CN110912463A - Motor control method and device, storage medium and motor - Google Patents
Motor control method and device, storage medium and motor Download PDFInfo
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- CN110912463A CN110912463A CN201911129736.8A CN201911129736A CN110912463A CN 110912463 A CN110912463 A CN 110912463A CN 201911129736 A CN201911129736 A CN 201911129736A CN 110912463 A CN110912463 A CN 110912463A
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- 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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details
- H02P1/022—Security devices, e.g. correct phase sequencing
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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Abstract
The invention discloses a motor control method, a device, a storage medium and a motor, wherein the method comprises the following steps: acquiring a current detection signal of a current sensor; if the current sensor is a current sensor with bias, the current detection signal is a first detection signal output by the current sensor with bias; if the current sensor is a current sensor without bias, the current detection signal is a second detection signal which is output after the current sensor without bias detects the electrified lead; determining whether the current sensor has a fault according to the current detection signal; if the current sensor has a fault, controlling the motor to stop, and initiating a reminding message of the fault of the current sensor; and if the current sensor has no fault, controlling the motor to start. The scheme of the invention can solve the problem of frequency converter failure caused by loose current sensor terminals or inaccurate sampling values in current sensor failure, and achieves the effect of avoiding frequency converter failure caused by inaccurate sampling values of the current sensors.
Description
Technical Field
The invention belongs to the technical field of motors, particularly relates to a motor control method, a motor control device, a storage medium and a motor, and particularly relates to a method and a device for detecting and feeding back a fault signal of a current sensor of a frequency converter, a storage medium and a motor.
Background
The frequency converter is an electric energy control device which converts a power frequency power supply into adjustable frequency by utilizing the on or off of an electric semiconductor device. In the refrigeration industry, frequency converters are one of the key components of centrifugal units. With the strong national advocation of energy-saving society, the frequency conversion control technology becomes the main trend of the refrigeration industry. No matter the four-quadrant frequency converter or the uncontrolled rectifying frequency converter, the current of the input side and the current of the motor side need to be detected to realize the motor control.
And in the running process of the frequency converter, the current sensor is used for detecting each phase current at the motor side in real time, so that closed-loop control is realized. If the current sensor wiring terminal is loose or the current sensor is in fault, no fault feedback signal is fed back to the main control board, the main control board compares the detected current value with a set threshold value, the current sensor output signal is always 0 due to the fault of the current sensor, the main control board controls the inverter to continuously invert to increase the current, and the actual current may exceed the IGBT withstand current to cause the IGBT explosion risk.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a motor control method, a motor control device, a storage medium and a motor to solve the problem of frequency converter failure caused by loosening of a current sensor terminal or inaccurate sampling value in the current sensor failure, and achieve the effect of avoiding frequency converter failure caused by inaccurate sampling value of the current sensor.
The invention provides a motor control method, which comprises the following steps: acquiring a current detection signal of a current sensor at a rectifier and/or an inverter of the motor; if the current sensor is a biased current sensor, the current detection signal is a first detection signal output by the biased current sensor; if the current sensor is a current sensor without bias, the current detection signal is a second detection signal which is output after the current sensor without bias detects the electrified lead; determining whether a fault exists in the current sensor at the rectifier and/or the inverter of the motor according to the current detection signal of the current sensor at the rectifier and/or the inverter of the motor; if the current sensors at the rectifier and/or the inverter of the motor have faults, controlling the motor to stop, and initiating a reminding message of the faults of the current sensors at the rectifier and/or the inverter of the motor; and if the current sensor at the rectifier and/or the inverter of the motor has no fault, controlling the motor to start.
Optionally, wherein, in the case that the current sensor is a biased current sensor, acquiring a current detection signal of the current sensor at a rectifier and/or an inverter of the motor includes: under the condition that the motor is not started, detecting a zero offset voltage of the biased current sensor to use the zero offset voltage of the biased current sensor as a first detection signal output by the biased current sensor; or, in the case that the current sensor at the rectifier and/or the inverter of the motor is a current sensor without bias, acquiring a current detection signal of the current sensor at the rectifier and/or the inverter of the motor, including: under the condition that the motor is not started, controlling the switch unit to be electrified to electrify the lead; when the conducting wire is electrified, an electrified voltage signal of the current sensor without bias to the electrified conducting wire is obtained through sampling by the sampling unit, so that the electrified voltage signal of the current sensor without bias to the electrified conducting wire is used as a second detection signal output after the current sensor without bias detects the electrified conducting wire.
Optionally, wherein the conducting wire, the sampling unit and the switching unit are sequentially arranged between the current sensor without bias and a driving circuit of the motor; the wire passes through the current sensor without bias.
Optionally, wherein, in case the current sensor is a biased current sensor, determining whether there is a fault with the current sensor at the rectifier and/or the inverter of the motor, comprises: determining whether a first detection signal output by a current sensor with bias belongs to a set normal bias signal range or not; if the first detection signal output by the current sensor with the bias is zero or the first detection signal output by the current sensor with the bias does not belong to the set normal bias signal range, determining that the current sensor with the bias has a fault; alternatively, in the case where the current sensor at the rectifier and/or inverter of the motor is a current sensor without an offset, determining whether there is a fault with the current sensor at the rectifier and/or inverter of the motor includes: determining whether a second detection signal output by the current sensor without bias after detecting the electrified lead belongs to a set target signal range; and if the second detection signal output by the current sensor without bias after detecting the electrified lead does not belong to the set target signal range, determining that the current sensor without bias has a fault.
In accordance with the above method, another aspect of the present invention provides a motor control apparatus, including: an acquisition unit for acquiring a current detection signal of a current sensor at a rectifier and/or an inverter of the motor; if the current sensor is a biased current sensor, the current detection signal is a first detection signal output by the biased current sensor; if the current sensor is a current sensor without bias, the current detection signal is a second detection signal which is output after the current sensor without bias detects the electrified lead; a determination unit for determining whether there is a fault in the current sensor at the rectifier and/or inverter of the motor according to a current detection signal of the current sensor at the rectifier and/or inverter of the motor; the control unit is used for controlling the motor to stop if the current sensor at the rectifier and/or the inverter of the motor has a fault, and initiating a reminding message of the fault of the current sensor at the rectifier and/or the inverter of the motor; the control unit is also used for controlling the motor to start if the current sensor at the rectifier and/or the inverter of the motor has no fault.
Optionally, wherein the obtaining unit obtains a current detection signal of a current sensor at a rectifier and/or an inverter of the motor in a case where the current sensor is a biased current sensor, including: under the condition that the motor is not started, detecting a zero offset voltage of the biased current sensor to use the zero offset voltage of the biased current sensor as a first detection signal output by the biased current sensor; alternatively, the acquiring unit acquires a current detection signal of the current sensor at the rectifier and/or the inverter of the motor in a case that the current sensor at the rectifier and/or the inverter of the motor is a current sensor without bias, and includes: under the condition that the motor is not started, controlling the switch unit to be electrified to electrify the lead; when the conducting wire is electrified, an electrified voltage signal of the current sensor without bias to the electrified conducting wire is obtained through sampling by the sampling unit, so that the electrified voltage signal of the current sensor without bias to the electrified conducting wire is used as a second detection signal output after the current sensor without bias detects the electrified conducting wire.
Optionally, wherein the conducting wire, the sampling unit and the switching unit are sequentially arranged between the current sensor without bias and a driving circuit of the motor; the wire passes through the current sensor without bias.
Optionally, wherein the determining unit determines whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in the case that the current sensor is a biased current sensor, includes: determining whether a first detection signal output by a current sensor with bias belongs to a set normal bias signal range or not; if the first detection signal output by the current sensor with the bias is zero or the first detection signal output by the current sensor with the bias does not belong to the set normal bias signal range, determining that the current sensor with the bias has a fault; alternatively, the determining unit determines whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in a case where the current sensor at the rectifier and/or the inverter of the motor is a current sensor without an offset, including: determining whether a second detection signal output by the current sensor without bias after detecting the electrified lead belongs to a set target signal range; and if the second detection signal output by the current sensor without bias after detecting the electrified lead does not belong to the set target signal range, determining that the current sensor without bias has a fault.
In accordance with another aspect of the present invention, there is provided a motor including: the motor control device described above.
In accordance with the above method, a further aspect of the present invention provides a storage medium comprising: the storage medium has stored therein a plurality of instructions; the plurality of instructions are used for loading and executing the motor control method by the processor.
In accordance with the above method, a further aspect of the present invention provides a motor comprising: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; wherein the plurality of instructions are for being stored by the memory and loaded by the processor and executing the motor control method described above.
According to the scheme of the invention, the motor can be protected by detecting whether the current sensor has a fault or not, feeding back a fault signal to the main control unit when the current sensor terminal is loosened or the current sensor has a fault, and executing a fault shutdown action by the main control unit.
Further, according to the scheme of the invention, the zero bias voltage of the current sensor is detected for the current sensor with the bias, whether the current sensor has a fault or whether the wiring terminal is loosened is judged through the zero bias voltage, whether the current sensor with the bias has the fault or not can be reliably detected, and the detection mode is simple, convenient and accurate.
Further, according to the scheme of the invention, the electrified conducting wire passes through the current sensor for the current sensor without bias, whether the conducting wire current detected by the current sensor is normal or not is judged, whether the current sensor without bias has a fault or not can be reliably detected, and the detection result is accurate.
Further, according to the scheme of the invention, when the interface is loosened or the fault occurs in any current sensor is detected, the main control unit executes the fault shutdown action after detecting the fault, so that the phenomenon that the IGBT is destroyed by overcurrent of the down converter under the condition of the fault of the current sensor is prevented, and the safety of the frequency converter and the motor is ensured.
Further, according to the scheme of the invention, when the current sensor fails or the wiring terminal is loosened, the current sensor has no output signal or abnormal bias voltage, the current sensor is reported to have a fault, the motor is not started to operate, and the frequency converter and the motor can be protected.
Therefore, according to the scheme of the invention, before the motor is started, whether the current sensor fails or not is detected, so that the motor is started when the current sensor is determined to have no fault, and the motor is not started when the current sensor fails, the phenomenon that the frequency converter is damaged or even the motor is damaged due to the overcurrent of the frequency converter caused by the starting of the motor under the condition of the fault of the current sensor can be avoided, the problem that the frequency converter fails due to the loosening of the terminal of the current sensor or the inaccurate sampling value of the fault of the current sensor is solved, and the effect of avoiding the frequency converter from failing due to the inaccurate sampling value of the current sensor is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a motor control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating one embodiment of the method for obtaining a current detection signal of a current sensor without bias;
FIG. 3 is a schematic flow chart diagram illustrating one embodiment of a method of the present invention for determining whether a biased current sensor has failed;
FIG. 4 is a schematic flow chart diagram illustrating one embodiment of a method of the present invention for determining whether a current sensor without a bias is malfunctioning;
FIG. 5 is a schematic structural diagram of an embodiment of a motor control apparatus according to the present invention;
FIG. 6 is a schematic diagram of an installation location of an embodiment of a current sensor inside a frequency converter;
FIG. 7 is a schematic diagram of a hardware configuration of an embodiment of a current sensor fault signal detection and feedback device of a frequency converter;
FIG. 8 is a schematic diagram of a fault detection and feedback process for one embodiment of a biased current sensor with zero;
FIG. 9 is a schematic diagram of a fault detection and feedback process for an embodiment of a current sensor without a zero bias.
The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:
1-a first current sensor; 2-a second current sensor; 3-a third current sensor; 4-a fourth current sensor; 5-a fifth current sensor; 6-sixth current sensor; 7-a wire; 102-an obtaining unit; 104-a determination unit; 106-control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
According to an embodiment of the present invention, a motor control method is provided, as shown in fig. 1, which is a schematic flow chart of an embodiment of the method of the present invention. The motor control method may include: step S110 to step S140.
At step S110, a present detection signal of a current sensor at a rectifier and/or an inverter of the motor is acquired before the motor is not started. If the current sensor is a biased current sensor, the current detection signal of the current sensor at the rectifier and/or the inverter of the motor is the first detection signal output by the biased current sensor. If the current sensor is a current sensor without bias, the current detection signal of the current sensor at the rectifier and/or the inverter of the motor is a second detection signal output after the current sensor without bias detects the electrified lead.
The zero-point bias voltage of the biased current sensor means that the current sensor itself has a zero-point bias voltage value when there is no current in the line.
In particular, current sensors at the rectifier and/or inverter of the electric machine, such as a current sensor disposed at an input side of the rectifier module, a current sensor disposed at an output side of the inverter module, and the like, may include a current sensor with or without a bias. For example: there are two types of current sensors used in frequency converters: a current sensor with bias and a current sensor without bias. For example, 3 current sensors (e.g., first to third current sensors, such as first to second current sensors 1, 2 and 3) are respectively provided at the three-phase input end on the network side, and 3 current sensors (e.g., fourth to sixth current sensors, i.e., fourth to fifth current sensors 4, 5 and 6) are respectively provided at the three-phase output end on the motor side.
Alternatively, a specific process of acquiring the current detection signal of the current sensor at the rectifier and/or the inverter of the motor in step S110 may be referred to as any one of the following acquisition processes.
The first acquisition process: in the case where the current sensor is a biased current sensor, obtaining a present detection signal of the current sensor at a rectifier and/or an inverter of the motor may include: when the motor is not started, the zero-point bias voltage of the biased current sensor is detected to serve as the first detection signal output by the biased current sensor. For example: and detecting the zero bias voltage of the current sensor, and judging whether the current sensor has a fault or whether the wiring terminal is loosened or not through the zero bias voltage.
Therefore, the zero bias voltage of the current sensor with bias is taken as the current detection signal, on one hand, the current detection signal is easy to obtain, and on the other hand, the accuracy of judging whether the current sensor has a fault according to the zero bias voltage can also be ensured.
A second acquisition process: in the case that the current sensor at the rectifier and/or inverter of the motor is a current sensor without an offset, acquiring a present detection signal of the current sensor at the rectifier and/or inverter of the motor may include: the current detection signal of the current sensor without bias is acquired.
Referring to fig. 2, a flowchart of an embodiment of obtaining the current detection signal of the current sensor without bias in the method of the present invention will be further described, where the specific process of obtaining the current detection signal of the current sensor without bias may include: step S210 and step S220.
In step S210, in the case where the motor is not started, the switch unit is controlled to be energized to energize the wire.
In step S220, in the case of conducting the wire, the sampling unit samples the conducting voltage signal of the current sensor without bias to the conducting wire, so as to use the conducting voltage signal of the current sensor without bias to the conducting wire as the second detection signal output after the current sensor without bias detects the conducting wire.
For example: a conductor (e.g., conductor 7) is additionally inserted into the current sensor. Before starting the machine, a given current flows through the lead, and whether the current sensor is normal or not is judged by comparing the detected current value with the actual current value.
Therefore, the electrified voltage signal of the electrified lead of the current sensor without bias is used as the current detection signal of the current sensor, on one hand, the electrified voltage signal of the electrified lead is easy to detect, and excessive cost is not increased, on the other hand, whether the corresponding current sensor fails or not is judged according to the electrified voltage signal of the electrified lead, the judgment mode is simple and convenient, and the judgment result is reliable.
The lead, the sampling unit and the switch unit are sequentially arranged between the current sensor without bias and a drive circuit of the motor. The wire passes through the current sensor without bias.
For example: and (4) passing the live wire through the current sensor, and judging whether the wire current detected by the current sensor is normal or not. The switch unit can be a relay to realize the connection or disconnection of a loop and control whether current flows in a lead or not. The relay K1 can be replaced by an external dry contact, so as to implement the connection or disconnection of the loop and control whether the current flows through the lead.
From this, through set up wire, sampling unit and switch element between the drive circuit who does not take biased current sensor and motor, can realize the detection to the circular telegram voltage signal of circular telegram wire, and collection equipment itself simple structure, with low costs also, can realize automatic control through the switch element moreover, convenience and the reliability of use also can be guaranteed.
At step S120, it is determined whether there is a fault in the current sensor at the rectifier and/or inverter of the motor according to the current detection signal of the current sensor at the rectifier and/or inverter of the motor.
Alternatively, a specific manner of determining whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in step S120 may be seen in any one of the following determination manners.
The first determination method: in the case where the current sensor is a biased current sensor, determining whether there is a fault with the current sensor at the rectifier and/or inverter of the motor may include: it is determined whether the biased current sensor has a fault.
In conjunction with the flow chart of fig. 3, which illustrates an embodiment of determining whether the biased current sensor has a fault in the method of the present invention, a specific process for further determining whether the biased current sensor has a fault may include: step S310 and step S320.
In step S310, it is determined whether the first detection signal output by the biased current sensor itself belongs to the set normal bias signal range.
In step S320, if the first detection signal output by the biased current sensor is zero or the first detection signal output by the biased current sensor does not belong to the set normal bias signal range, it is determined that the biased current sensor has a fault.
For example: the method comprises the steps of firstly detecting zero bias voltage of a current sensor, and when the sensor has no fault and a wiring terminal is connected, and the output signal of the current sensor is the bias voltage, normally starting the motor to run. If the current sensor has a fault or the wiring terminal is loosened, the current sensor has no output signal or the bias voltage is abnormal, the fault of the current sensor is reported, and the motor is not started to operate. The biased current sensor converts the detected current into a voltage signal, and the voltage signal is input to the main control unit. The main control unit firstly amplifies a measured signal through a signal amplifier and then compares the amplified signal with a bias voltage through a comparison circuit, wherein the bias voltage is a zero bias voltage of the current sensor. And finally, sending the comparison result to the DSP for signal processing.
Therefore, whether the biased current sensor has a fault or not is judged according to whether the zero bias voltage of the biased current sensor is zero or normal or not, the judging mode is simple and convenient, and the accuracy of judging whether the current sensor has the fault or not by the zero bias voltage can also be ensured.
The second determination method is as follows: in the case where the current sensor at the rectifier and/or inverter of the motor is a current sensor without an offset, determining whether there is a fault with the current sensor at the rectifier and/or inverter of the motor may include: it is determined whether a fault exists with the current sensor without bias.
Referring to fig. 4, a flowchart of an embodiment of determining whether the current sensor without bias has a fault in the method of the present invention is further illustrated, and a specific process of determining whether the current sensor without bias has a fault may include: step S410 and step S420.
Step S410, determining whether a second detection signal output by the current sensor without bias after detecting the electrified wire belongs to a set target signal range.
In step S420, if the second detection signal output after the current sensor without bias detects the energized conductor does not belong to the set target signal range, it is determined that the current sensor without bias fails.
For example: a wire passes through the current sensor, and two ends of the wire are connected with the main control unit. The resistance R4 and the voltage V1 are determined based on the required current sensor sampling accuracy. Before starting the motor, firstly the DSP is set to high level, the coil of the relay K1 is electrified, the internal contact is closed, and current flows through the wire according to ohm's law. The current sensor converts the wire current into a voltage signal and outputs the voltage signal to the main control unit, if the detected current value is consistent with the calculated value I (V1/R4), the current sensor is judged to have no fault, then the DSP is set to be at a low level, the relay is powered off, the internal contact of the relay is disconnected, and the starting motor normally runs. If the detected current value is inconsistent with the calculated value, the fault of the current sensor or the loosening of the interface is judged, the main control unit reports the fault of the current sensor, and the motor is not started to operate.
Therefore, whether the current sensor has a fault is determined according to whether the detection result of the current sensor without bias on the current-carrying voltage signal of the current-carrying lead is normal, the judgment mode is simple and convenient, and the judgment result is reliable.
At step S130, if there is a fault in the current sensor at the rectifier and/or the inverter of the motor, the motor is controlled to stop (e.g., the driving signal is turned off), and a warning message indicating the fault in the current sensor at the rectifier and/or the inverter of the motor is initiated. For example: when any one of the current sensors (such as the first sensor to the sixth sensor) has interface loosening or faults, the main control unit executes fault shutdown action after detecting the faults, and the phenomenon that the down converter overflows and explodes the IGBT under the condition of the current sensor faults is prevented.
At step S140, if there is no fault in the current sensors at the rectifier and/or inverter of the motor, the motor is controlled to start, i.e., the motor is controlled to start normally.
For example: the utility model provides a current sensor fault signal feedback scheme of converter, when the current sensor terminal pine takes off or current sensor trouble, feeds back fault signal to the main control unit, and the main control unit execution trouble stops the action, can solve the inaccurate problem that leads to the converter trouble of sampling value that the current sensor terminal pine takes off or current sensor trouble appears, promotes converter operational reliability.
Therefore, before the motor is started, whether the current sensor has a fault or not is determined according to the current detection signal of the current sensor at the rectifier and/or the inverter of the motor, the motor is not started and the fault is reported when the current sensor has the fault, and the motor is started when the current sensor has the fault, so that the problem that the frequency converter is damaged or even the motor is damaged when the motor is started under the condition that the current sensor has the fault can be avoided, and the starting and running safety of the motor is improved.
Through a large amount of tests verification, adopt the technical scheme of this embodiment, through whether detect current sensor breaks down to when detecting that current sensor terminal pine takes off or current sensor trouble, feed back fault signal to the main control unit, the main control unit carries out the trouble and stops the action, can protect the motor.
According to an embodiment of the present invention, there is also provided a motor control apparatus corresponding to the motor control method. Referring to fig. 5, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The motor control apparatus may include: an acquisition unit 102, a determination unit 104, and a control unit 106.
In an alternative example, the obtaining unit 102 may be configured to obtain a current detection signal of a current sensor at a rectifier and/or an inverter of the motor before the motor is not started. If the current sensor is a biased current sensor, the current detection signal of the current sensor at the rectifier and/or the inverter of the motor is the first detection signal output by the biased current sensor. If the current sensor is a current sensor without bias, the current detection signal of the current sensor at the rectifier and/or the inverter of the motor is a second detection signal output after the current sensor without bias detects the electrified lead. The specific functions and processes of the acquiring unit 102 are referred to in step S110.
In particular, current sensors at the rectifier and/or inverter of the electric machine, such as a current sensor disposed at an input side of the rectifier module, a current sensor disposed at an output side of the inverter module, and the like, may include a current sensor with or without a bias. For example: there are two types of current sensors used in frequency converters: a current sensor with bias and a current sensor without bias. For example, 3 current sensors (e.g., first to third current sensors, such as first to second current sensors 1, 2 and 3) are respectively provided at the three-phase input end on the network side, and 3 current sensors (e.g., fourth to sixth current sensors, i.e., fourth to fifth current sensors 4, 5 and 6) are respectively provided at the three-phase output end on the motor side.
A specific process of acquiring the current detection signal of the current sensor at the rectifier and/or the inverter of the motor by the acquiring unit 102 may be referred to as any one of the following acquiring processes.
The first acquisition process: the acquiring unit 102, in a case that the current sensor is a biased current sensor, acquires a current detection signal of the current sensor at a rectifier and/or an inverter of the motor, and may include: the obtaining unit 102 may be further configured to detect a zero-point offset voltage of the biased current sensor when the motor is not started, so as to use the zero-point offset voltage of the biased current sensor as the first detection signal output by the biased current sensor itself. For example: and detecting the zero bias voltage of the current sensor, and judging whether the current sensor has a fault or whether the wiring terminal is loosened or not through the zero bias voltage.
Therefore, the zero bias voltage of the current sensor with bias is taken as the current detection signal, on one hand, the current detection signal is easy to obtain, and on the other hand, the accuracy of judging whether the current sensor has a fault according to the zero bias voltage can also be ensured.
A second acquisition process: the acquiring unit 102, in a case that the current sensor at the rectifier and/or the inverter of the motor is a current sensor without bias, acquires a current detection signal of the current sensor at the rectifier and/or the inverter of the motor, and may include:
the obtaining unit 102 may be further configured to control the switch unit to energize the conducting wire when the motor is not started. The specific functions and processes of the acquisition unit 102 are also referred to in step S210.
The obtaining unit 102 may be further specifically configured to, in a case where the conducting wire is electrified, obtain, through sampling by the sampling unit, an electrified voltage signal of the current sensor without bias to the electrified conducting wire, so that the electrified voltage signal of the current sensor without bias to the electrified conducting wire is used as a second detection signal output after the current sensor without bias detects the electrified conducting wire. The specific function and processing of the acquisition unit 102 are also referred to in step S220.
For example: a conductor (e.g., conductor 7) is additionally inserted into the current sensor. Before starting the machine, a given current flows through the lead, and whether the current sensor is normal or not is judged by comparing the detected current value with the actual current value.
Therefore, the electrified voltage signal of the electrified lead of the current sensor without bias is used as the current detection signal of the current sensor, on one hand, the electrified voltage signal of the electrified lead is easy to detect, and excessive cost is not increased, on the other hand, whether the corresponding current sensor fails or not is judged according to the electrified voltage signal of the electrified lead, the judgment mode is simple and convenient, and the judgment result is reliable.
The lead, the sampling unit and the switch unit are sequentially arranged between the current sensor without bias and a drive circuit of the motor. The wire passes through the current sensor without bias.
For example: and (4) passing the live wire through the current sensor, and judging whether the wire current detected by the current sensor is normal or not. The switch unit can be a relay to realize the connection or disconnection of a loop and control whether current flows in a lead or not. The relay K1 can be replaced by an external dry contact, so as to implement the connection or disconnection of the loop and control whether the current flows through the lead.
From this, through set up wire, sampling unit and switch element between the drive circuit who does not take biased current sensor and motor, can realize the detection to the circular telegram voltage signal of circular telegram wire, and collection equipment itself simple structure, with low costs also, can realize automatic control through the switch element moreover, convenience and the reliability of use also can be guaranteed.
In an alternative example, the determination unit 104 may be configured to determine whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor according to a current detection signal of the current sensor at the rectifier and/or the inverter of the motor. The specific function and processing of the determination unit 104 are referred to in step S120.
Alternatively, the determination unit 104 determines whether there is a fault in a current sensor at a rectifier and/or an inverter of the motor, as can be seen in any of the following determination manners.
The first determination method: the determining unit 104 may determine whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in the case that the current sensor is a biased current sensor, and may include:
the determining unit 104 may be further configured to determine whether the first detection signal output by the biased current sensor itself belongs to a set normal bias signal range. The specific function and processing of the determination unit 104 are also referred to in step S310.
The determining unit 104 may be further configured to determine that the biased current sensor fails if the first detection signal output by the biased current sensor is zero or the first detection signal output by the biased current sensor does not belong to a set normal bias signal range. The specific function and processing of the determination unit 104 are also referred to in step S320.
For example: the method comprises the steps of firstly detecting zero bias voltage of a current sensor, and when the sensor has no fault and a wiring terminal is connected, and the output signal of the current sensor is the bias voltage, normally starting the motor to run. If the current sensor has a fault or the wiring terminal is loosened, the current sensor has no output signal or the bias voltage is abnormal, the fault of the current sensor is reported, and the motor is not started to operate. The biased current sensor converts the detected current into a voltage signal, and the voltage signal is input to the main control unit. The main control unit firstly amplifies a measured signal through a signal amplifier and then compares the amplified signal with a bias voltage through a comparison circuit, wherein the bias voltage is a zero bias voltage of the current sensor. And finally, sending the comparison result to the DSP for signal processing.
Therefore, whether the biased current sensor has a fault or not is judged according to whether the zero bias voltage of the biased current sensor is zero or normal or not, the judging mode is simple and convenient, and the accuracy of judging whether the current sensor has the fault or not by the zero bias voltage can also be ensured.
The second determination method is as follows: the determining unit 104 may determine whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in the case that the current sensor at the rectifier and/or the inverter of the motor is a current sensor without an offset, and may include:
the determining unit 104 may be further configured to determine whether a second detection signal output by the current sensor without bias after detecting the electrified wire belongs to a set target signal range. The specific function and processing of the determination unit 104 are also referred to in step S410.
The determining unit 104 may be further configured to determine that the current sensor without bias fails if a second detection signal output by the current sensor without bias after detecting the energized conductor does not belong to a set target signal range. The specific function and processing of the determination unit 104 are also referred to step S420.
For example: a wire passes through the current sensor, and two ends of the wire are connected with the main control unit. The resistance R4 and the voltage V1 are determined based on the required current sensor sampling accuracy. Before starting the motor, firstly the DSP is set to high level, the coil of the relay K1 is electrified, the internal contact is closed, and current flows through the wire according to ohm's law. The current sensor converts the wire current into a voltage signal and outputs the voltage signal to the main control unit, if the detected current value is consistent with the calculated value I (V1/R4), the current sensor is judged to have no fault, then the DSP is set to be at a low level, the relay is powered off, the internal contact of the relay is disconnected, and the starting motor normally runs. If the detected current value is inconsistent with the calculated value, the fault of the current sensor or the loosening of the interface is judged, the main control unit reports the fault of the current sensor, and the motor is not started to operate.
Therefore, whether the current sensor has a fault is determined according to whether the detection result of the current sensor without bias on the current-carrying voltage signal of the current-carrying lead is normal, the judgment mode is simple and convenient, and the judgment result is reliable.
In an alternative example, the control unit 106 may be configured to control the motor to stop (e.g., turn off the driving signal, etc.) if the current sensor at the rectifier and/or the inverter of the motor has a fault, and initiate a warning message that the current sensor at the rectifier and/or the inverter of the motor has a fault. For example: when any one of the current sensors (such as the first sensor to the sixth sensor) has interface loosening or faults, the main control unit executes fault shutdown action after detecting the faults, and the phenomenon that the down converter overflows and explodes the IGBT under the condition of the current sensor faults is prevented. The specific function and processing of the control unit 106 are also referred to in step S130.
In an alternative example, the control unit 106 may be further configured to control the motor to start if there is no fault in the current sensors at the rectifier and/or the inverter of the motor, that is, to control the motor to start normally. The specific function and processing of the control unit 106 are also referred to in step S140.
For example: the utility model provides a current sensor fault signal feedback scheme of converter, when the current sensor terminal pine takes off or current sensor trouble, feeds back fault signal to the main control unit, and the main control unit execution trouble stops the action, can solve the inaccurate problem that leads to the converter trouble of sampling value that the current sensor terminal pine takes off or current sensor trouble appears, promotes converter operational reliability. Therefore, before the motor is started, whether the current sensor has a fault or not is determined according to the current detection signal of the current sensor at the rectifier and/or the inverter of the motor, the motor is not started and the fault is reported when the current sensor has the fault, and the motor is started when the current sensor has the fault, so that the problem that the frequency converter is damaged or even the motor is damaged when the motor is started under the condition that the current sensor has the fault can be avoided, and the starting and running safety of the motor is improved.
Since the processes and functions implemented by the apparatus of this embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to 4, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Through a large number of tests, the technical scheme of the invention detects the zero bias voltage of the current sensor through the current sensor with bias, judges whether the current sensor has faults or whether the wiring terminal is loosened through the zero bias voltage, can reliably detect whether the current sensor with bias has faults or not, and has simple and accurate detection mode.
According to an embodiment of the present invention, there is also provided a motor corresponding to the motor control device. The motor may include: the motor control device described above.
In some schemes, when one current sensor in the three-phase current sensors breaks down, the three-phase current can be reconstructed, the detection of the three-phase current can still be realized, and the normal operation of the motor is not influenced. However, the scheme only provides a solution for the fault of one current sensor, and when two or more sensors have faults or terminals of the current sensors are missed by human errors, the risk of damaging the IGBT due to inaccurate sampling current still exists.
In an alternative embodiment, the invention provides a current sensor fault signal feedback scheme of a frequency converter, and aims to solve the problem that a frequency converter is in fault due to loosening of a current sensor terminal or inaccurate sampling value caused by current sensor fault.
In an optional example, in the scheme of the invention, when the current sensor terminal is loosened or the current sensor fails, a fault signal is fed back to the main control unit, and the main control unit executes a fault shutdown action.
The current sensor is a device for converting a current signal into a voltage signal, and the types of the current sensor used in the frequency converter are two types: a current sensor with bias and a current sensor without bias. The scheme of the invention provides a fault signal detection and feedback method aiming at the two current sensors, one method is to detect the zero bias voltage of the current sensor and judge whether the current sensor has faults or whether a wiring terminal is loosened or not through the zero bias voltage; another method is to pass a live wire through a current sensor and determine whether the wire current detected by the current sensor is normal.
For example: the lead wire is passed through the current sensor, as shown in fig. 7, and the basic method for detecting the current by the current sensor is to pass the conductor to be detected through the current sensor.
For example: the method for detecting the fault of the current sensor is a mode for judging whether the current of the lead detected by the current sensor is normal or not, the method works only before the motor is started, and whether the current sensor has the fault or not can be reliably detected. After the motor runs, the voltage at the two ends of the wire is cut off, and no current exists in the wire. Current the current sensor now detects normal motor phase current. The whole system is not affected, and the implementation is simple and reliable.
In an alternative embodiment, a specific implementation process of the scheme of the present invention can be exemplarily described with reference to the examples shown in fig. 6 to 9.
The scheme of the invention is suitable for the field of four-quadrant frequency converters, and provides a scheme for feeding back fault signals of a current sensor. As shown in fig. 6, the system for feeding back the fault signal of the current sensor (i.e., may include: the device comprises a current sensor, a rectifying module, a bus capacitor, a bus resistor, an inverter module, a motor and a main control unit. The three-phase grid-side power supply system is characterized in that 3 current sensors (such as a first current sensor to a third current sensor, such as a first current sensor 1, a second current sensor 2 and a third current sensor 3) are respectively arranged on the three-phase input end of the grid side, and 3 current sensors (such as a fourth current sensor to a sixth current sensor, namely a fourth current sensor 4, a fifth current sensor 5 and a sixth current sensor 6) are respectively arranged on the three-phase output end of the motor side.
In fig. 6, the first current sensor, the second current sensor, and the third current sensor are used to detect a three-phase current at the grid-side input end A, B, C, and send the detection result to the main control unit. The fourth current sensor, the fifth current sensor and the sixth current sensor are used for detecting three-phase currents of the motor side output end U, V, W and sending detection results to the main control unit. In fig. 6, the bus capacitor functions as a filter, the bus resistor functions as a discharge resistor, and the bus capacitor functions to discharge electric energy on the bus when the vehicle is stopped.
When any one of the current sensors (such as the first sensor to the sixth sensor) has interface loosening or faults, the main control unit executes fault shutdown action after detecting the faults, and the phenomenon that the down converter overflows and explodes the IGBT under the condition of the current sensor faults is prevented.
In an alternative specific example, the scheme of the present invention provides a hardware structure diagram of a current sensor fault signal feedback scheme of a frequency converter, and can refer to an example shown in fig. 7. As shown in fig. 7, the current sensor converts the detected current into a voltage signal, and inputs the voltage signal to the main control unit; the main control unit firstly amplifies a measured signal through a signal amplifier and then compares the amplified signal with a bias voltage through a comparison circuit, wherein the bias voltage is a zero bias voltage of the current sensor; and finally, sending the comparison result to the DSP for signal processing.
In fig. 7, a conducting wire (e.g., conducting wire 7) may be additionally inserted into the current sensor. Before starting the machine, a given current flows through the lead, and whether the current sensor is normal or not is judged by comparing the detected current value with the actual current value.
In an alternative embodiment, the flow of implementing the method for detecting and feeding back the fault signal of the current sensor with zero offset can be seen from the example shown in fig. 8. As shown in fig. 8, a method for detecting and feeding back a fault signal of a current sensor with zero offset may include: firstly, detecting zero bias voltage of a current sensor, and when the sensor has no fault and a wiring terminal is connected, and the output signal of the current sensor is the bias voltage, normally starting the motor to run; if the current sensor has a fault or the wiring terminal is loosened, the current sensor has no output signal or the bias voltage is abnormal, the fault of the current sensor is reported, and the motor is not started to operate.
For example: the output interface of the current sensor is connected with the sampling interface of the main control unit, and the sampling circuit in the main control unit compares the zero bias voltage with the threshold voltage. For example, the zero point bias voltage is nominally 0.5V. The threshold voltage range is 0.4V-0.6V. If the actual zero bias voltage is within the threshold range, the output of a comparator in the sampling circuit is high level and is transmitted to a DSP main control chip, and the DSP main control chip judges that the current sensor is normal and starts to start the motor. If the actual zero offset voltage exceeds the threshold range, the output of the comparator in the sampling circuit is low level and is transmitted to the DSP main control chip. And if the DSP main control chip judges that the current sensor is abnormal, the motor is not started.
In an alternative embodiment, a flow chart for implementing the method for detecting and feeding back the fault signal of the current sensor without the zero bias can be seen in the example shown in fig. 9. As shown in fig. 9, a method for detecting and feeding back a fault signal of a current sensor without zero offset may include: a lead penetrates through the current sensor, and two ends of the lead are connected with the main control unit; the resistance R4 and the voltage V1 are determined based on the required current sensor sampling accuracy. Before starting the motor, firstly, setting the DSP to be at a high level, electrifying a coil of a relay K1, closing an internal contact, and enabling current to flow through the inside of a lead according to ohm's law; the current sensor converts the current of the wire into a voltage signal and outputs the voltage signal to the main control unit, if the detected current value is consistent with the calculated value I (V1/R4), the current sensor is judged to have no fault, then the DSP is set to be at a low level, the relay is powered off, the internal contact of the relay is disconnected, and the motor is started to normally run; if the detected current value is inconsistent with the calculated value, the fault of the current sensor or the loosening of the interface is judged, the main control unit reports the fault of the current sensor, and the motor is not started to operate.
For example: the +24V on the right side of the relay K1 is the voltage V1, and can be adjusted according to actual requirements.
Alternatively, the relay K1 may be replaced by an external dry contact to complete or break the circuit, and control whether current flows through the wires.
In the hardware structure shown in fig. 7, the current detection circuit and the comparison circuit are simplified schematic diagrams, and are not intended to limit the present invention, and modifications and substitutions within the principle of the present invention are included in the scope of the present invention.
Since the processes and functions implemented by the motor of this embodiment substantially correspond to the embodiments, principles and examples of the apparatus shown in fig. 5, the descriptions of this embodiment are not detailed, and refer to the related descriptions in the embodiments, which are not described herein.
Through a large number of tests, the technical scheme of the invention is adopted, and whether the current of the wire detected by the current sensor is normal or not is judged by passing the electrified wire through the current sensor for the current sensor without bias, so that whether the current sensor without bias fails or not can be reliably detected, and the detection result is accurate.
According to an embodiment of the present invention, there is also provided a storage medium corresponding to the motor control method. The storage medium may include: the storage medium has stored therein a plurality of instructions; the plurality of instructions are used for loading and executing the motor control method by the processor.
Since the processing and functions implemented by the storage medium of this embodiment substantially correspond to the embodiments, principles, and examples of the methods shown in fig. 1 to fig. 4, details are not described in the description of this embodiment, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.
Through a large number of tests, the technical scheme of the invention is adopted, when any current sensor is detected to have interface looseness or faults, the main control unit executes fault shutdown action after detecting the faults, so that the phenomenon that the IGBT is exploded by overcurrent of the down converter under the condition of the fault of the current sensor is prevented, and the safety of the frequency converter and the motor is ensured.
According to an embodiment of the present invention, there is also provided a motor corresponding to the motor control method. The motor may include: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; wherein the plurality of instructions are for being stored by the memory and loaded by the processor and executing the motor control method described above.
Since the processing and functions implemented by the motor of this embodiment substantially correspond to the embodiments, principles and examples of the methods shown in fig. 1 to 4, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.
Through a large number of tests, the technical scheme of the invention is adopted, when the current sensor fails or the wiring terminal is loosened, the current sensor has no output signal or abnormal bias voltage, the current sensor is reported to have a fault, the motor is not started to operate, and the frequency converter and the motor can be protected.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A motor control method, comprising:
acquiring a current detection signal of a current sensor at a rectifier and/or an inverter of the motor; if the current sensor is a biased current sensor, the current detection signal is a first detection signal output by the biased current sensor; if the current sensor is a current sensor without bias, the current detection signal is a second detection signal which is output after the current sensor without bias detects the electrified lead;
determining whether a fault exists in the current sensor at the rectifier and/or the inverter of the motor according to the current detection signal of the current sensor at the rectifier and/or the inverter of the motor;
if the current sensors at the rectifier and/or the inverter of the motor have faults, controlling the motor to stop, and initiating a reminding message of the faults of the current sensors at the rectifier and/or the inverter of the motor;
and if the current sensor at the rectifier and/or the inverter of the motor has no fault, controlling the motor to start.
2. The method of claim 1, wherein,
in case the current sensor is a biased current sensor, obtaining a present detection signal of the current sensor at a rectifier and/or an inverter of the electric machine, comprising:
under the condition that the motor is not started, detecting a zero offset voltage of the biased current sensor to use the zero offset voltage of the biased current sensor as a first detection signal output by the biased current sensor;
alternatively, the first and second electrodes may be,
in the case where the current sensor at the rectifier and/or inverter of the electric machine is a current sensor without an offset, acquiring a present detection signal of the current sensor at the rectifier and/or inverter of the electric machine, including:
under the condition that the motor is not started, controlling the switch unit to be electrified to electrify the lead;
when the conducting wire is electrified, an electrified voltage signal of the current sensor without bias to the electrified conducting wire is obtained through sampling by the sampling unit, so that the electrified voltage signal of the current sensor without bias to the electrified conducting wire is used as a second detection signal output after the current sensor without bias detects the electrified conducting wire.
3. The method according to claim 2, wherein the lead, the sampling unit and the switching unit are sequentially disposed between the current sensor without bias and a driving circuit of the motor; the wire passes through the current sensor without bias.
4. The method according to any one of claims 1 to 3, wherein,
in the case where the current sensor is a biased current sensor, determining whether there is a fault with the current sensor at a rectifier and/or an inverter of the electric machine includes:
determining whether a first detection signal output by a current sensor with bias belongs to a set normal bias signal range or not;
if the first detection signal output by the current sensor with the bias is zero or the first detection signal output by the current sensor with the bias does not belong to the set normal bias signal range, determining that the current sensor with the bias has a fault;
alternatively, the first and second electrodes may be,
in the case where the current sensor at the rectifier and/or inverter of the electric machine is a current sensor without an offset, determining whether there is a fault with the current sensor at the rectifier and/or inverter of the electric machine includes:
determining whether a second detection signal output by the current sensor without bias after detecting the electrified lead belongs to a set target signal range;
and if the second detection signal output by the current sensor without bias after detecting the electrified lead does not belong to the set target signal range, determining that the current sensor without bias has a fault.
5. A motor control apparatus, comprising:
an acquisition unit for acquiring a current detection signal of a current sensor at a rectifier and/or an inverter of the motor; if the current sensor is a biased current sensor, the current detection signal is a first detection signal output by the biased current sensor; if the current sensor is a current sensor without bias, the current detection signal is a second detection signal which is output after the current sensor without bias detects the electrified lead;
a determination unit for determining whether there is a fault in the current sensor at the rectifier and/or inverter of the motor according to a current detection signal of the current sensor at the rectifier and/or inverter of the motor;
the control unit is used for controlling the motor to stop if the current sensor at the rectifier and/or the inverter of the motor has a fault, and initiating a reminding message of the fault of the current sensor at the rectifier and/or the inverter of the motor;
the control unit is also used for controlling the motor to start if the current sensor at the rectifier and/or the inverter of the motor has no fault.
6. The apparatus of claim 5, wherein,
the acquiring unit acquires a current detection signal of a current sensor at a rectifier and/or an inverter of the motor in the case that the current sensor is a biased current sensor, including:
under the condition that the motor is not started, detecting a zero offset voltage of the biased current sensor to use the zero offset voltage of the biased current sensor as a first detection signal output by the biased current sensor;
alternatively, the first and second electrodes may be,
the acquiring unit acquires a current detection signal of a current sensor at a rectifier and/or an inverter of the motor in the case that the current sensor at the rectifier and/or the inverter of the motor is a current sensor without bias, and includes:
under the condition that the motor is not started, controlling the switch unit to be electrified to electrify the lead;
when the conducting wire is electrified, an electrified voltage signal of the current sensor without bias to the electrified conducting wire is obtained through sampling by the sampling unit, so that the electrified voltage signal of the current sensor without bias to the electrified conducting wire is used as a second detection signal output after the current sensor without bias detects the electrified conducting wire.
7. The apparatus of claim 6, wherein the lead, the sampling unit and the switching unit are sequentially disposed between the current sensor without bias and a driving circuit of the motor; the wire passes through the current sensor without bias.
8. The apparatus of any one of claims 5 to 7, wherein,
the determining unit determines whether there is a fault in a current sensor at a rectifier and/or an inverter of the motor in the case where the current sensor is a biased current sensor, including:
determining whether a first detection signal output by a current sensor with bias belongs to a set normal bias signal range or not;
if the first detection signal output by the current sensor with the bias is zero or the first detection signal output by the current sensor with the bias does not belong to the set normal bias signal range, determining that the current sensor with the bias has a fault;
alternatively, the first and second electrodes may be,
the determining unit determines whether there is a fault in the current sensor at the rectifier and/or the inverter of the motor in a case where the current sensor at the rectifier and/or the inverter of the motor is a current sensor without an offset, including:
determining whether a second detection signal output by the current sensor without bias after detecting the electrified lead belongs to a set target signal range;
and if the second detection signal output by the current sensor without bias after detecting the electrified lead does not belong to the set target signal range, determining that the current sensor without bias has a fault.
9. An electric machine, comprising: the motor control device according to any one of claims 5 to 8;
alternatively, the first and second electrodes may be,
the method comprises the following steps:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the plurality of instructions are for storage by the memory and for loading and execution by the processor of the motor control method of any of claims 1-4.
10. A storage medium having a plurality of instructions stored therein; the plurality of instructions for being loaded by a processor and executing the motor control method of any of claims 1-4.
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| CN117491934A (en) * | 2023-12-29 | 2024-02-02 | 锦浪科技股份有限公司 | Sensor fault detection method, system and photovoltaic system |
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