely corresponding processing, and the reliability of locked-rotor detection of the motor is improved.
According to the technical scheme, the locked rotor protection method based on the FOC motor control obtains the current position and the back electromotive force amplitude of the rotor of the motor estimated by the non-inductive FOC controller, and then obtains the rotor rotating speed of the motor according to the obtained current position of the rotor of the motor; and comparing the acquired rotor rotating speed with a first preset rotating speed, and comparing the ratio of the acquired back electromotive force amplitude to the rotor rotating speed with a second preset threshold value to judge the locked-rotor condition in the running process of the motor. Specifically, if the rotor speed of the motor is less than a first preset speed, judging that the motor is locked, and controlling the motor to stop; and if the rotor rotating speed of the motor is greater than or equal to a first preset rotating speed and the obtained ratio of the counter electromotive force amplitude of the motor to the rotor rotating speed is less than a second preset threshold value, judging that the motor is locked, and controlling the motor to stop. In the noninductive FOC control technology of the motor, because the motor is in a locked-rotor state and works normally, the difference between the estimated back electromotive force amplitude and the rotating speed is large, a user only needs to set a preset threshold value, and the size of the threshold value can be adjusted at will to adjust the response speed and accuracy of locked-rotor judgment. The problem of under the noninductive FOC control method the motor is in the lower accuracy of detection locked rotor state under the different output state is solved. The technical scheme of the invention improves the reliability of the locked rotor detection of the motor.
In an embodiment, the step of obtaining the rotor speed of the motor according to the obtained current position of the rotor of the motor further includes:
and if the rotating speed of the rotor of the motor is greater than or equal to a first preset rotating speed, controlling to obtain the motor back electromotive force amplitude estimated by the non-inductive FOC controller. It can be understood that after the current position of the rotor of the motor estimated by the non-inductive FOC controller is obtained, when the rotating speed of the rotor of the motor is not less than the first preset rotating speed, the counter electromotive force amplitude of the motor is controlled and estimated, and the ratio of the counter electromotive force amplitude of the motor to the rotating speed of the rotor is compared with the second preset threshold value, so that the locked-rotor condition of the motor is continuously judged, and the reliability of locked-rotor detection of the motor is improved.
In an embodiment, the obtaining a ratio of a back electromotive force amplitude of the motor to a rotor speed, if the ratio is smaller than a second preset threshold, determining that the motor is locked, and after the step of controlling the motor to stop, further includes:
and if the ratio of the counter electromotive force amplitude to the rotor speed is greater than or equal to a second preset threshold, controlling to continuously acquire the counter electromotive force amplitude of the motor and the rotor speed.
In addition, the formula of the ratio of the back electromotive force amplitude of the motor to the rotating speed is specifically as follows:
ke = EMF/v, where EMF is a back electromotive force amplitude of the motor, v is a rotor speed of the motor, and Ke is a ratio of the back electromotive force amplitude to the speed of the motor.
In this embodiment, the ratio Ke of the back electromotive force amplitude of the motor to the rotation speed is a fixed parameter of the motor, and is a constant value reflecting the relationship between the back electromotive force amplitude and the rotation speed. According to the formula Ke = EMF/v, the ratio of the back electromotive force amplitude to the rotation speed of the motor is a fixed constant, that is, the larger the rotation speed of the rotor of the motor is, the larger the back electromotive force amplitude is.
When the motor is in a normal working state, the estimated rotor speed of the motor and the estimated back electromotive force amplitude are close to the actual rotor speed and the back electromotive force amplitude of the motor; when the motor is in a locked-rotor state, the rotating speed of the rotor is very low or zero, and the amplitude of the corresponding back electromotive force is very small or zero. When the amplitude of the back electromotive force is very small, the non-inductive FOC controller in the motor is in two conditions, the first condition is that the non-inductive FOC controller still works normally, and the condition that the rotating speed of the motor rotor is very low can be detected. The second condition is that the noninductive FOC controller works abnormally, and the estimated back electromotive force value cannot normally reflect the rotor position of the motor, so that the estimated angle changes too fast, and the estimated rotor speed is larger; when the motor is in a locked-rotor state, the current is larger than that in normal operation.
Further, the formula U = IR + L × d is estimated from the motori/dt+ E, where U and I are the voltage and current collected by the non-inductive FOC controller from the three-phase full-bridge inverter, R is the motor winding resistance, L is the motor winding inductance, and E is the back electromotive force estimation value of the non-inductive FOC controller. Under the condition that the voltage U is fixed, the larger the current I is, the smaller the back electromotive force value estimated value E is, and the smaller the estimated back electromotive force amplitude EMF obtained from the back electromotive force value E is, so that the ratio of the estimated back electromotive force amplitude to the estimated rotating speed is far smaller than the normal value Ke.
Setting a first preset rotating speed for the non-inductive FOC controller to work under a normal condition; it can be understood that the first preset rotating speed is a rotor rotating speed threshold value when the motor is locked, and when the estimated rotor rotating speed is less than the first preset value, the motor is determined to be locked.
Setting a second preset threshold value when the non-inductive FOC controller works abnormally; it can be understood that the second preset threshold is a back electromotive force constant threshold when the motor is locked, and when the ratio of the back electromotive force amplitude to the estimated rotation speed is smaller than the second preset value, it can be determined that the motor is locked.
Based on the embodiment, the locked rotor protection method based on the FOC motor control solves the problem that the accuracy of locked rotor detection is low when the motor is in different output states under a non-inductive FOC control method, and improves the reliability of locked rotor detection of the motor.
The invention also provides a motor control device, which comprises a motor, a non-inductive FOC controller, a memory, a processor and a locked rotor protection program which is stored on the memory and can run on the processor and is based on the FOC motor control, wherein the locked rotor protection method based on the FOC motor control is realized when the processor executes the locked rotor protection program based on the FOC motor control. It is understood that the memory in the motor control device is a readable memory for storing a locked rotor protection program based on the FOC motor control and is readable by the processor in the motor control device; the processor in the motor control device executes the locked rotor protection program based on the FOC motor control, and the processor is not limited to the processor, and may be a programmable gate array (FPGA) or the like.
In one embodiment, as shown in fig. 2, the motor control apparatus further includes a non-inductive FOC controller including a PI controller 100, a first coordinate inverter 200, a second coordinate inverter 300, a three-phase full-bridge inverter 400, a first coordinate converter 500, a second coordinate converter 600, and a rotor position estimator 700, wherein,
a reference current is input to a first end of the PI controller 100, a second end of the PI controller 100 is connected to a first end of the first coordinate inverter 200, a second end of the first coordinate inverter 200 is connected to a first end of the second coordinate inverter 300, a second end of the second coordinate inverter 300 is connected to a first end of the three-phase full-bridge inverter 400, a second end of the three-phase full-bridge inverter 400 is connected to the motor 800, a first end of the first coordinate converter 500 is connected between a second end of the three-phase full-bridge inverter 400 and an input end of the motor 800, a second end of the first coordinate converter 500 is connected to a first end of the second coordinate converter 600, a second end of the second coordinate converter 600 is connected to a first end of the PI controller 100, the first coordinate inverter 200 is connected to the second coordinate converter 600, and a first end of the rotor position estimator 700 is connected to the first coordinate inverter 200 and the second coordinate converter 200 The rotor position estimator 700 is connected between the second terminal of the first coordinate transformer 500 and the first terminal of the second coordinate transformer 600, between the target transformers 600.
In this embodiment, in the motor control device, the first coordinate inverter 200 is a PARK inverse transformation in the non-inductive FOC control algorithm, the three-phase full-bridge inverter is a three-phase full-bridge inversion in the non-inductive FOC control algorithm, the second coordinate inverter 300 is a SVPWM inverse transformation in the non-inductive FOC control algorithm, the first coordinate converter 500 is a CLARKE transformation in the non-inductive FOC control algorithm, the second coordinate converter 600 is a PARK transformation in the non-inductive FOC control algorithm, phase currents of the running motor are automatically collected between the three-phase full-bridge inverter 400 and the motor 800, the phase currents include Ia, Ib and Ic, and it can be understood that the automatic collection may be different sampling modes including single-resistor sampling, double-resistor sampling, three-resistor sampling, power device internal-resistor sampling, and the like; the coordinate axis transformation in the non-inductive FOC controller comprises a first coordinate transformer 500 and a second coordinate transformer 600, namely the coordinate axis transformation in the non-inductive FOC control algorithm comprises CLARKE transformation and PARK transformation and is used for transforming three-phase rotation coordinate axis currents Ia, Ib and Ic into D, Q-axis vertical coordinate axis ID and IQ current signals; the current loop control is used for controlling the D-axis and Q-axis currents through the PI algorithm of the PI controller according to the D-axis reference current IDREF, the Q-axis reference current IQREF, the feedback current signal D-axis feedback current IDREF and the Q-axis feedback current signal IQREF, and outputting the D-axis and Q-axis currents to the UD and UQ voltage signals; the coordinate axis inverse transformation is used for transforming D, Q vertical coordinate axis UD, UQ signals into alpha, beta vertical rotation coordinate axis Ualpha, Ubeta voltage signals; the second coordinate inverter 300 outputs a voltage signal for converting alpha and beta vertical rotation coordinate axes Ualpha and Ubeta into three phases U, V, W and outputs a duty ratio voltage signal; the rotor position estimator 700 is used to input V α, V β, I α, I β into the motor estimation model to obtain the motor rotor position, back EMF information, and speed information. In this embodiment, the vector control of the non-inductive FOC controller adjusts the output frequency of the control device, the magnitude and the angle of the output voltage, so that the cost of the motor control device is reduced, and the reliability of the motor 800 is improved.
It should be noted that the motor estimation model in the above embodiment is U = IR + L × di/dt+ E, the rotor position estimator 700 obtains the motor rotor position, the back EMF information, and the speed information through the motor estimation model. The rotor position estimator may be a synovial observer algorithm, an inverse tangent method, a PLL phase locked loop method, a kalman filter algorithm, and the like, which is not limited herein.
It can be understood that the sliding mode observer algorithm is a control of a variable structure control system, and compared with a general control, the sliding mode observer algorithm has discontinuity, namely a switching characteristic which enables a system structure to change along time, and the characteristic can enable the system to move up and down along a specified state track in a small amplitude and high frequency under a certain condition, namely a sliding mode, and the sliding mode is programmable and is independent of parameters and disturbance of the system, so that the system in the sliding mode has good robustness.
Based on the above embodiment, the motor 400 in the motor control device is a three-phase dc motor or a permanent magnet synchronous motor.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (7)

1. A locked rotor protection method based on FOC motor control is applied to a motor control device and is characterized in that the motor control device comprises a motor and an noninductive FOC controller used for estimating the position of a motor rotor and the amplitude of back electromotive force, and the locked rotor protection method based on the FOC motor control comprises the following steps:
acquiring the current position of the rotor of the motor estimated by the non-inductive FOC controller;
obtaining the rotor rotating speed of the motor according to the obtained current position of the motor rotor;
if the rotor rotating speed of the motor is less than a first preset rotating speed, judging that the motor is locked, and controlling the motor to stop;
and acquiring the ratio of the counter electromotive force amplitude of the motor to the rotor speed, and if the ratio of the counter electromotive force amplitude to the rotor speed is smaller than a second preset threshold, judging that the motor is locked, and controlling the motor to stop.
2. The FOC motor control-based locked rotor protection method as claimed in claim 1, wherein the step of obtaining the rotor speed of the motor according to the obtained current position of the motor rotor further comprises the following steps:
and if the rotating speed of the rotor of the motor is greater than or equal to a first preset rotating speed, controlling to obtain the motor back electromotive force amplitude estimated by the non-inductive FOC controller.
3. The FOC motor control-based locked-rotor protection method as claimed in claim 1, wherein the step of obtaining a ratio of a back electromotive force amplitude of the motor to a rotor speed, if the ratio is smaller than a second preset threshold, determining that the motor is locked-rotor, and controlling the motor to stop further comprises:
and if the ratio of the counter electromotive force amplitude to the rotor speed is greater than or equal to a second preset threshold, controlling to continuously acquire the counter electromotive force amplitude of the motor and the rotor speed.
4. The FOC motor control-based locked rotor protection method as claimed in claim 1, wherein the formula of the ratio of the back electromotive force amplitude of the motor to the rotating speed is specifically as follows:
ke = EMF/v, where EMF is a back electromotive force amplitude of the motor, v is a rotor speed of the motor, and Ke is a ratio of the back electromotive force amplitude to the speed of the motor.
5. A motor control apparatus, comprising a motor, an sensorless FOC controller, a memory, a processor, and a locked rotor protection program based on FOC motor control stored in the memory and operable on the processor, wherein the processor implements the locked rotor protection method based on FOC motor control according to any one of claims 1-4 when executing the locked rotor protection program based on FOC motor control.
6. The motor control apparatus of claim 5, wherein the non-inductive FOC controller comprises a PI controller, a first coordinate inverter, a second coordinate inverter, a three-phase full-bridge inverter, a first coordinate converter, a second coordinate converter, and a rotor position estimator, wherein,
a first end of the PI controller inputs a reference current, a second end of the PI controller is connected with a first end of the first coordinate inverter, a second end of the first coordinate inverter is connected with a first end of the second coordinate inverter, a second end of the second coordinate inverter is connected with a first end of the three-phase full-bridge inverter, a second end of the three-phase full-bridge inverter is connected with the motor, a first end of the first coordinate converter is connected between the second end of the three-phase full-bridge inverter and the input end of the motor, a second end of the first coordinate converter is connected with a first end of the second coordinate converter, a second end of the second coordinate converter is connected with a first end of the PI controller, the first coordinate inverter and the second coordinate converter are connected with each other, and a first end of the rotor position estimator is connected between the first coordinate inverter and the second coordinate converter, the rotor position estimator is connected between the second end of the first coordinate transformer and the first end of the second coordinate transformer.
7. The motor control device according to claim 6, wherein the motor in the motor control device is a three-phase dc brushless motor or a permanent magnet synchronous motor.
CN201911313457.7A 2019-12-19 2019-12-19 Locked rotor protection method based on FOC motor control and motor control device Pending CN110729703A (en)

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