CN111371358A - Running state determination method and system, motor, water pump, vehicle and storage medium - Google Patents
Running state determination method and system, motor, water pump, vehicle and storage medium Download PDFInfo
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- CN111371358A CN111371358A CN201811506664.XA CN201811506664A CN111371358A CN 111371358 A CN111371358 A CN 111371358A CN 201811506664 A CN201811506664 A CN 201811506664A CN 111371358 A CN111371358 A CN 111371358A
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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
- 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
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention provides an operation state determination method, an operation state determination system, a motor, a water pump, a vehicle, and a computer-readable storage medium. The operation state determination method comprises the following steps: acquiring operation parameters and motor parameters of a motor; determining the command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in a locked-rotor state or not can be judged by calculation according to the obtained running parameters and the prestored motor parameters, so that the system cost is not increased, and the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an operation state determination method, an operation state determination system, a motor, a water pump, a vehicle and a computer readable storage medium.
Background
Generally, an electronic water pump of an automobile may not be operated due to the blockage of a foreign object at a motor shaft during use. When the water pump motor is locked up, if the motor cannot be found and processed in time, the motor can be burnt out, and the water pump is damaged.
Therefore, there is a need for a method for detecting a locked-rotor of a motor, which can be implemented simply and accurately.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes an operating state determination method.
A second aspect of the invention proposes an operating state determination system.
A third aspect of the invention provides an electric machine.
A fourth aspect of the invention provides a water pump.
A fifth aspect of the invention proposes a vehicle.
A sixth aspect of the invention is directed to a computer-readable storage medium.
In view of this, a first aspect of the present invention provides an operation state determination method for determining whether a motor is in a locked-rotor state, the operation state determination method including: acquiring operation parameters and motor parameters of a motor; determining the command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
In the technical scheme, the operation parameters of the water pump motor are acquired in real time through a control circuit, and meanwhile, the motor parameters prestored in a memory are acquired; the instruction voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile the actual locked rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. By calculating the difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, when the difference value meets the preset condition, the current motor can be judged to be in the locked-rotor state. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, whether the water pump motor is in a locked-rotor state can be judged by calculation according to the obtained running parameters and the prestored motor parameters, and no additional sensor is required to be arranged in a control circuit and the motor, so that the system cost is not increased, and the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Specifically, the motor is a permanent magnet synchronous motor, is applied to an electronic water pump of an automobile, and is started in a control mode of a speed loop open loop and a current loop closed loop. After the motor is started, the control circuit detects the operation parameters of the motor in real time and calculates the instruction voltage amplitude of the motor according to the operation parameters; meanwhile, motor parameters prestored in a storage medium inherited from the main control board are obtained, and the locked rotor theoretical voltage amplitude of the current motor is calculated by combining the operation parameters and the motor parameters; and calculating the difference value between the current instruction voltage amplitude and the current running voltage amplitude in real time, and when the difference value meets a preset condition, indicating that the current motor is in a locked-rotor state, sending a warning prompt to a vehicle main control system by a motor control circuit, and acquiring a corresponding solution.
In addition, the method for determining the operating state in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, further, before the step of determining the command voltage amplitude of the motor and determining the locked rotor theoretical voltage amplitude of the motor, the operation state determining method further includes: controlling the motor to start to operate by adopting a speed open-loop and current closed-loop control method; establishing an assumed coordinate axis of the motor, wherein the assumed coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction; and controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In the technical scheme, the motor is started by adopting a speed open loop and current closed loop control method, and an assumed coordinate axis of the motor is established, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction. The current value of a q axis on an assumed coordinate axis is controlled to be a first preset current value, the current value of a d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of a rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be judged through calculation of running parameters and motor parameters of the motor, so that locked-rotor judgment with low cost, simplicity in calculation, accuracy in judgment and high reliability in judgment is achieved.
In any of the above technical solutions, further, the step of determining the command voltage amplitude of the motor according to the operation parameter specifically includes: acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis; and calculating the command voltage amplitude according to the first voltage value and the second voltage value.
In the technical scheme, after the operation parameters are obtained, a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis are obtained according to the operation parameters, and the command voltage amplitude is calculated through the following formula:
wherein, | usI is the command voltage amplitude, udIs a first voltage value, uqIs the second voltage value.
In any of the above technical solutions, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the method comprises the following steps of determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters, and specifically comprises the following steps: and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In the technical scheme, the prestored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked rotor theoretical voltage amplitude is calculated by the following formula:
wherein the content of the first and second substances,
for locked-rotor theoretical voltage amplitude, icmdIs a first predetermined current value, ωtAt a predetermined rotational speed, LsIs the inductance value of the motor, RsIs the resistance value of the motor.
In any of the above technical solutions, further, the preset conditions are: within the preset time length, the absolute value of the difference value is continuously smaller than the preset threshold value.
In the technical scheme, a difference value between an instruction voltage amplitude and a locked rotor theoretical voltage amplitude is calculated in real time according to an operation parameter obtained in real time and a prestored motor parameter, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time that the above formula is established exceeds the preset duration, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, | usL is the command voltage amplitude,
and epsilon is a preset threshold value for the locked rotor theoretical voltage amplitude.
A second aspect of the present invention provides an operation state determination system for determining whether a motor is in a locked-rotor state, the operation state determination system including: the device comprises an acquisition module and a control module, wherein the acquisition module is used for acquiring the operation parameters and motor parameters of the motor; the control module is used for determining the command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude value of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
In the technical scheme, the operation parameters of the water pump motor are acquired in real time through a control circuit, and meanwhile, the motor parameters prestored in a memory are acquired; the instruction voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile the actual locked rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. By calculating the difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, when the difference value meets the preset condition, the current motor can be judged to be in the locked-rotor state. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, whether the water pump motor is in a locked-rotor state can be judged by calculation according to the obtained running parameters and the prestored motor parameters, and no additional sensor is required to be arranged in a control circuit and the motor, so that the system cost is not increased, and the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In the above technical solution, further, the control module is further configured to: controlling the motor to start to operate by adopting a speed open-loop and current closed-loop control method; establishing an assumed coordinate axis of the motor, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction; and controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In the technical scheme, the motor is started by adopting a speed open loop and current closed loop control method, and an assumed coordinate axis of the motor is established, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction. The current value of a q axis on an assumed coordinate axis is controlled to be a first preset current value, the current value of a d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of a rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be judged through calculation of running parameters and motor parameters of the motor, so that locked-rotor judgment with low cost, simplicity in calculation, accuracy in judgment and high reliability in judgment is achieved.
In any of the above technical solutions, further, the obtaining module is further configured to obtain a first voltage value of a d-axis and a second voltage value of a q-axis on the assumed coordinate axis; the control module is further configured to calculate a command voltage magnitude based on the first voltage value and the second voltage value.
In the technical scheme, after the operation parameters are obtained, a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis are obtained according to the operation parameters, and the command voltage amplitude is calculated through the following formula:
wherein, | usI is the command voltage amplitude, udIs a first voltage value, uqIs the second voltage value.
In any of the above technical solutions, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the control module is further used for calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In the technical scheme, the prestored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked rotor theoretical voltage amplitude is calculated by the following formula:
wherein the content of the first and second substances,
for locked-rotor theoretical voltage amplitude, icmdIs a first predetermined current value, ωtAt a predetermined rotational speed, LsIs the inductance value of the motor, RsIs the resistance value of the motor.
In any of the above technical solutions, further, the preset conditions are: within the preset time length, the absolute value of the difference value is continuously smaller than the preset threshold value.
In the technical scheme, a difference value between an instruction voltage amplitude and a locked rotor theoretical voltage amplitude is calculated in real time according to an operation parameter obtained in real time and a prestored motor parameter, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time that the above formula is established exceeds the preset duration, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, | usL is the command voltage amplitude,
and epsilon is a preset threshold value for the locked rotor theoretical voltage amplitude.
A third aspect of the invention provides an electrical machine comprising an operating condition determining system as described in any one of the above claims, whereby the electrical machine comprises all the advantageous effects of the operating condition determining system as described in any one of the above claims.
A fourth aspect of the present invention provides a water pump comprising an operating condition determining system as described in any one of the above technical solutions; and/or the motor according to any of the above-mentioned embodiments, whereby the water pump comprises all the advantageous effects of the operation state determination system according to any of the above-mentioned embodiments and/or the motor according to any of the above-mentioned embodiments.
A fifth aspect of the invention provides a vehicle including an operating state determining system as defined in any one of the above claims; and/or the water pump as described in any of the above claims, whereby the vehicle comprises all the advantages of the operation state determination system as described in any of the above claims and/or the water pump as described in any of the above claims.
A sixth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the operation state determination method according to any one of the above-mentioned aspects, and therefore, includes all the advantageous effects of the operation state determination method according to any one of the above-mentioned aspects.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a flow diagram of an operational status determination method according to one embodiment of the invention;
FIG. 2 shows a flow diagram of an operational status determination method according to another embodiment of the present invention;
FIG. 3 shows a flow diagram of an operational status determination method according to yet another embodiment of the present invention;
FIG. 4 illustrates a block diagram of an operating condition determination system according to yet another embodiment of the present invention.
FIG. 5 shows a schematic diagram of an operational status determination system according to one embodiment of the present invention;
FIG. 6 shows a motor voltage diagram during normal rotation of a motor rotor according to an embodiment of the invention;
FIG. 7 illustrates a hypothetical coordinate axis vector plot of motor voltage when the motor rotor is rotating normally according to one embodiment of the present invention;
FIG. 8 is a schematic diagram of motor voltages when the motor is in a locked rotor state according to one embodiment of the present invention;
fig. 9 shows a hypothetical coordinate axis vector plot of motor voltage when the motor is in a stalled state, according to one embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The operation state determination method, the operation state determination system, the motor, the water pump, the vehicle, and the computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 9.
As shown in fig. 1, in an embodiment of the first aspect of the present invention, there is provided an operation state determination method for determining whether a motor is in a locked-rotor state, the operation state determination method including:
s102, acquiring operation parameters and motor parameters of a motor;
s104, determining the command voltage amplitude of the motor according to the operation parameters;
s106, determining a locked rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters;
and S108, calculating a difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as a locked-rotor state based on a comparison result that the difference value meets a preset condition.
In the embodiment, the operation parameters of the water pump motor are acquired in real time through the control circuit, and meanwhile, the motor parameters prestored in the memory are acquired; the instruction voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile the actual locked rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. By calculating the difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, when the difference value meets the preset condition, the current motor can be judged to be in the locked-rotor state. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, whether the water pump motor is in a locked-rotor state can be judged by calculation according to the obtained running parameters and the prestored motor parameters, and no additional sensor is required to be arranged in a control circuit and the motor, so that the system cost is not increased, and the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Specifically, the motor is a permanent magnet synchronous motor, is applied to an electronic water pump of an automobile, and is started in a control mode of a speed loop open loop and a current loop closed loop. After the motor is started, the control circuit detects the operation parameters of the motor in real time and calculates the instruction voltage amplitude of the motor according to the operation parameters; meanwhile, motor parameters prestored in a storage medium inherited from the main control board are obtained, and the locked rotor theoretical voltage amplitude of the current motor is calculated by combining the operation parameters and the motor parameters; and calculating the difference value between the current instruction voltage amplitude and the current running voltage amplitude in real time, and when the difference value meets a preset condition, indicating that the current motor is in a locked-rotor state, sending a warning prompt to a vehicle main control system by a motor control circuit, and acquiring a corresponding solution.
In an embodiment of the present invention, further, as shown in fig. 2, before the steps of determining the magnitude of the command voltage of the motor and determining the magnitude of the locked-rotor theoretical voltage of the motor, the operation state determining method includes:
s202, controlling a motor to start to operate by adopting a speed open-loop and current closed-loop control method;
s204, establishing an assumed coordinate axis of the motor;
and S206, controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In the embodiment, the motor is started by adopting a speed open-loop and current closed-loop control method, an assumed coordinate axis of the motor is established, the assumed coordinate axis comprises a d axis and a q axis, wherein the q axis leads the d axis by 90 degrees in the anticlockwise direction, the current value of the q axis on the assumed coordinate axis is controlled to be a first preset current value, the current value of the d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of a rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be calculated and judged through the operation parameters of the motor and the parameters of the motor, so that locked-rotor judgment with low cost, simplicity in calculation.
Preferably, the second preset current value is 0.
In an embodiment of the present invention, as shown in fig. 3, the step of determining the command voltage amplitude of the motor according to the operation parameter specifically includes:
s302, acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis;
s304, calculating the command voltage amplitude according to the first voltage value and the second voltage value.
In this embodiment, after the operation parameters are obtained, a first voltage value of the d-axis and a second voltage value of the q-axis on the assumed coordinate axis are obtained according to the operation parameters, and the command voltage amplitude is calculated by the following formula:
wherein, | usI is the command voltage amplitude, udIs a first voltage value, uqIs the second voltage value.
In one embodiment of the invention, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the method comprises the following steps of determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters, and specifically comprises the following steps: and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In this embodiment, the prestored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked rotor theoretical voltage amplitude is calculated by the following formula:
wherein the content of the first and second substances,
for locked-rotor theoretical voltage amplitude, icmdIs a first predetermined current value, ωtAt a predetermined rotational speed, LsIs the inductance value of the motor, RsIs the resistance value of the motor.
In an embodiment of the present invention, further, the preset condition is: within the preset time length, the absolute value of the difference value is continuously smaller than the preset threshold value.
In this embodiment, the difference between the command voltage amplitude and the locked rotor theoretical voltage amplitude is calculated in real time according to the real-time acquired operating parameters and the pre-stored motor parameters, and if the difference is smaller than the preset threshold, the following formula is satisfied:
and the duration time that the above formula is established exceeds the preset duration, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, | usL is the command voltage amplitude,
and epsilon is a preset threshold value for the locked rotor theoretical voltage amplitude.
As shown in fig. 4, in an embodiment of the fourth aspect of the present invention, there is provided an operation state determination system 400 for determining whether a motor is in a locked-rotor state, the operation state determination system 400 including: the system comprises an acquisition module 402 and a control module 404, wherein the acquisition module 402 is used for acquiring the operation parameters and motor parameters of the motor; the control module 404 is configured to determine a commanded voltage amplitude for the motor based on the operating parameter; determining a locked-rotor theoretical voltage amplitude value of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
In the embodiment, the operation parameters of the water pump motor are acquired in real time through the control circuit, and meanwhile, the motor parameters prestored in the memory are acquired; the instruction voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile the actual locked rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. By calculating the difference value between the instruction voltage amplitude and the locked-rotor theoretical voltage amplitude, when the difference value meets the preset condition, the current motor can be judged to be in the locked-rotor state. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, whether the water pump motor is in a locked-rotor state can be judged by calculation according to the obtained running parameters and the prestored motor parameters, and no additional sensor is required to be arranged in a control circuit and the motor, so that the system cost is not increased, and the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In an embodiment of the present invention, further, the control module is further configured to: controlling the motor to start to operate by adopting a speed open-loop and current closed-loop control method; establishing an assumed coordinate axis of the motor, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction; and controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In this embodiment, the motor is started by a speed open loop and current closed loop control method, and assumed coordinate axes of the motor are established, wherein the coordinate axes comprise a d axis and a q axis, and the q axis leads the d axis by 90 degrees in a counterclockwise direction. The current value of a q axis on an assumed coordinate axis is controlled to be a first preset current value, the current value of a d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of a rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be judged through calculation of running parameters and motor parameters of the motor, so that locked-rotor judgment with low cost, simplicity in calculation, accuracy in judgment and high reliability in judgment is achieved.
Preferably, the second preset current value is 0.
In an embodiment of the present invention, further, the obtaining module is further configured to obtain a first voltage value of a d-axis and a second voltage value of a q-axis on the assumed coordinate axis; the control module is further configured to calculate a command voltage magnitude based on the first voltage value and the second voltage value.
In this embodiment, after the operation parameters are obtained, a first voltage value of the d-axis and a second voltage value of the q-axis on the assumed coordinate axis are obtained according to the operation parameters, and the command voltage amplitude is calculated by the following formula:
wherein, | usI is the command voltage amplitude, udIs a first voltage value, uqIs the second voltage value.
In one embodiment of the invention, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the control module is further used for calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In this embodiment, the prestored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked rotor theoretical voltage amplitude is calculated by the following formula:
wherein the content of the first and second substances,
for locked-rotor theoretical voltage amplitude, icmdIs a first predetermined current value, ωtAt a predetermined rotational speed, LsIs the inductance value of the motor, RsIs the resistance value of the motor.
In an embodiment of the present invention, further, the preset condition is: within the preset time length, the absolute value of the difference value is continuously smaller than the preset threshold value.
In the technical scheme, a difference value between an instruction voltage amplitude and a locked rotor theoretical voltage amplitude is calculated in real time according to an operation parameter obtained in real time and a prestored motor parameter, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time that the above formula is established exceeds the preset duration, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, | usL is the command voltage amplitude,
and epsilon is a preset threshold value for the locked rotor theoretical voltage amplitude.
In an embodiment of the present invention, further, the operation state control system is specifically as shown in fig. 5, and controls the d-axis current to be 0 and the q-axis current to be icmdSo that the motor is driven by omegatIs run at the rotational speed of (1). The control system acquires the operation parameters of the motor in real time, and specifically comprises a q-axis current icmdD-axis voltage udAnd q-axis voltage uq(ii) a Meanwhile, prestored motor parameters including the inductance L of the motor are obtained from a storage mediumsAnd resistance value RsAfter, by equation ①:
calculating the current command voltage amplitude | u of the motorsAnd further by equation ②:
calculating the current locked-rotor theoretical voltage amplitude of the motor
Further, the absolute value of the difference between ① and ② is calculated, and whether the difference satisfies the following formula is determined:
when the duration time of the establishment of the above formula exceeds the preset time length T, the current water pump motor is judged to be in a locked-rotor state. Wherein epsilon is a preset threshold value.
Specifically, in the above calculation process, if the rotor is rotated normally, a back electromotive force e shown in fig. 6 is generated in the motor0At this time, the coordinates are assumedOn the axis at electromotive force e0Under the action of (2), the voltage u of the motorsAs shown in FIG. 7, while receiving ω Lsis、Rsis、isAnd e0A total of four component effects.
When the rotor is locked, no back electromotive force is generated, as shown in fig. 8, the voltage u of the motor is equal to the voltage usAs shown in fig. 9, subject only to ω Lsis、RsisAnd isThe influence of the three components.
Therefore, the voltage u in the motor is dependent on the motor voltage when the rotor is rotating normally and in stallsThe difference can accurately judge whether the current motor is in a locked-rotor state.
In an embodiment of the third aspect of the present invention there is provided an electrical machine comprising an operating condition determining system as described in any one of the embodiments above, whereby the electrical machine comprises all the benefits of an operating condition determining system as described in any one of the embodiments above.
In an embodiment of a fourth aspect of the present invention, there is provided a water pump comprising an operating condition determining system as described in any one of the embodiments above; and/or the motor as described in any of the above embodiments, whereby the water pump comprises all the advantageous effects of the operation state determination system as described in any of the above embodiments and/or the motor as described in any of the above embodiments.
In an embodiment of a fifth aspect of the invention, there is provided a vehicle comprising an operating state determining system as described in any one of the above embodiments; and/or a water pump as described in any of the embodiments above, whereby the vehicle comprises all the advantageous effects of the operation state determination system as described in any of the embodiments above and/or the water pump as described in any of the embodiments above.
In an embodiment of the sixth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the operation state determination method as described in any one of the above embodiments, and therefore, includes all the advantageous effects of the operation state determination method as described in any one of the above embodiments.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. An operation state determination method for determining whether a motor is in a locked state, characterized by comprising:
acquiring the operation parameters and the motor parameters of the motor;
determining the command voltage amplitude of the motor according to the operation parameters;
determining a locked-rotor theoretical voltage amplitude value of the motor according to the operation parameters and the motor parameters;
and calculating a difference value between the instruction voltage amplitude value and the locked-rotor theoretical voltage amplitude value, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
2. The operating condition determining method according to claim 1, characterized in that, prior to the steps of determining the command voltage magnitude of the motor and determining the locked-rotor theoretical voltage magnitude of the motor, the operating condition determining method further comprises:
controlling the motor to start to operate by adopting a speed open-loop and current closed-loop control method;
establishing an assumed coordinate axis of the motor, wherein the assumed coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees in the anticlockwise direction;
and controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
3. The operating state determining method according to claim 2, wherein the step of determining the commanded voltage magnitude of the electric machine based on the operating parameter is specifically:
acquiring a first voltage value of the d axis and a second voltage value of the q axis on the assumed coordinate axis;
and calculating the command voltage amplitude according to the first voltage value and the second voltage value.
4. The operating state determination method according to claim 2, wherein the motor parameter includes: an inductance value of the motor and a resistance value of the motor;
the step of determining the locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters specifically comprises:
and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
5. The operating state determination method according to any one of claims 1 to 4, characterized in that the preset condition is:
and within a preset time length, the absolute value of the difference value is continuously smaller than a preset threshold value.
6. An operating condition determining system for determining whether a motor is in a locked-rotor state, the operating condition determining system comprising:
the acquisition module is used for acquiring the operation parameters and the motor parameters of the motor;
the control module is used for determining the command voltage amplitude of the motor according to the operation parameters; and
determining a locked-rotor theoretical voltage amplitude value of the motor according to the operation parameters and the motor parameters;
and calculating a difference value between the instruction voltage amplitude value and the locked-rotor theoretical voltage amplitude value, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
7. The operating condition determination system of claim 6, wherein the control module is further configured to:
controlling the motor to start to operate by adopting a speed open-loop and current closed-loop control method;
establishing an assumed coordinate axis of the motor by taking the magnetic field direction of a rotor of the motor as a q axis and taking any direction perpendicular to the magnetic field direction as a d axis, wherein the assumed coordinate axis comprises the d axis and the q axis, and the q axis leads the d axis by 90 degrees along the counterclockwise direction;
and controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
8. The operating condition determining system according to claim 7, further comprising:
the obtaining module is further configured to obtain a first voltage value of the d axis and a second voltage value of the q axis on the assumed coordinate axis;
the control module is further configured to calculate the command voltage amplitude according to the first voltage value and the second voltage value.
9. The operating condition determining system according to claim 7,
the motor parameters include: an inductance value of the motor and a resistance value of the motor; and
the control module is further configured to calculate the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
10. The operation state determination system according to any one of claims 6 to 9, wherein the preset condition is:
and within a preset time length, the absolute value of the difference value is continuously smaller than a preset threshold value.
11. An electric machine, characterized in that the electric machine comprises an operating state determining system according to any one of claims 6 to 10.
12. A water pump characterized by comprising an operation state determination system according to any one of claims 6 to 10; and/or
The electric machine of claim 11.
13. A vehicle characterized by comprising the running state determination system according to any one of claims 6 to 10; and/or
The water pump of claim 12.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the operation state determination method according to any one of claims 1 to 5.
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| CN111371358B (en) | 2023-05-26 |
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