CN111490523A - Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof - Google Patents
Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof Download PDFInfo
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- CN111490523A CN111490523A CN202010392792.7A CN202010392792A CN111490523A CN 111490523 A CN111490523 A CN 111490523A CN 202010392792 A CN202010392792 A CN 202010392792A CN 111490523 A CN111490523 A CN 111490523A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0805—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed
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Abstract
The invention discloses a locked rotor and open phase protection permanent magnet synchronous motor and a protection method thereof, and relates to the field of motors. The existing ECM motor control system mostly adopts a thermal protector and a traditional observer mode, the cost is increased by adopting the thermal protector, and the traditional observer mode has the condition that the observer cannot protect timely under the condition of abnormal motor parameters. The controller comprises a main control unit, a coordinate transformation unit, an SVM modulation inversion unit, a current sampling unit, a current processing unit, a locked rotor and open phase protection unit and an alarm shutdown unit, wherein three-phase current and rotor speed are sampled in real time by the main control unit and the current sampling unit, and are processed by different unit modules, and then the alarm shutdown unit realizes shutdown alarm by the analysis and calculation of two methods, namely a fast method and a slow method of the locked rotor and open phase protection unit when locked rotor and open phase conditions occur, so that locked rotor and open phase protection of a motor can be performed in time, and the safety of the motor is improved.
Description
Technical Field
The invention relates to the field of motors, in particular to a locked-rotor and open-phase protection permanent magnet synchronous motor and a protection method thereof.
Background
Along with the continuous improvement of the living standard of people, the technical requirements of household electrical appliances in the ventilation and heating ventilation field, such as air conditioners and the like, such as energy conservation, environmental protection, intellectualization, low noise and the like, are increasingly strict, the industry competition is fierce, the traditional thermal protector device cannot effectively and timely perform motor stalling and open-phase protection, and the fire safety hidden danger exists, so that the problem to be solved is undoubtedly the key point of the technology.
In the heating and ventilation industry, a system for realizing direct current brushless motor B L DC or permanent magnet synchronous motor PMSM control through electronic commutation is generally called an ECM (electronic control model) motor control system, and the ECM motor control system is widely applied to systems such as ventilation and wall-mounted furnaces and the like and meets the safety requirements of customers at home and abroad
The use of thermal protectors can lead to increased costs; by adopting a traditional observer mode, the observer has the condition of untimely protection under the condition of abnormal motor parameters. Even multiple protections are required to ensure absolute safety.
Therefore, it is necessary to design a new protection method and device for the rotor blocking and phase loss of the permanent magnet synchronous motor.
Disclosure of Invention
The invention aims to solve the technical problems and provide a technical task for improving and improving the prior technical scheme, and provides a locked-rotor and open-phase protection permanent magnet synchronous motor and a protection method thereof, and aims to perform locked-rotor and open-phase protection on the motor in time and improve the safety of the motor. Therefore, the invention adopts the following technical scheme.
A locked rotor and open-phase protection permanent magnet synchronous motor comprises a motor part and a control system part, wherein the motor part comprises a shaft end cover, a rotor and a stator, the control system part comprises a controller, a controller end cover, a wire outlet terminal and a wiring cover, the controller (4) comprises a drive plate (8), a CPU plate (9), a bus capacitor (10), a bus inductor (11) and a power drive module (12), a main control unit, a coordinate transformation unit, an SVM modulation inversion unit, a current sampling unit, a current processing unit, a locked rotor and open-phase protection unit and an alarm shutdown unit are arranged on the drive plate (8) and/or the CPU plate (9), the main control unit is connected with the coordinate transformation unit, the coordinate transformation unit is connected with the SVM modulation inversion unit, the current processing unit and the locked rotor and open-phase protection unit, the SVM modulation inversion unit is connected with the main control unit and the motor three-phase, the input end of the current sampling unit is connected with the motor three-phase, the output end of the current sampling unit is connected with the current processing unit, the locked-rotor and open-phase protection unit is connected with the alarm shutdown unit, and the locked-rotor and open-phase protection unit simultaneously observes two protection combinations of combined protection based on speed and voltage vectors and threshold protection based on three-phase current two-unbalance degree. Three-phase current and rotor speed are sampled in real time through a main control unit and a current sampling unit, motor voltage and current signals are collected and processed, then locked rotor and open-phase protection units are used for protection execution of two protection combinations, open-phase protection of the motor can be achieved in a plurality of electric cycles, when locked rotor and open-phase conditions occur, a warning shutdown unit is used for achieving shutdown warning, motor locked rotor and open-phase protection can be timely and rapidly performed, a self-integrated safety code system with high reliability is formed, and safety of the motor is improved.
As a preferable technical means: the main control unit comprises a speed ring and realizes V through the control of d-axis flux linkage and q-axis currentαβCalculated current flux linkage controller and pass VαβThe motor model equation of (a) realizes an observer of control parameter estimation, the speed loop and the current flux controller are connected to the current flux controller, and the current flux controller is connected to the coordinate transformation unit. The current flux linkage controller realizes V through the control of d-axis flux linkage and q-axis currentαβBy observer, through VαβThe motor model equation realizes the estimation of control parameters, and can conveniently realize the rotation speed data and VαβCalculation and control parameter estimation.
The coordinate transformation unit comprises a reverse coordinate transformation module for transforming 2/3 coordinates from αβ to abc and a forward coordinate transformation module for transforming 3/2 coordinates from abc to αβ, wherein the input end of the reverse coordinate transformation module is connected with a current flux linkage controller, the output end of the reverse coordinate transformation module is connected with an SVM modulation inversion unit, the input end of the forward coordinate transformation module is connected with a current processing unit, the output end of the forward coordinate transformation module is connected with an observer, the current flux linkage controller and a locked rotor and open phase protection unit, and the coordinate transformation adopts equal power or equal amplitude transformation.
As a preferable technical means: the SVM modulation inversion unit comprises an SVM modulation module and an inversion module, the SVM modulation module is connected with the inversion module, the SVM modulation module is connected to an observer through a voltage reconstruction module, and the inversion module is connected with a current flux linkage controller and a motor. The SVM is a magnetic field vector of which the voltage vector generates space rotation through pulse width modulation, so that the motor obtains an ideal circular rotating magnetic field, the torque pulsation of the motor is reduced, compared with the common PWM pulse width modulation, the utilization rate of the direct current bus voltage is improved by using the SVM modulation, the system efficiency is increased, the inversion unit finishes the function of converting direct current into alternating current, the direct current is converted into sine alternating current through the SVM modulation technology, and the modulation and direct current-to-alternating current inversion are conveniently realized.
As a preferable technical means: the current sampling unit samples three-phase current by adopting three resistors, and samples three-phase current I of the motor in a three-phase middle bridge arm or a lower bridge arma、Ib、IcAnd the current sampling unit is internally provided with a low-pass filter. When three resistors are used for sampling, the unbalance degree of the three-phase current can be obtained by directly sampling the three currents and then calculating the ratio of the three currents, and compared with the situation that two-phase or single-phase sampling needs to be carried out to obtain the value of an unstamped phase current through current reconstruction, the method is more direct and convenient, three-phase synchronous sampling is carried out, and the three-phase current I is sampleda、Ib、IcWhen current real-time property is required to be ensured, and then I is addeda、Ib、IcFiltering with a low-pass filter to remove burrs and obtain a smooth current valueCurrent sampling is achieved to obtain a smooth current value.
As a preferable technical means: the current processing unit comprises a current self-adaptive module and a current reconstruction module, wherein the input end of the current self-adaptive module is connected with the current sampling unit to obtain three-phase sampling current and perform automatic gain calibration, and the input end of the current reconstruction module is connected with the current sampling unit to reconstruct the current of the current when the duty ratio is too large to accurately sample. The three-phase current I after filtering treatmenta、Ib、IcThe current is sent to a current self-adaptive module for gain automatic calibration, when the duty ratio is too large to accurately sample a certain phase current, the current reconstruction module conveniently realizes reconstruction processing of the phase-lacking current, and simultaneously realizes current sampling monitoring in the whole motor operation process, thereby solving the current offset problem caused by the problems of difference of three-phase current sampling devices and the like in the operation process, and ensuring that the obtained three-phase current has higher reliability.
As a preferable technical means: the current reconstruction module reconstructs one phase current which is not accurately sampled by adopting a method of three-phase current sum being equal to zero. The reconstruction of the open-phase current can be conveniently realized.
A protection method for a locked rotor and open phase protection permanent magnet synchronous motor comprises the following steps:
1) three-phase current I sampled by current sampling unita,Ib,IcLow-pass filtering is carried out;
2) the current processing unit processes the filtered sampling current and then executes the steps 3) and 4) at the same time;
3) the locked rotor and open phase protection unit executes a rapid protection method adopting threshold protection of two-unbalance degree of three-phase current, and then executes step 5);
4) the locked rotor and open phase protection unit executes a slow protection method adopting a speed and voltage vector observation combination, and then executes step 6);
5) the locked rotor and open-phase protection unit carries out rapid protection judgment, when the motor is locked or open-phase occurs, the step 7) is executed, otherwise, the step 1) is returned;
6) the locked rotor and open-phase protection unit carries out slow protection judgment, when the motor is blocked but not blocked, the step 7) is executed, otherwise, the step 1) is returned;
7) the alarm shutdown unit is used for shutdown protection and alarming.
The method conveniently realizes the locked rotor and open phase protection, can effectively improve the safety of the motor by adopting the parallel combination processing of two protection methods, is not only suitable for the locked rotor and open phase protection in the starting process, but also suitable for the locked rotor and open phase protection in the running process, can be conveniently applied to a surface-mounted permanent magnet synchronous motor and an embedded permanent magnet synchronous motor, forms a self-integrated safety code system with high reliability, and provides convenience for the safety certification of products and complete machines.
As a preferable technical means: in the step 1), the current sampling unit samples and filters the three-phase current to obtain a three-phase sampling current I under each direct currenta1、Ib1、Ic1Then to Ia1、Ib1、Ic1Performing bias calibration to obtain current ratio K1、K2Approximately equal to 1, then during operation, the current sampling unit samples and filters to obtain the current Ia、Ib、IcThen sent to a current processing unit; in step 2), when the Duty ratio Duty does not reach the critical value, K is added1、K2With a predetermined comparison value KCOMPIn contrast, when K1、K2At least one value of which is greater than KCOMPDetermining Ib、IcAt least one phase current value is biased to make Ib *=Ib/K1、Ic *=Ic/K2In which Ib *、Ic *The motor control device is used for motor control; when the duty ratio is larger than the critical value, one phase of the three-phase current sampled by the current sampling unit cannot be accurately sampled, and the current value of the phase is obtained by using the sum of the three-phase current and the zero.
As a preferable technical means: in step 3), the rapid protection method comprises the following steps:
3.1) calculating the three-phase current Ia,Ib,IcRatio K between two11,K12,K13(ii) a Wherein, K11= Ia1/Ib1、K12=Ic1/Ib1；K13=Ia1/Ic1；
3.2) determination of K11,K12,K13Whether one value exceeds a preset comparison value KcompWherein, K iscompIs a constant value, typically KCOMPAbout 1.5 is selected, if K11,K12,K13With one value exceeding the comparison value KcompExecuting the next step, otherwise, returning to the step 3.1);
3.3) start of timing T1；
3.4) judging the timing time T1Whether a threshold time T is exceededtime1，Ttime1Selecting a number, T, of times, typically according to the motortime1=L/R, L is the phase inductance of the motor, R is the motor phase resistance, if T1>Ttime1If yes, executing the next step, otherwise, returning to the step 3.1);
3.5) fast protection needs to be executed immediately, and a Flag of fast protection is set to be 1.
The motor open-phase protection function is achieved by adopting the threshold protection of the second unbalance degree of the three-phase current, the open-phase protection function of the motor can be achieved in a plurality of electric cycles, if the second unbalance degree of the three-phase current is established and reaches a certain proportion in a set time, the open-phase protection is established, and the motor can be immediately shut down.
As a preferable technical means: in step 4), the slow protection method comprises the following steps:
4.1) receiving the processed three-phase sampling current Ia,Ib,IcCalculating three-phase voltage output Va,Vb,Vc；
4.2) calculating the vector copy V of the obtained output voltages；
4.3) acquiring the rotor speed Wr through a flux linkage observer;
4.4) judging the command speed WcomIf it is greater than the rotor speed Wr, if (Wr-W)com)<Wtemp1And Wr<Wtemp2Wherein W istemp1And Wtemp2The minimum speed required by the system is typically chosen to be a constant value. Executing the next step, otherwise returning to the step 4.1);
4.5) judging whether the voltage vector magnitude Vs meets Vs<VtempWherein V istempIs a constant value, V = 3/2I R, V is generally chosen not to exceed 50 according to ohm's law; wherein I is starting current, and R is motor phase resistance; if yes, executing the next step, otherwise, returning to the step 4.1);
4.6) start of timing T2；
4.7) judging the timing time T2Whether a threshold time T is exceededtime2Wherein, Ttime2The minimum time for which the motor can withstand the locked-rotor current is generally chosen to be a constant value. If T is2>Ttime2If yes, executing the next step, otherwise, returning to the step 4.1);
4.8) needs to execute the slow protection immediately, and the Flag of the slow protection is set to be 1.
By adopting the combined protection of speed and voltage vector observation, even if the parameter change of the motor is large and the speed obtained by the observer has a certain error, the locked-rotor information of the motor can still be accurately obtained, and effective protection is performed.
As a preferable technical means: the driving board and the CPU board are perpendicular to each other. The space of the controller can be fully saved, the size of the end cover of the controller is reduced, and the cost is reduced.
As a preferable technical means: the bus inductor is arranged in an inner groove of the controller end cover, the bus inductor is attached to the inner end face of the controller end cover at the bottom of the inner groove through silica gel, the power driving module is attached to the smooth plane of the inner end face of the controller end cover, and heat dissipation ribs are arranged on the outer surface of the controller end cover. The two high-power devices can effectively and quickly dissipate heat through surface contact with the end cover of the controller, and the heat dissipation ribs are arranged to enable the heat dissipation effect to be better.
As a preferable technical means: the outgoing line terminal comprises three types of power lines, signal lines and communication lines, and the outgoing lines are independent. By separating the three cables, signal interference between different kinds of wire harnesses can be effectively avoided.
Has the advantages that: when the locked rotor and the open phase condition occur, the shutdown alarm is realized, the locked rotor and the open phase protection of the motor can be timely and rapidly performed, the safety of the motor is improved, the method is not only suitable for the locked rotor and the open phase protection during the starting process, but also suitable for the locked rotor and the open phase protection during the operation process, the method can be conveniently applied to a surface-mounted permanent magnet synchronous motor and an embedded permanent magnet synchronous motor, a self-integrated safety code system with high reliability is formed, and convenience is provided for the safety certification of products and complete machines.
Drawings
Fig. 1 is a schematic diagram of a 3D blasting structure of the present invention.
Fig. 2 is a schematic diagram of the module connection of the present invention.
Figure 3 is a schematic view of a PCBA board of the present invention.
Fig. 4 is a schematic flow chart of the locked rotor and defect protection method of the invention.
Fig. 5 is a schematic diagram of the fast protection method of the present invention.
Fig. 6 is a schematic diagram of the slow protection method of the present invention.
Fig. 7 is a schematic diagram of a three-phase motor current waveform under a motor phase loss condition.
Fig. 8 is a schematic diagram of a three-phase motor current waveform when a motor is locked.
In the figure: 1-shaft end cap; 2-a rotor; 3-a stator; 4-a controller; 5-controller end cover; 6-outlet terminal; 7-a wiring cover; 401 — a main control unit; 402-a coordinate transformation unit; 403-SVM modulation inversion unit; 404-a current sampling unit; 405-a current processing unit; 406-locked rotor and open phase protection unit; 407-alarm shutdown unit; 408-a voltage reconstruction module; 40101-speed loop; 40102-current flux linkage controller; 40103-observer; 40201-inverse coordinate transformation module; 40202-forward coordinate transformation module; 40301-SVM modulation module; 40302-inversion module; 8-a drive plate; 9-a CPU board; 10-bus capacitance; 11-bus inductance; 12-power driving module.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
As shown in fig. 1-3, a locked rotor and open phase protection permanent magnet synchronous motor comprises a motor part and a control system part, the motor part comprises a shaft end cover 1, a rotor 2 and a stator 3, the control system part comprises a controller 4, a controller end cover 5, an outlet terminal 6 and a wiring cover 7, the controller 4 comprises a driving board 8, a CPU board 9, a bus capacitor 10, a bus inductor 11 and a power driving module 12, the driving board 8 and/or the CPU board 9 is provided with a main control unit 401, a coordinate transformation unit 402, an SVM modulation inversion unit 403, a current sampling unit 404, a current processing unit 405, a locked rotor and open phase protection unit 406 and an alarm shutdown unit 407, the main control unit 401 is connected with the coordinate transformation unit 402, the coordinate transformation unit 402 is connected with the SVM modulation inversion unit 403, the current processing unit 405 is connected with the locked rotor and open phase protection unit, the modulation inversion unit 403 is connected with the main control unit 401 and the motor in three phases, the input end of the current sampling unit 404 is connected with three phases of the motor, the output end of the current sampling unit 404 is connected with the current processing unit 405, the locked rotor and open phase protection unit 406 is connected with the alarm stopping unit 407, and the locked rotor and open phase protection unit 406 simultaneously realizes two protection combinations of speed and voltage vector observation combination protection and three-phase current two-unbalance threshold protection.
To realize the rotational speed data, VαβCalculating and controlling parameter estimation, the main control unit 401 includes a speed loop 40101, and V is realized by controlling d-axis flux linkage and q-axis currentαβCalculated Current flux linkage controller 40102 and pass VαβThe observer 40103, the speed loop 40101, and the current linkage controller 40102, which realize control parameter estimation, are connected to the current linkage controller 40102, and the current linkage controller 40102 is connected to the coordinate transformation unit 402. The current flux linkage controller 40102 realizes V by controlling d-axis flux linkage and q-axis currentαβThe observer 40103 passes through VαβThe motor model equation realizes the estimation of control parameters and can conveniently realize the number of rotating speedsAccording to VαβCalculation and control parameter estimation.
In order to realize the inverse coordinate transformation and the forward coordinate transformation, the coordinate transformation unit 402 comprises an inverse coordinate transformation module 40201 for transforming 2/3 coordinates from αβ to abc and a forward coordinate transformation module 40202 for transforming 3/2 coordinates from abc to αβ, the input end of the inverse coordinate transformation module 40201 is connected with the current flux linkage controller 40102, the output end of the inverse coordinate transformation module 40201 is connected with the SVM modulation inversion unit 403, the input end of the forward coordinate transformation module 40202 is connected with the current processing unit 405, and the output end of the forward coordinate transformation module 40202 is connected with the observer 40103, the current flux linkage controller 40102 and the locked rotor and open phase protection unit 406.
In order to realize modulation and direct current-to-alternating current inversion, the SVM modulation inversion unit 403 includes an SVM modulation module 40301 and an inversion module 40302, the SVM modulation module 40301 is connected to the inversion module 40302, the SVM modulation module 40301 is connected to the observer 40103 through the voltage reconstruction module 408, and the inversion module 40302 is connected to the current flux linkage controller 40102 and the three phases of the motor. The SVM is a magnetic field vector of which the voltage vector generates space rotation through pulse width modulation, so that the motor obtains an ideal circular rotating magnetic field, the torque pulsation of the motor is reduced, compared with the common PWM pulse width modulation, the utilization rate of the direct current bus voltage is improved by using the SVM modulation, the system efficiency is increased, the inversion unit finishes the function of converting direct current into alternating current, the direct current is converted into sine alternating current through the SVM modulation technology, and the modulation and direct current-to-alternating current inversion are conveniently realized.
In order to effectively realize sampling, the current sampling unit 404 samples three-phase current by using three resistors, and the current sampling unit 404 samples three-phase current I of the motor on a three-phase lower bridge arma、Ib、IcAnd three-phase synchronous sampling, and a low-pass filter is arranged in the current sampling unit 404. When three resistors are used for sampling, the unbalance degree of the three-phase current can be obtained by directly sampling the three currents and then calculating the ratio of the three currents, and compared with the situation that two-phase or single-phase sampling requires current reconstruction, the method is more direct and convenient to obtain the value of an unstamped phase current, and three-phase synchronous sampling and sampling are carried outThree-phase current Ia、Ib、IcWhen current real-time property is required to be ensured, and then I is addeda、Ib、IcThe filtering processing is carried out through the low-pass filter to remove burrs so as to obtain a smooth current value, so that current sampling can be conveniently realized, and the smooth current value can be obtained.
For conveniently realizing current processing, the current processing unit 405 includes a current adaptation module and a current reconstruction module, an input end of the current adaptation module is connected with the current sampling unit 404 to obtain a three-phase sampling current and perform gain auto-calibration, and an input end of the current reconstruction module is connected with the current sampling unit 404 to reconstruct the current when the duty ratio is too large to accurately sample. The three-phase current I after filtering treatmenta、Ib、IcAnd the current is sent to a current self-adaptive module for automatic gain calibration, and when the duty ratio is too large to accurately sample a certain phase current, the current reconstruction module obtains the phase current by using a method of three-phase current sum being equal to zero, so that the current processing is conveniently realized.
In order to realize the reconstruction of the phase-lacking current, the current reconstruction module reconstructs one phase current which is not accurately sampled by adopting a method of three-phase current sum being equal to zero. The reconstruction of the open-phase current can be conveniently realized.
As shown in fig. 4, a protection method for a locked rotor and open phase protection permanent magnet synchronous motor includes the following steps:
1. the current sampling unit 404 samples the three-phase current Ia,Ib,IcLow-pass filtering is carried out;
2. the current processing unit 405 processes the filtered sampled current and then performs steps 3 and 4 simultaneously;
3. the locked-rotor and open-phase protection unit 406 executes a fast protection method adopting threshold protection of the second unbalance of the three-phase current, and then executes the step 5;
4. the locked rotor and open-phase protection unit 406 performs a slow protection method using a combination of speed and voltage vector observations, and then performs step 6;
5. the locked rotor and open-phase protection unit 406 carries out rapid protection judgment, when the motor is locked or an open phase occurs, step 7 is executed, otherwise, the step 1 is returned;
6. the locked rotor and open-phase protection unit 406 performs slow protection judgment, when the motor is blocked but not blocked, the step 7 is executed, otherwise, the step 1 is returned to;
7. the alarm shutdown unit 407 shuts down protection and alarms.
In order to realize current sampling and processing, in step 1, three direct currents I are introduced into the system1、I2、I3The current sampling unit 404 samples and filters to obtain a three-phase sampling current I under each direct currenta1、Ib1、Ic1Then to Ia1、Ib1、Ic1Performing bias calibration to obtain current ratio K1、K2Approximately equal to 1, and then during operation, the current sampling unit 404 samples and filters the current Ia、Ib、IcThen, the Duty ratio Duty is sent to the current processing unit 405, and in step 2, when the Duty ratio Duty does not reach the threshold value, the Duty ratio Duty is used in this embodiment<98% as an example, add K1、K2With a predetermined comparison value KCOMPIn contrast, this example is to set KCOMPFor example, if the value of (K) is 3%, different values can be set according to the system precision requirement, if K is1、K2At least one value of which is greater than KCOMPThen, explain Ib、IcAt least one phase current value is biased, then Ib *=Ib/K1、Ic *= Ic/K2In which Ib *、Ic *The motor control device is used for motor control; when the Duty ratio Duty is greater than the critical value, taking Duty ≧ 98% as an example, a certain phase of the three-phase current sampled by the current sampling unit 404 may not be accurately sampled, and the phase current value is obtained by using the sum of the three-phase currents equal to zero. The current sampling and processing can be effectively realized.
In order to implement the fast protection method, as shown in fig. 5, in step 3, the fast protection method includes the following steps:
3.1 calculating three-phase current Ia,Ib,IcTwo by twoRatio of K between11,K12,K13(ii) a Wherein, K11= Ia1/Ib1、K12=Ic1/Ib1；K13=Ia1/Ic1；
3.2, judgment of K11,K12,K13Whether one value exceeds a preset comparison value KcompWherein, K iscompIs a constant value, typically KCOMPAbout 1.5 is selected, if K11,K12,K13With one value exceeding the comparison value KcompExecuting the next step, otherwise, returning to the step 3.1;
3.3, start timing T1；
3.4, judging the timing time T1Whether a threshold time T is exceededtime1，Ttime1Selecting a number, T, of times, typically according to the motortime1=L/R, L is the phase inductance of the motor, R is the motor phase resistance, if T1>Ttime1If yes, executing the next step, otherwise, returning to the step 3.1;
3.5, fast protection is required to be immediately executed, and a Flag of fast protection is set to be 1.
The motor open-phase protection function is achieved by adopting the threshold protection of the second unbalance degree of the three-phase current, the open-phase protection function of the motor can be achieved in a plurality of electric cycles, if the second unbalance degree of the three-phase current is established and reaches a certain proportion in a set time, the open-phase protection is established, and the motor can be immediately shut down.
In order to implement the slow protection method, as shown in fig. 6, in step 4, the slow protection method includes the following steps:
4.1 receiving the processed three-phase sampling current Ia,Ib,IcCalculating three-phase voltage output Va,Vb,Vc；
4.2 vector replication V of the output voltage obtained by calculations；
4.3, acquiring the rotor speed Wr through a flux linkage observer;
4.4, judging the command speed WcomIf it is greater than the rotor speed Wr, if (Wr-W)com)<Wtemp1And Wr<Wtemp2Wherein W istemp1And Wtemp2The minimum speed required by the system is typically chosen to be a constant value. Executing the next step, otherwise returning to the step 4.1;
4.5, judging whether the voltage vector magnitude Vs meets Vs<VtempWherein Vtemp is a constant value, and V =3/2 × I × R according to ohm's law, (where I is the starting current, and R is the motor phase resistance); typically not more than 50. If yes, executing the next step, otherwise, returning to the step 4.1;
4.6, start timing T2；
4.7, judging the timing time T2Whether a threshold time T is exceededtime2Wherein, Ttime2The minimum time for which the motor can withstand the locked-rotor current is generally chosen to be a constant value. If T is2>Ttime2If yes, executing the next step, otherwise, returning to the step 4.1;
4.8, the slow protection is required to be executed immediately, and the Flag of the slow protection is set to be 1.
By adopting the combined protection of speed and voltage vector observation, even if the parameter change of the motor is large and the speed obtained by the observer has a certain error, the locked-rotor information of the motor can still be accurately obtained, and effective protection is performed.
In order to save space for the controller 4 substantially, the driver board and the CPU board are perpendicular to each other. The space of the controller 4 can be fully saved, the size of the controller end cover 5 is reduced, and the cost is reduced.
In order to realize quick and effective heat dissipation, the bus inductor is arranged in an inner groove of the controller end cover 5, the bus inductor is attached to the inner end face of the controller end cover 5 at the bottom of the inner groove through silica gel, the power driving module is attached to the smooth plane of the inner end face of the controller end cover 5, and heat dissipation ribs are arranged on the outer surface of the controller end cover 5. The two high-power devices can effectively and quickly dissipate heat through surface contact with the controller end cover 5, and the heat dissipation ribs are arranged to enable the heat dissipation effect to be better.
In order to avoid signal interference between different kinds of wire harnesses, the outlet terminal 6 includes three types of power lines, signal lines and communication lines, and each outlet is independent. By separating the three cables, signal interference between different kinds of wire harnesses can be effectively avoided.
As shown in fig. 7, the current waveform of a three-phase motor under the phase-missing condition is that when a phase-missing of a certain phase of the motor occurs in the operation process, the motor cannot be immediately stopped, the current of a phase-missing winding is 0, and the current of the motor becomes larger before the phase-missing occurs, so that if the protection cannot be performed in time, a certain fire risk hidden trouble exists.
As shown in fig. 8, for the three-phase motor current waveform when the motor is locked during operation, it can be seen that locked rotor occurs during operation, and by implementing the locked rotor and open-phase protection method combining the fast protection method and the slow protection method, the locked rotor fault of the motor can be effectively protected, and the method is safe, reliable, timely and effective.
The method conveniently realizes the locked rotor and open phase protection, can effectively improve the safety of the motor by adopting the parallel combination processing of two protection methods, is not only suitable for the locked rotor and open phase protection in the starting process, but also suitable for the locked rotor and open phase protection in the running process, can be conveniently applied to a surface-mounted permanent magnet synchronous motor and an embedded permanent magnet synchronous motor, forms a self-integrated safety code system with high reliability, and provides convenience for the safety certification of products and complete machines.
In this example, the observer 40103 is a flux linkage observer, and can be replaced by a conventional slip film observer or a reactive observer.
In this example, the current sampling may also be performed by using the middle bridge arm instead of the lower bridge arm.
The locked-rotor and open-phase protection permanent magnet synchronous motor and the protection method thereof shown in fig. 1 to 6 are specific embodiments of the present invention, have shown the outstanding substantive features and significant progress of the present invention, and can be modified equivalently in shape, structure and the like according to the practical use requirements and with the teaching of the present invention, all of which are within the protection scope of the present solution.
Claims (10)
1. The utility model provides a locked rotor and open phase protection PMSM, includes motor part and control system part, motor part include axle head cover (1), rotor (2) and stator (3), control system part include controller (4), controller end cover (5), leading-out terminal (6) and wiring lid (7), controller (4) including drive plate (8), CPU board (9), bus capacitance (10), bus inductance (11) and power drive module (12), its characterized in that: the driving board (8) and/or the CPU board (9) are provided with a main control unit (401), a coordinate transformation unit (402), an SVM modulation inversion unit (403), a current sampling unit (404), a current processing unit (405), a locked rotor and open phase protection unit (406) and an alarm shutdown unit (407), the main control unit (401) is connected with the coordinate transformation unit (402), the coordinate transformation unit (402) is connected with the SVM modulation inversion unit (403), the current processing unit (405) and the locked rotor and open phase protection unit (406), the SVM modulation inversion unit (403) is connected with the main control unit (401) and the motor three-phase, the input end of the current sampling unit (404) is connected with the motor three-phase, the output end of the current sampling unit (404) is connected with the current processing unit (405), the locked rotor and open phase protection unit (406) is connected with the alarm shutdown unit (407), the locked-rotor and open-phase protection unit (406) is used for simultaneously carrying out two protection combinations of combined protection based on speed and voltage vector observation and threshold protection based on two-phase unbalance degree of three-phase current.
2. The locked rotor and open phase protection permanent magnet synchronous motor according to claim 1, characterized in that: the main control unit (401) comprises a speed ring (40101) and realizes V through control of d-axis flux linkage and q-axis currentαβCalculated current flux linkage controller (40102) and pass VαβThe motor model equation of (4) implements an observer (40103) for estimating control parameters, said speed loop0101) And the current flux linkage controller (40102) is connected to the current flux linkage controller (40102), and the current flux linkage controller (40102) is connected to the coordinate transformation unit (402).
3. The permanent magnet synchronous motor with locked rotor and open-phase protection according to claim 2 is characterized in that the coordinate transformation unit (402) comprises a reverse coordinate transformation module (40201) for transforming 2/3 coordinates from αβ to abc and a forward coordinate transformation module (40202) for transforming 3/2 coordinates from abc to αβ, the input end of the reverse coordinate transformation module (40201) is connected with the current flux linkage controller (40102), the output end of the reverse coordinate transformation module (40201) is connected with the SVM modulation inversion unit (403), the input end of the forward coordinate transformation module (40202) is connected with the current processing unit (405), and the output end of the forward coordinate transformation module (40202) is connected with the observer (40103), the current flux linkage controller (40102) and the locked rotor and open-phase protection unit (406).
4. The locked rotor and open phase protection permanent magnet synchronous motor according to claim 3, characterized in that: the SVM modulation and inversion unit (403) comprises an SVM modulation module (40301) and an inversion module (40302), the SVM modulation module (40301) is connected with the inversion module (40302), the SVM modulation module (40301) is connected to an observer (40103) through a voltage reconstruction module (408), and the inversion module (40302) is connected with a current flux linkage controller (40102) and a motor in a three-phase mode.
5. The locked rotor and open phase protection permanent magnet synchronous motor according to claim 4, characterized in that: the current sampling unit (404) samples three-phase current by adopting three resistors, and the current sampling unit (404) samples three-phase current I of the motor in a three-phase middle bridge arm or a lower bridge arma、Ib、IcAnd three-phase synchronous sampling, wherein a low-pass filter is arranged in the current sampling unit (404).
6. The locked rotor and open phase protection permanent magnet synchronous motor according to claim 5, characterized in that: the current processing unit (405) comprises a current self-adapting module and a current reconstruction module, wherein the input end of the current self-adapting module is connected with the current sampling unit (404) to obtain three-phase sampling current and perform automatic gain calibration, the input end of the current reconstruction module is connected with the current sampling unit (404) to reconstruct the current when the duty ratio is too large to accurately sample, and the current reconstruction module reconstructs one phase current which is not accurately sampled by adopting a method of three-phase current and zero.
7. The protection method for the locked rotor and open phase protection permanent magnet synchronous motor according to claims 1-6 is characterized by comprising the following steps:
1) the current sampling unit (404) samples a three-phase current Ia,Ib,IcLow-pass filtering is carried out;
2) the current processing unit (405) processes the filtered sampling current and then performs steps 3) and 4) simultaneously;
3) the locked rotor and open phase protection unit (406) executes a rapid protection method adopting threshold protection of the second unbalance degree of the three-phase current, and then executes the step 5);
4) the locked rotor and open phase protection unit (406) executes a slow protection method adopting a speed and voltage vector observation combination, and then executes step 6);
5) a locked rotor and open phase protection unit (406) carries out rapid protection judgment, when the motor is locked or open phase occurs, step 7) is executed, otherwise, the step 1) is returned;
6) the locked rotor and open-phase protection unit (406) performs slow protection judgment, when the motor is blocked but not blocked, the step 7 is executed, otherwise, the step 1) is returned;
7) and the alarm shutdown unit (407) is used for shutdown protection and alarm.
8. The method of claim 7A protection method for a locked rotor and open phase protection permanent magnet synchronous motor is characterized by comprising the following steps: in the step 1), the current sampling unit (404) samples and filters the three-phase current to obtain a three-phase sampling current I under each direct currenta1、Ib1、Ic1Then to Ia1、Ib1、Ic1Performing an offset calibration process, wherein K1= Ia1/Ib1、K2=Ic1/Ib1To obtain the current ratio, let the current ratio K1、K2Is 1, then in the running process, the current sampling unit (404) samples and filters to obtain the current Ia、Ib、IcThen sent to a current processing unit (405); in step 2), when the Duty ratio Duty does not reach the critical value, K is added1、K2With a predetermined comparison value KCOMPIn contrast, when K1、K2At least one value of which is greater than KCOMPDetermining Ib、IcAt least one phase current value is biased to make Ib *=Ib/K1、Ic *= Ic/K2In which Ib *、Ic *The motor control device is used for motor control; when the duty ratio is larger than the critical value, a certain phase of the three-phase current sampled by the current sampling unit (404) cannot be accurately sampled, and the current value of the phase is obtained by using the sum of the three-phase current and zero.
9. The protection method of the locked rotor and open phase protection permanent magnet synchronous motor according to claim 7, characterized in that:
in step 3), the rapid protection method comprises the following steps:
3.1) calculating the three-phase current Ia,Ib,IcRatio K between two11,K12,K13Wherein, K is11= Ia1/Ib1、K12=Ic1/Ib1；K13=Ia1/Ic1；
3.2) determination of K11,K12,K13Whether or not there is a valueExceeding a predetermined comparison value KcompWherein, K iscompIs a constant value if K11,K12,K13With one value exceeding the comparison value KcompExecuting the next step, otherwise, returning to the step 3.1);
3.3) start of timing T1；
3.4) judging the timing time T1Whether a threshold time T is exceededtime1Wherein, Ttime1=L/R, L is phase inductance of motor, R is motor phase resistance, if T is1>Ttime1If yes, executing the next step, otherwise, returning to the step 3.1);
3.5) fast protection needs to be executed immediately, and a Flag of fast protection is set to be 1.
10. The protection method of the locked rotor and open phase protection permanent magnet synchronous motor according to claim 7, characterized in that:
in step 4), the slow protection method comprises the following steps:
4.1) receiving the processed three-phase sampling current Ia,Ib,IcCalculating three-phase voltage output Va,Vb,Vc；
4.2) calculating the vector copy V of the obtained output voltages；
4.3) acquiring the rotor speed Wr through a flux linkage observer;
4.4) judging the command speed WcomIf it is greater than the rotor speed Wr, if (Wr-W)com)<Wtemp1And Wr<Wtemp2Wherein W istemp1And Wtemp2Is a constant value; executing the next step, otherwise returning to the step 4.1);
4.5) judging whether the voltage vector magnitude Vs meets Vs<VtempIf yes, executing the next step, otherwise returning to the step 4.1); wherein, VtempIs a constant value, V = 3/2I R according to ohm's law; i is starting current, and R is motor phase resistance;
4.6) start of timing T2；
4.7) judging the timing time T2Whether or not toExceeding threshold time Ttime2Wherein, Ttime2Is a constant value if T2>Ttime2If yes, executing the next step, otherwise, returning to the step 4.1);
4.8) needs to execute the slow protection immediately, and the Flag of the slow protection is set to be 1.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010392792.7A CN111490523B (en) | 2020-05-11 | 2020-05-11 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
| JP2021573276A JP2022538524A (en) | 2020-05-11 | 2020-09-30 | Stall/open-phase protected permanent magnet synchronous motor and its protection method |
| PCT/CN2020/119461 WO2021227343A1 (en) | 2020-05-11 | 2020-09-30 | Permanent magnet synchronous motor capable of performing stalling and phase loss protection, and protection method therefor |
| DE112020002235.8T DE112020002235T5 (en) | 2020-05-11 | 2020-09-30 | Permanent magnet synchronous motor with protection against locked rotor and phase loss and its protection method |
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| CN202010392792.7A CN111490523B (en) | 2020-05-11 | 2020-05-11 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
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| JP (1) | JP2022538524A (en) |
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| WO2021227343A1 (en) * | 2020-05-11 | 2021-11-18 | 卧龙电气驱动集团股份有限公司 | Permanent magnet synchronous motor capable of performing stalling and phase loss protection, and protection method therefor |
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Also Published As
| Publication number | Publication date |
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| CN111490523B (en) | 2021-08-17 |
| WO2021227343A1 (en) | 2021-11-18 |
| DE112020002235T5 (en) | 2022-02-17 |
| JP2022538524A (en) | 2022-09-05 |
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