CN111398809B - Motor stator winding open-phase detection method and device and motor controller - Google Patents

Motor stator winding open-phase detection method and device and motor controller Download PDF

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Publication number
CN111398809B
CN111398809B CN202010163917.9A CN202010163917A CN111398809B CN 111398809 B CN111398809 B CN 111398809B CN 202010163917 A CN202010163917 A CN 202010163917A CN 111398809 B CN111398809 B CN 111398809B
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current
phase
value
motor
threshold
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CN111398809A (en
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李岷舣
金会明
康爱红
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Beijing Power Supply New Energy Technology Co ltd
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Beijing Power Supply New Energy Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/346—Testing of armature or field windings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/16—Measuring asymmetry of polyphase networks
    • 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
    • H02P27/08—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 with pulse width modulation
    • H02P27/085—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 with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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
    • H02P27/08—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 with pulse width modulation
    • H02P27/12—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 with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

Abstract

The embodiment of the application discloses a motor stator winding open-phase detection method, a motor stator winding open-phase detection device and a motor controller, relates to the technical field of detection, and aims to improve the accuracy of motor stator winding open-phase detection. The method comprises the following steps: acquiring a current instantaneous value sequence flowing through a first corresponding winding of a motor stator in a current control period; acquiring a comparison value of first corresponding PWM wave turnover and a period value of the PWM wave in a current control period; judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value; if the ratio is not between the first threshold value and the second threshold value, calculating the number of the current instantaneous values which continuously appear in the current instantaneous value sequence and are between the third threshold value and the fourth threshold value; judging whether the number is larger than a preset number or not; and if the number is larger than the preset number, determining that the first phase has the phase failure. The application is suitable for the motor stator winding to carry out the phase loss detection.

Description

Motor stator winding open-phase detection method and device and motor controller
Technical Field
The application relates to the technical field of detection, in particular to a motor stator winding open-phase detection method and device and a motor controller.
Background
The motor is used as an important component of a dragging system and is widely applied in various industries, and in the running process of the motor, once the motor has a phase failure, the problems of serious jitter, power reduction, noise increase and the like can occur, the motor is more serious and even possible to cause short circuit, and further the motor is burnt due to overlarge current and overlarge heat productivity of the motor, so that the whole dragging system is seriously influenced. In order to avoid the occurrence of serious consequences caused by the phase loss of the motor, in the prior art, the current in a motor winding is detected by arranging a current sensor, and if the collected instantaneous value of the current of a certain phase is 0 value, the phase loss fault of the motor is judged. However, when the motor works normally, the voltage applied to the motor winding is a sine wave, and the sine wave itself has a moment when the current value is zero or close to zero appears many times, so that when the motor is in phase failure detection, misjudgment easily occurs, and the detection result is inaccurate.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for detecting a phase loss of a stator winding of a motor, and a motor controller, which can improve accuracy of detecting a phase loss of a stator winding of a motor.
In a first aspect, an embodiment of the present application provides a method for detecting a phase loss of a stator winding of a motor, including: acquiring a current instantaneous value sequence flowing through a first corresponding winding of the stator of the motor in a current control period, wherein the current instantaneous value sequence comprises more than two current instantaneous values; acquiring a comparison value of first corresponding PWM wave turnover and a period value of the PWM wave in the current control period; judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value; if the ratio is not between the first threshold and the second threshold, calculating a number of consecutive occurrences of the current transient in the sequence of current transients between a third threshold and a fourth threshold; judging whether the number is larger than a preset number or not; and if the number is larger than the preset number, determining that the first phase has a phase failure.
According to a specific implementation manner of the embodiment of the present application, before it is determined that the first phase has the phase-missing fault if the number is greater than the predetermined number, the method further includes: acquiring PWM wave frequency, rotor rotating speed, frequency corresponding to current flowing through the first phase winding and rotor pole pair number corresponding to the current control period; and obtaining the preset number based on the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number.
According to a specific implementation manner of the embodiment of the present application, obtaining the predetermined number based on the PWM wave frequency, the rotor rotation speed, the frequency corresponding to the current flowing through the first phase winding, and the rotor pole pair number includes: determining the predetermined number according to the following formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a preset number, N1 is the number of PWM waves in each current period in the current control period, f1 is the carrier frequency of the PWM waves in the current control period, N is the motor speed in the current control period, and p is the number of rotor pole pairs of the motor.
According to a specific implementation manner of the embodiment of the present application, the current instantaneous value is a current instantaneous value obtained by calibrating an actual current instantaneous value.
According to a specific implementation manner of the embodiment of the present application, after it is determined that the phase-missing fault occurs in the first phase, the method further includes: and sending the information that the first phase has the phase-missing fault.
In a second aspect, an embodiment of the present application provides a device for detecting a phase loss of a stator winding of a motor, including: the motor stator instantaneous value sequence comprises a first acquisition module, a second acquisition module, a first judgment module, a calculation module, a second judgment module and a determination module, wherein the first acquisition module is used for acquiring a current instantaneous value sequence which flows through a first corresponding winding of the motor stator in a current control period, and the current instantaneous value sequence comprises more than two current instantaneous values; the second obtaining module is used for obtaining a comparison value of the first corresponding PWM wave turnover and a period value of the PWM wave in the current control period; the first judging module is used for judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value; the calculating module is configured to calculate, if the ratio is not between the first threshold and the second threshold, a number of consecutive occurrences of the current transient in the sequence of current transients between a third threshold and a fourth threshold; the second judging module is used for judging whether the number is larger than the preset number; and the determining module is used for determining that the first phase has the phase failure if the number is larger than the preset number.
According to a specific implementation manner of the embodiment of the application, the method further includes: the third obtaining module is used for obtaining the PWM wave frequency corresponding to the current control period, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number; and the predetermined number obtaining module is used for obtaining the predetermined number based on the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number.
According to a specific implementation manner of the embodiment of the present application, the obtaining the predetermined number of modules includes:
determining the predetermined number according to the following formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a preset number, N1 is the number of PWM waves in each current period in the current control period, f1 is the carrier frequency of the PWM waves in the current control period, N is the motor speed in the current control period, and p is the number of rotor pole pairs of the motor.
According to a specific implementation manner of the embodiment of the present application, the current instantaneous value is a current instantaneous value obtained by calibrating an actual current instantaneous value.
According to a specific implementation manner of the embodiment of the application, the method further includes: and the sending module is used for sending the information that the first phase has the phase failure.
In a third aspect, an embodiment of the present application further provides a motor controller, including: the control device comprises a control component and a phase-lack detection component, wherein a current detection unit in the control component is used for being connected with a stator winding of the motor, an output end of the control component is used for being connected with the stator winding of the motor, and the phase-lack detection component is connected with the control component and is used for executing the method of any one of the preceding embodiments.
In the method, the apparatus, and the motor controller for detecting a phase loss of a winding of a motor stator provided in an embodiment of the present application, a current instantaneous value sequence flowing through a first corresponding winding of the motor stator in a current control period is obtained, where the current instantaneous value sequence includes more than two current instantaneous values, a comparison value of a first corresponding PWM wave inversion and a period value of the PWM wave in the current control period are obtained, whether a ratio between the comparison value and the period value is between a first threshold and a second threshold is determined, if the ratio is not between the first threshold and the second threshold, a current instantaneous value is determined, that is, a number of consecutive current instantaneous values between a third threshold and a fourth threshold in the current instantaneous value sequence is calculated, and when it is determined that N consecutive current instantaneous values are between the third threshold and the fourth threshold, and when N is more than the preset number, the phase-lack fault is judged to occur to the phase, so that the problem that the phase-lack fault is judged when the instantaneous value of the current is 0 in the prior art is solved, and the accuracy of detecting the phase-lack of the stator winding of the motor is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a simplified schematic diagram of a motor controller connected to a three-phase winding of a motor;
fig. 2 is a flowchart of a method for detecting a phase loss of a stator winding of a motor according to an embodiment of the present application;
FIG. 3 illustrates a method for detecting phase loss in a stator winding of a motor according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a phase loss detection device for a stator winding of a motor according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a motor controller according to an embodiment of the present application;
FIG. 6 is a block diagram of a motor controller according to an embodiment of the present application;
FIG. 7 is a schematic diagram of the SVPWM modulation mode of the voltage space vector in sector 1;
FIG. 8 is a graph showing comparison values for each switching cycle;
fig. 9 is a current waveform diagram.
Detailed Description
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a simplified schematic diagram of a motor controller connected to a three-phase winding of a motor, in a traction system, with the motor in operation, in order to meet the load requirement of the motor, a specific voltage needs to be applied to the stator winding of the motor so as to form a rotating magnetic field in the air gap of the stator, thereby driving the rotor to rotate according to a specific rotating speed, however, along with the change of the load, the voltage value input on the stator winding needs to be correspondingly adjusted, in order to meet the requirements, the motor is connected with the controller, Ia is the current value of the phase A of the motor, Ib is the current value of the phase B of the motor, Ic is the current value of the phase C of the motor, Udc is the voltage value of a direct current bus, V1-V6 are 6 power switch tubes of the controller, control signals control the magnitude of the voltage input to the stator winding of the motor through the 6 power switch tubes, and the voltage is in direct proportion to the current, and the current flowing into the three-phase winding is realized while the voltage is controlled.
The motor principle shows that the three-phase current sum of the motor is zero, i.e. Ia + Ib + Ic is 0. Therefore, when any phase is lack of phase, the other two phases of windings form a loop, the current values are equal, and the directions are opposite; when any two-phase or three-phase is lack of phase, no current flows in the three-phase winding of the motor, namely Ia, Ib, Ic and 0.
Fig. 2 is a flowchart of a method for detecting a phase loss of a stator winding of a motor according to an embodiment of the present application, and as shown in fig. 2, the method according to the present embodiment may include:
step 101, obtaining a current instantaneous value sequence flowing through a first corresponding winding of the stator of the motor in a current control period, wherein the current instantaneous value sequence comprises more than two current instantaneous values.
The motor stator can be provided with three-phase windings which are generally called as A phase, B phase and C phase;
in order to realize automatic control, the current flowing through the stator winding of the motor needs to be collected, the collected current is sent to the controller and is calculated and processed with a given current value to obtain a group of switching signals, and the switching-off or switching-on of the switching tube is controlled through the switching signals, so that the current corresponding to the switching signals flows through the motor winding, and thus, the current control period can be the duration time of the motor running according to the current corresponding to the group of switching signals; in one example, the waveform of the current flowing through the motor winding is a sine wave, and thus one current cycle is a cycle of the sine wave.
The instantaneous value of the current can be the current corresponding to each moment; in a current control period, the current flowing through one phase winding in the motor winding is collected according to the time sequence, and a current instantaneous value sequence can be obtained.
In one current control period, the collected current instantaneous value sequence includes more than two current instantaneous values, wherein the number of the current instantaneous values is more than 5, 100 or 1000.
In order to improve the accuracy of judging whether the stator winding is in a phase failure state, the current instantaneous value is a current instantaneous value obtained by calibrating an actual current instantaneous value.
Detecting the 0-point current value I of the three-phase winding before enabling the switch tube0Subtracting I from the sampled current value0The difference value is used as a current momentary value in the sequence of current momentary values.
And 102, acquiring a comparison value of first corresponding PWM wave inversion and a period value of the PWM wave in the current control period.
The PWM waveform output by the controller may form a predetermined voltage space vector according to the requirement, and calculate the wave inversion time of the high and low levels in one PWM wave period and one PWM wave period.
In one example, the PWM wave output by the controller is a bipolar PWM wave.
The calculation process of the comparison value of the PWM wave inversion and the period value of the PWM wave is the prior art, and is not described herein again.
In one example, the comparison value of the PWM wave inversion and the period value of the PWM wave can be obtained according to the current instantaneous value sequence in step 101.
In another example, before the current instantaneous value sequence in step 101, there is a group of current instantaneous value sequences corresponding to the previous current control period, and the comparison value of the PWM wave inversion and the period value of the PWM wave can be obtained according to the current instantaneous value sequence corresponding to the previous current control period.
And 103, judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value.
The first threshold value may be equal to or less than 0.5, and the second threshold value may be greater than 0.5. In one example, the first threshold may be 0.45, may be 0.4, may be 0.3, and so on; in another example, the second threshold may be 0.55, may be 0.6, or may be 0.7. In one example, the first threshold and the second threshold may both be 0.5.
In one example, when the PWM wave output by the controller is a bipolar PWM wave, and a ratio of a comparison value of inversion of the PWM wave to a period value of the PWM wave is between a first threshold and a second threshold, a current of the first phase winding corresponding to the PWM wave is 0.
In one example, when the PWM wave output by the controller is a bipolar PWM wave, and the ratio of the comparison value of the inversion of the PWM wave to the period value of the PWM wave is 0.5, the end voltage of the winding of a certain phase of the motor corresponding to the PWM wave is 1/2UDCAnd when the motor is operated, the voltage of the neutral point of the stator winding of the motor is 1/2UDCThen the voltages at the two ends of the phase winding are equal, i.e. the current flowing through the phase winding is 0, where UDCWhich is the dc voltage connected to the input of the inverter.
And 104, if the ratio is not between the first threshold and the second threshold, calculating the number of the current instantaneous values which continuously appear in the current instantaneous value sequence and are between a third threshold and a fourth threshold.
In one example, the third threshold may be equal to or less than 0, and the fourth threshold may be greater than 0, and in one example, the third threshold may be-0.3A, may be-0.5A, may be-1A, may be-2A, may be-3A, and may also be 0; in one example, the fourth threshold may be 0.3A, may be 0.5A, may be 1A, may be 2A, or may be 3A; in one example, the third threshold and the fourth threshold can both be 0, and in this case, the number of consecutive current transients that are 0 in the sequence of current transients is calculated.
Judging whether a first current instantaneous value in the current instantaneous value sequence is between a third threshold value and a fourth threshold value, if the first current instantaneous value is between the third threshold value and the fourth threshold value, recording the number as 1, then judging whether a second current instantaneous value is between the third threshold value and the fourth threshold value, if the second current instantaneous value is between the third threshold value and the fourth threshold value, adding 1 on the basis of the previous number, namely recording the number as 2; judging whether a first current instantaneous value in the current instantaneous value sequence is between a third threshold and a fourth threshold, if the first current instantaneous value is not between the third threshold and the fourth threshold, the number is recorded as 0, next, judging whether a second current instantaneous value is between the third threshold and the fourth threshold, if the second current instantaneous value is between the third threshold and the fourth threshold, adding 1 on the basis of the previous number, namely the number is recorded as 1, and if the second current instantaneous value is not between the third threshold and the fourth threshold, clearing the number and recording as 0; according to the above process, it is determined whether the other current instantaneous values in the current instantaneous value sequence are between the third threshold value and the fourth threshold value in sequence.
When the current transient is between the third threshold and the fourth threshold, the current transient at this time may be considered to be 0.
And 105, judging whether the number is larger than the preset number.
In one example, when the first current instantaneous value is between the third threshold value and the fourth threshold value, the number is recorded as 1, and 1 is compared with the preset number to judge whether the number is greater than the preset number; when the second instantaneous value is judged to be between the third threshold value and the fourth threshold value, the number is recorded as 2, the 2 is compared with the preset number, and whether the 2 is larger than the preset number is judged; and if the second instantaneous value is not between the third threshold value and the fourth threshold value, recording the number as 0, comparing 0 with the preset number, and judging whether the number 0 is greater than the preset number.
And 106, if the number is larger than the preset number, determining that the first phase has a phase failure.
And if N continuous current instantaneous values in a corresponding current instantaneous value sequence are between the third threshold value and the fourth threshold value and N is more than a preset number, the phase-lack fault occurs to the phase.
In one example, a phase-loss fault occurs for a phase if N consecutive current transients in a corresponding sequence of current transients are 0 and N is greater than a predetermined number.
In this embodiment, a current instantaneous value sequence flowing through a first corresponding winding of a stator of a motor in a current control period is obtained, where the current instantaneous value sequence includes more than two current instantaneous values, a comparison value of a first corresponding PWM wave inversion and a period value of a PWM wave in the current control period are obtained, whether a ratio of the comparison value to the period value is between a first threshold and a second threshold is determined, if the ratio is not between the first threshold and the second threshold, a current instantaneous value is determined, that is, a number of consecutive current instantaneous values between a third threshold and a fourth threshold in the current instantaneous value sequence is calculated, and when it is determined that N consecutive current instantaneous values are between the third threshold and the fourth threshold and N is greater than a predetermined number, it is determined that a phase fault occurs in the phase, therefore, the problem that in the prior art, when the instantaneous value of the current is 0, the phase-missing fault is judged, and the judgment is possibly misjudged is solved, and the accuracy of detecting the phase-missing of the stator winding of the motor is improved.
Fig. 3 is a method for detecting a phase loss of a stator winding of a motor according to another embodiment of the present application, referring to fig. 3, which is substantially the same as the process described in fig. 2, except that the method for detecting a phase loss of a first phase further includes, before determining that a phase loss fault occurs in the first phase if the number is greater than a predetermined number:
and 107, acquiring the PWM wave frequency and the rotor rotating speed corresponding to the current control period, and the frequency and the rotor pole pair number corresponding to the current flowing through the first-phase winding and the rotor pole pair number.
The magnetic poles of the rotor can be formed by current passing through the coils and can also be formed by permanent magnets, and the number of the magnetic poles is two times of the number of the pole pairs of the rotor in terms of value.
And 108, obtaining the preset number based on the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number.
In one example, the predetermined number may be determined according to the following equation:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a predetermined number, N1 is the number of PWM waves per current period in the one current control period, f1 is the carrier frequency of the PWM waves in the one current control period, N is the motor speed in the one current control period, and p is the number of pole pairs of the rotor of the motor.
A method for detecting a phase loss of a stator winding of a motor according to another embodiment of the present application is substantially the same as the process described in fig. 2, except that the method for detecting a phase loss of a stator winding of a motor according to this embodiment further includes, after determining that a phase loss fault occurs in the first phase: and sending the information that the first phase has the phase-missing fault.
When the phase-lack fault exists, the information that the phase-lack fault occurs in the first phase is sent, the control part can immediately close the switching tube to stop the output of the inverter, and meanwhile, the fault can be reported out to inform users that the phase-lack fault of the motor needs emergency treatment.
Fig. 4 is a schematic structural diagram of a phase loss detection apparatus for a stator winding of a motor according to an embodiment of the present application, and as shown in fig. 4, the apparatus according to the embodiment may include: a first obtaining module 11, a second obtaining module 12, a first judging module 13, a calculating module 14, a second judging module 15 and a determining module 16, wherein,
the first obtaining module 11 is configured to obtain a current instantaneous value sequence flowing through a first corresponding winding of the stator of the motor in a current control period, where the current instantaneous value sequence includes more than two current instantaneous values;
the second obtaining module 12 is configured to obtain a comparison value of first corresponding PWM wave inversion and a period value of the PWM wave in the current control period;
the first determining module 13 is configured to determine whether a ratio of the comparison value to the period value is between a first threshold and a second threshold;
the calculating module 14 is configured to calculate, if the ratio is not between the first threshold and the second threshold, a number of consecutive occurrences of the current transient in the sequence of current transients between a third threshold and a fourth threshold;
the second judging module 15 is configured to judge whether the number is greater than a predetermined number;
the determining module 16 is configured to determine that a phase-missing fault occurs in the first phase if the number is greater than a predetermined number.
The apparatus of this embodiment may be configured to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
In some examples, the apparatus further comprises: a third acquisition module 17 and a predetermined number deriving module 18, wherein,
the third obtaining module 17 is configured to obtain a PWM wave frequency, a rotor rotation speed, a frequency corresponding to a current flowing through the first phase winding, and a rotor pole pair number corresponding to the current control period;
the predetermined number obtaining module 18 is configured to obtain the predetermined number based on the PWM wave frequency, the rotor rotation speed, the frequency corresponding to the current flowing through the first phase winding, and the number of rotor pole pairs.
In some examples, the predetermined number of deriving modules includes:
determining the predetermined number according to the formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a predetermined number, N1 is the number of PWM waves per current period in the one current control period, f1 is the carrier frequency of the PWM waves in the one current control period, N is the motor speed in the one current control period, and p is the number of pole pairs of the rotor of the motor.
In some examples, the current transient is a current transient calibrated for an actual current transient.
In some examples, the apparatus further comprises: and the sending module is used for sending the information that the first phase has the phase failure.
An embodiment of the present application further provides a motor controller, fig. 5 is a schematic structural diagram of the motor controller according to an embodiment of the present application, and as shown in fig. 5, the motor controller includes: the device comprises a control part 21 and a phase-lack detection part 22, wherein a current detection unit in the control part 21 is used for being connected with a stator winding of the motor, an output end of the control part 21 is used for being connected with the stator winding of the motor, the phase-lack detection part 22 is connected with the control part 21, and the phase-lack detection part 22 is used for executing the method in any embodiment of the embodiment.
Fig. 6 is a block diagram of a motor controller according to an embodiment of the present application, fig. 7 is a schematic diagram of an SVPWM modulation mode of a voltage space vector in a sector 1, fig. 8 is a schematic diagram of a comparison value of each switching period, and fig. 9 is a current waveform diagram.
The control part includes: the device comprises a current detection module 21a, an MCU calculation module 21b, a voltage space vector SVPWM generation module 21c, a power tube driving module 21d and an inverter (not shown in the figure).
The current detection module 21a inputs the current detection values Ia, Ib and Ic of the motor into the MCU calculation module 21b of the control unit, inputs the processed current values into the voltage space vector SVPWM generation module 21c, and finally inputs the six PWM signals into the power tube driving module 21d to turn on and off the power tube so as to operate the motor.
The current detection module 21a also inputs the current detection values Ia, Ib and Ic to the open-phase detection information acquisition module 22a, and the SVPWM generation module inputs the comparison values CMPR1, CMPR2 and CMPR3 to the open-phase information detection module 22a, and the open-phase detection judgment module 22b judges whether the motor has an open phase according to the comparison value between the current value acquired by the open-phase detection information acquisition module and the PWM signal, and finally sends the fault information of the open phase to the open-phase fault processing module 22 c. If the phase-failure fault exists, the controller immediately stops outputting and reports the phase-failure fault of the motor.
For the SVPWM generation module in fig. 6, the modulation pattern diagram of SVPWM when the voltage space vector is in the 1 st sector is as shown in fig. 7, where PWM1, PWM2, and PWM3 are generated a-phase, B-phase, and C-phase PWM waveforms; taon, Tbon and Tcon are respectively comparison values taking time as a unit; CMPR1, CMPR2, CMPR3 are their corresponding quantized comparison values. Since the motor controller output adopts bipolar PWM modulation output, when the comparison value CMPRx is 0.5 times the PERIOD value PERIOD, the phase output current corresponding to the comparison value is zero.
According to FIG. 8, it is determined whether or not a comparison value CMPRx is in the phase-loss detection region, and when a comparison value CMPRx is [ CMPR ]Lower threshold value，CMPRUpper threshold value]If the comparison value CMPRx falls outside the area, corresponding phase current detection is carried out to judge whether the phase has a phase failure.
Imax and-Imax in FIG. 9 are the positive and negative peak values of the current, I, respectivelyThreshold valueIs a threshold value for current judgment. If it isSome comparison value CMPRx is below [ CMPR, above-CMPR]And detecting whether the sampled instantaneous value of the phase current is [ -I ]Threshold value，IThreshold value]In the interval, if the current control period is within the interval, corresponding count value accumulation is carried out, and if the absolute value of the sampled instantaneous value of the phase current is less than I for n times continuously in one current control periodThreshold valueThen the phase-missing fault can be determined. If the current phase-lack judgment condition is not met for N times, the current count value can be cleared, until the judgment condition is met for N times, the phase-lack fault can be determined, and the condition of misjudgment is avoided, wherein the numerical value of N is greater than the preset number.
Predetermined number determination formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a preset number, N1 is the number of PWM waves in each current period in the current control period, f1 is the carrier frequency of the PWM waves in the current control period, N is the motor speed in the current control period, and p is the number of rotor pole pairs of the motor.
When a phase failure fault occurs, the controller immediately closes the power tube, stops inversion output, reports the fault and informs users that the phase failure fault of the motor needs emergency treatment at the moment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A motor stator winding open-phase detection method is characterized by comprising the following steps:
acquiring a current instantaneous value sequence flowing through a first corresponding winding of the stator of the motor in a current control period, wherein the current instantaneous value sequence comprises more than two current instantaneous values;
acquiring a comparison value of first corresponding PWM wave turnover and a period value of the PWM wave in the current control period;
judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value;
if the ratio is not between the first threshold and the second threshold, calculating a number of consecutive occurrences of the current transient in the sequence of current transients between a third threshold and a fourth threshold;
judging whether the number is larger than a preset number or not;
and if the number is larger than the preset number, determining that the first phase has a phase-lack fault.
2. The method of claim 1, wherein before determining that the first phase has a phase loss fault if the number is greater than a predetermined number, the method further comprises:
acquiring the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number corresponding to the current control period;
and obtaining the preset number based on the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number.
3. The method according to claim 2, wherein the obtaining the predetermined number based on the PWM wave frequency, the rotor speed, the frequency corresponding to the current flowing through the first phase winding, and the rotor pole pair number comprises:
determining the predetermined number according to the following formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a predetermined number, N1 is the number of PWM waves per current period in the one current control period, f1 is the carrier frequency of the PWM waves in the one current control period, N is the motor speed in the one current control period, and p is the number of pole pairs of the rotor of the motor.
4. The method of claim 1, wherein the current transient is a current transient that is calibrated to an actual current transient.
5. The method of claim 1, wherein after determining that the first phase has a phase loss fault, the method further comprises: and sending the information that the first phase has the phase failure.
6. A motor stator winding phase loss detection device is characterized by comprising: a first obtaining module, a second obtaining module, a first judging module, a calculating module, a second judging module and a determining module, wherein,
the first obtaining module is configured to obtain a current instantaneous value sequence that flows through a first corresponding winding of the stator of the motor in a current control period, where the current instantaneous value sequence includes more than two current instantaneous values;
the second obtaining module is used for obtaining a comparison value of the first corresponding PWM wave turnover and a period value of the PWM wave in the current control period;
the first judging module is used for judging whether the ratio of the comparison value to the period value is between a first threshold value and a second threshold value;
the calculating module is configured to calculate, if the ratio is not between the first threshold and the second threshold, a number of consecutive occurrences of the current transient in the sequence of current transients between a third threshold and a fourth threshold;
the second judging module is used for judging whether the number is larger than the preset number;
and the determining module is used for determining that the first phase has the phase failure if the number is larger than the preset number.
7. The apparatus of claim 6, further comprising: a third obtaining module and a predetermined number of obtaining modules, wherein,
the third obtaining module is configured to obtain a PWM wave frequency, a rotor rotation speed, a frequency corresponding to a current flowing through the first phase winding, and a rotor pole pair number corresponding to the current control period;
and the predetermined number obtaining module is used for obtaining the predetermined number based on the PWM wave frequency, the rotor rotating speed, the frequency corresponding to the current flowing through the first phase winding and the rotor pole pair number.
8. The apparatus of claim 7, wherein the predetermined number of deriving modules comprises:
determining the predetermined number according to the following formula:
n is more than N1/2, wherein,
N1＝f1/f2，f2＝n*p/60
n is a preset number, N1 is the number of PWM waves in each current period in the current control period, f1 is the carrier frequency of the PWM waves in the current control period, N is the motor speed in the current control period, and p is the number of rotor pole pairs of the motor.
9. The apparatus of claim 6, wherein the current transient is a current transient calibrated for an actual current transient.
10. The apparatus of claim 6, further comprising: and the sending module is used for sending the information that the first phase has the phase failure.
11. A motor controller, comprising: the device comprises a control part and a phase loss detection part, wherein a current detection unit in the control part is used for being connected with a stator winding of the motor, an output end of the control part is used for being connected with the stator winding of the motor, and the phase loss detection part is connected with the control part and is used for executing the method of any one of the claims 1-5.
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