CN112462257A - Motor terminal voltage detection method, device and circuit and air conditioning system - Google Patents
Motor terminal voltage detection method, device and circuit and air conditioning system Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The application relates to a method, a device, a circuit and an air conditioning system for detecting the voltage of a motor terminal. And the integral addition circuit performs integral summation processing according to the reset signal sent by the processor and the voltage sampling signal acquired by the sampling circuit, and finally converts a voltage detection value in the processor by combining preset detection circuit parameters to realize the detection operation of the voltage of the motor terminal. Through the scheme, when the voltage of the motor terminal is detected, the voltage sampling signal obtained by primary sampling can be subjected to integral summation processing by using the integral addition circuit, so that frequency interference in a square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, and then nonlinear accurate compensation of the output voltage of the inverter circuit can be realized.
Description
Technical Field
The application relates to the technical field of motors, in particular to a motor terminal voltage detection method, a motor terminal voltage detection device, a motor terminal voltage detection circuit and an air conditioning system.
Background
With the rapid development of power electronic technology, ac variable frequency motors are widely used in the industry, such as air conditioning systems. For the control system hardware of the alternating current variable frequency motor, the power amplification link is the most critical, and directly determines whether the output of the control quantity is accurate. In a control system, this accuracy will directly affect the effectiveness of the implementation of the control algorithm. Taking a permanent magnet synchronous motor control algorithm as an example, a control method based on Space Vector Pulse Width Modulation (SVPWM) is generally adopted, and based on the algorithm, the voltage obtained by the permanent magnet synchronous motor is a Pulse Width Modulation (PWM) voltage (such as a Pulse signal) with different duty ratios.
However, the voltage drop of the inverter for driving the motor is affected by other non-linear factors such as dead time, on/off time of the switch, tube voltage drop, amplitude of bus voltage, and current magnitude, and thus it is difficult to accurately know the voltage drop of the inverter. On the one hand, the output voltage is influenced, so that the control waveform distortion, especially in servo application occasions, needs to be compensated in a complex way, and the effect is not satisfactory. For some low-cost speed-regulating applications, the position of the motor is usually estimated by calculating the voltage of the motor according to the duty ratio, so as to apply a Field-Oriented Control (FOC) algorithm. At this time, the voltage distortion causes very poor performance when the motor is operated at a low speed. Because the terminal voltage of the alternating-current variable-frequency motor is in a PWM (pulse-width modulation) form of high-frequency high voltage, the simplest RC filter circuit is generally adopted for detection, and although the inverter can filter high-frequency components when outputting low-frequency voltage, the high-frequency phase delay is extremely serious and cannot participate in the normal control of the motor. Therefore, the traditional terminal voltage sampling method of the alternating current variable frequency motor has the defect of poor sampling reliability.
Disclosure of Invention
Therefore, it is necessary to provide a method, an apparatus, a circuit and an air conditioning system for detecting a terminal voltage of a motor, aiming at the problem of poor sampling reliability of a traditional terminal voltage sampling method of an ac inverter motor.
A motor terminal voltage detection method includes: when the motor starts to operate, a reset signal is sent to the integral addition circuit; receiving a voltage sampling value output by the integration and addition circuit after integration and summation processing is carried out on the reset signal and the voltage sampling signal; the voltage sampling signal is collected by a sampling circuit and is sent to the integral addition circuit, the sampling circuit is arranged at the input end of the motor, and the sampling circuit is connected with the integral addition circuit; and analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain a voltage detection value at the motor end.
In an embodiment, after the step of analyzing according to the voltage sampling value and a preset detection circuit parameter to obtain a voltage detection value at a motor end, the method further includes: and turning over the reset signal and returning to the step of sending the reset signal to the integral addition circuit.
In one embodiment, the step of inverting the reset signal and returning to the step of sending the reset signal to the integration and addition circuit includes: turning over the reset signal and judging whether a sampling termination signal is received or not; and returning to the step of transmitting the reset signal to the integration and addition circuit when the sampling termination signal is not received.
In one embodiment, the step of inverting the reset signal and returning to the step of sending the reset signal to the integration and addition circuit includes: judging whether the voltage sampling value is larger than a preset conversion saturation value or not; and when the voltage sampling value is larger than the preset conversion saturation value, turning over the reset signal and returning to the step of sending the reset signal to the integral addition circuit.
In one embodiment, after the step of determining whether the voltage sampling value is greater than a preset conversion saturation value, the method further includes: when the voltage sampling value is less than or equal to a preset conversion saturation value, judging whether a sampling termination signal is received; and returning to the step of transmitting the reset signal to the integration and addition circuit when the sampling termination signal is not received.
In one embodiment, after the step of determining whether the sampling termination signal is received, the method further includes: and when receiving the sampling termination signal, finishing the detection of the terminal voltage of the motor.
In an embodiment, the step of analyzing according to the voltage sampling value and a preset detection circuit parameter to obtain a voltage detection value at a motor end includes: if the integral addition circuit is reset between the last sampling and the current sampling, analyzing according to the voltage sampling value and preset detection circuit parameters to obtain a voltage detection value at the motor end; and if the integral addition circuit is not reset between the last sampling and the current sampling, analyzing according to the voltage sampling value corresponding to the current collection frequency, the voltage sampling value corresponding to the last collection frequency and a preset detection circuit parameter to obtain a voltage detection value at the end of the motor.
A terminal voltage detection device of a motor, comprising: a reset signal sending module; the integrated addition circuit is used for sending a reset signal to the integrated addition circuit when the motor starts to operate; the voltage sampling value acquisition module is used for receiving a voltage sampling value output by the integral addition circuit after integral summation processing is carried out on the reset signal and the voltage sampling signal; the voltage sampling signal is collected by a sampling circuit and is sent to the integral addition circuit, the sampling circuit is arranged at the input end of the motor, and the sampling circuit is connected with the integral addition circuit; and the voltage detection value analysis module is used for analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain a voltage detection value at the motor end.
A motor terminal voltage detection circuit comprises a sampling circuit, an integral addition circuit and a processor, wherein the sampling circuit is arranged at the input end of a motor and is connected with the first input end of the integral addition circuit, the output end of the integral addition circuit is connected with the input end of the processor, the reset end of the processor is connected with the second input end of the integral addition circuit, and the processor is used for carrying out motor terminal voltage detection according to the method.
In one embodiment, the integration and addition circuit includes an inverter, a first integrator, a second integrator, and an adder, the first input terminal of the integration and addition circuit includes a first input terminal of the first integrator and a first input terminal of the second integrator, the second input terminal of the integration and addition circuit includes a second input terminal of the first integrator and a second input terminal of the second integrator, the first input terminal of the first integrator and the first input terminal of the second integrator are respectively connected to the sampling circuit, the reset terminal of the processor is connected to the second input terminal of the first integrator, the reset terminal of the processor is connected to the second input terminal of the second integrator through the inverter, the output terminal of the first integrator and the output terminal of the second integrator are respectively connected to the input terminal of the adder, and the output end of the adder is used as the output end of the integral addition circuit and is connected with the input end of the processor.
In one embodiment, the processor comprises an analog-to-digital converter and a reset signal generator, the analog-to-digital converter is connected with the reset signal generator and the output end of the adder, and the reset signal generator is connected with the second input end of the first integrator and the second input end of the second integrator through the inverter.
In one embodiment, the sampling circuit is a resistive voltage division sampling circuit.
An air conditioning system comprises a motor and the motor terminal voltage detection circuit.
According to the motor terminal voltage detection method, the device, the circuit and the air conditioning system, the sampling circuit is arranged at the input end of the motor to collect the voltage sampling signal at the input end of the motor, and meanwhile, the sampling circuit is further connected with the integral addition circuit and the processor. And the integral addition circuit performs integral summation processing according to the reset signal sent by the processor and the voltage sampling signal acquired by the sampling circuit, and finally converts a voltage detection value in the processor by combining preset detection circuit parameters to realize the detection operation of the voltage of the motor terminal. Through the scheme, when the terminal voltage of the motor is detected, the integral addition circuit can be used for carrying out integral summation processing on the voltage sampling signal obtained by primary sampling, so that frequency interference in a square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, nonlinear accurate compensation of the output voltage of the inverter circuit can be realized, and the terminal voltage sampling method has higher sampling reliability compared with the traditional terminal voltage sampling method of the alternating current variable frequency motor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for detecting a terminal voltage of a motor according to an embodiment;
FIG. 2 is a schematic diagram of an exemplary sampling circuit arrangement;
FIG. 3 is a schematic diagram illustrating a process of detecting a terminal voltage of a motor according to another embodiment;
FIG. 4 is a schematic diagram illustrating a process of detecting terminal voltage of a motor according to another embodiment;
FIG. 5 is a flow chart of a method for detecting terminal voltage of a motor according to an embodiment;
FIG. 6 is a schematic flow chart illustrating a method for detecting terminal voltage of a motor according to yet another embodiment;
FIG. 7 is a flow chart of a method for detecting terminal voltage of a motor according to another embodiment;
FIG. 8 is a flowchart illustrating a method for calculating a voltage detection value according to an embodiment;
FIG. 9 is a schematic diagram of a motor terminal voltage detection circuit according to an embodiment;
FIG. 10 is a waveform diagram of an embodiment of an integrating and adding circuit;
FIG. 11 is a schematic diagram illustrating an exemplary apparatus for detecting a voltage across a motor terminal;
FIG. 12 is a schematic diagram of a device for detecting motor terminal voltage according to another embodiment;
fig. 13 is a schematic diagram of a motor terminal voltage detection circuit in another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a method for detecting a terminal voltage of a motor includes step S100, step S200, and step S300.
And step S100, when the motor starts to operate, sending a reset signal to the integral addition circuit.
Specifically, the motor is started, that is, the motor is enabled by an inverter circuit in a drive control system under the action of the corresponding drive control system, and the inverter circuit sends square waves with a certain duty ratio according to a switching period. In this state, the processor of the terminal voltage detection circuit generates a reset signal and sends the reset signal to the integrating and adding circuit of the terminal voltage detection circuit, so that the integrating and adding circuit starts to operate according to the received signal. It should be noted that the type of the reset signal is not exclusive, and in one embodiment, the reset signal may be high or low according to a specific operation form of the integrating and adding circuit, and in a corresponding level state, the integrating and adding circuit will be turned on to enter an integrating state or a reset and clear state, so as to implement the integrating and adding process according to the received signal.
And step S200, receiving a voltage sampling value output by the integral addition circuit after integral summation processing is carried out on the reset signal and the voltage sampling signal.
Specifically, the voltage sampling signal is collected and sent to the integral addition circuit through the sampling circuit, the sampling circuit is arranged at the input end of the motor, and the sampling circuit is connected with the integral addition circuit. A sampling circuit is arranged between the input end of the motor and the input end of an external inverter circuit, and the sampling circuit is used for collecting square wave signals transmitted to the motor by the inverter circuit when the motor starts to operate, obtaining corresponding voltage sampling signals and transmitting the corresponding voltage sampling signals to the integral addition circuit. After receiving the reset signal and the voltage sampling signal, the integral addition circuit carries out integration and other processing according to the reset signal and the voltage sampling signal, filters out switching frequency interference components in the voltage sampling signal, obtains a voltage sampling value and transmits the voltage sampling value to the processor.
It should be noted that the particular type of sampling circuit is not exclusive and in one embodiment may be implemented using a resistive divider sampling circuit, which has the advantage of low cost. In other embodiments, it can also be done by using a filter circuit with an operational amplifier and a cut-off frequency much higher than the maximum output frequency of the motor, as long as the voltage signal is obtained. Referring to fig. 2, for an example of a resistance voltage division sampling circuit, a resistance voltage division sampling circuit is disposed between each input terminal of the motor and the external inverter circuit, the switching tubes Q1-Q6 form the inverter circuit, M is the motor, and R3-R8 form a resistance voltage division network, where R3 and R4 are a path of resistance voltage division circuit, R5 and R6 are a path of resistance voltage division circuit, and R7 and R8 are a path of resistance voltage division circuit. The common end of two resistors in each resistor voltage division sampling circuit is used as a sampling output end to be connected with the first input end of the integration addition circuit, and voltage sampling values are output to the integration addition circuit, namely V1, V2 and V3 are respectively output to the first input end of the integration addition circuit.
And step S300, analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain a voltage detection value at the motor end.
Specifically, after receiving the voltage sampling value output by the integral addition circuit, the processor further performs analysis and calculation by combining with preset detection circuit parameters prestored in the processor to obtain a voltage detection value finally filtering the high-frequency switch interference, and thus, the primary motor terminal voltage detection operation is completed.
In one embodiment, referring to fig. 3, after step S300, the method further includes step S400.
Step S400, turning over the reset signal; and returns to the step of sending the reset signal to the integral addition circuit.
Specifically, the processor inverts the reset signal, that is, converts the original high-level reset signal into the low-level reset signal, or converts the original low-level reset signal into the high-level reset signal. When the processor sends the reset signal to the integral addition circuit, the specific form of the reset signal changes from the previous high level to the low level or from the previous low level to the high level. When the processor detects the voltage of the motor terminal again according to the reversed reset signal, the reset signal sent to the integral addition circuit is the reset signal after being turned over, the integral state of the integral addition circuit is changed into a reset zero clearing state during the last detection, and the reset zero clearing state of the integral addition circuit is changed into the integral state during the last detection. According to a method similar to that in the above embodiment, the integral addition circuit implements another voltage detection value analysis calculation operation according to the re-received reset signal and the voltage sampling value sent by the sampling circuit in real time.
Referring to fig. 4, in one embodiment, step S400 includes step S410. Step S410, the reset signal is turned over, and whether a sampling termination signal is received or not is judged; when the sampling termination signal is not received, the operation of sending a reset signal to the integration addition circuit is returned.
Specifically, referring to fig. 5, in the present embodiment, each time the analysis and calculation of the voltage detection value is completed, the processor directly inverts the reset signal to wait for the next sampling operation (i.e. entering the next sampling, but not actually starting the voltage detection operation). Meanwhile, the processor can also judge whether a sampling termination signal sent by a user is received, and only when the sampling termination signal is not received, the processor can further return to execute the operation of sending the reset signal to the integral addition circuit of the motor terminal voltage detection circuit, namely, the reset signal after turning over can be sent to the integral addition circuit to execute a new round of voltage detection operation.
Referring to fig. 6, in another embodiment, step S400 includes step S420 and step S430.
In step S420, it is determined whether the voltage sampling value is greater than a preset conversion saturation value. In step S430, when the voltage sampling value is greater than the preset conversion saturation value, the reset signal is inverted. And returns to the step of sending the reset signal to the integral addition circuit.
Specifically, referring to fig. 7, the processor of the motor terminal voltage detection circuit includes an analog-to-digital converter and a reset signal generator, and when detecting the motor terminal voltage, the analog-to-digital converter starts to operate, and can convert the product input analog value into a digital value, thereby implementing the voltage detection operation. The corresponding preset conversion saturation value is the maximum value of the digital number converted by the analog-to-digital converter. Because the internal capacitor of the integrator in the integration addition circuit can be continuously charged in the working process, the capacitor does not need to be discharged when the capacitor is not fully charged, namely the voltage sampling value does not reach the preset conversion saturation value, and the voltage detection of the motor end can be continuously carried out. With the increase of the sampling times, the capacitor gradually approaches to a saturation state, and finally when the voltage sampling value obtained at the integral addition circuit is larger than a preset conversion saturation value, the capacitor of the integrator needs to be discharged at the moment, namely, a reset signal is turned over, so that the accuracy of subsequent voltage detection is ensured.
Different from the above embodiment in which the reset signal is immediately turned over (i.e., one sampling period is reset and cleared) after the motor terminal voltage detection operation is completed once, in this embodiment, before the reset signal is turned over to reset and clear, the sampling value of the integral addition circuit and the sampling value of the voltage output by the integral addition circuit are compared and analyzed with the preset conversion saturation value, and only when the sampling value of the voltage is greater than the preset conversion saturation value, the reset signal is turned over, and the voltage detection value analysis operation of the next period is performed according to the turned-over reset signal and the sampling signal of the voltage which is collected and sent to the integral addition circuit in real time. That is, in this embodiment, the reset and zero clearing operation of the integral addition circuit may be performed once in a plurality of sampling periods, and as long as the voltage sampling signal is smaller than the preset conversion saturation value, it indicates that the integral addition circuit does not reach the saturation state, and the next detection operation of the terminal voltage of the motor may be continuously implemented without reset and zero clearing.
Further, in one embodiment, in a state where the voltage sampling value is greater than the preset conversion saturation value, the processor can also determine whether the sampling termination signal is received, so that the processor can stop in time when the user has no voltage detection requirement.
Further, in an embodiment, with reference to fig. 6, after step S420, the method further includes step S440. Step S440, when the voltage sampling value is less than or equal to the preset conversion saturation value, judging whether a sampling termination signal is received; when the sampling end signal is not received, the step of sending the reset signal to the integral addition circuit is returned.
Specifically, referring to fig. 7, when the processor detects that the voltage sampling value is less than or equal to the preset conversion saturation value, it indicates that the motor terminal voltage detection operation is continued, and the motor terminal voltage does not enter the saturation state, so that the reset signal does not need to be inverted at this time, the reset zero clearing operation is performed on the portion of the integral addition circuit originally in the discharge state, and the motor terminal voltage detection operation of the next period can be directly performed. Further, in order to ensure that a user can stop in time when the user has a requirement for finishing the detection of the motor terminal voltage under the conditions of unrecoverable faults and the like of the circuit, at the moment, the processor further analyzes whether a sampling termination signal is received or not to judge whether the user has the requirement for finishing sampling or not, if the sampling requirement is not finished, the operation of sending a reset signal to an integral addition circuit of the motor terminal voltage detection circuit is returned, and the operation is repeated in a circulating mode to carry out the detection operation of the motor terminal voltage all the time.
In one embodiment, after the step of determining whether the sampling termination signal is received, the method further includes: and when receiving the sampling termination signal, finishing the detection of the terminal voltage of the motor.
Specifically, referring to fig. 5 or fig. 7, no matter whether a sampling termination signal is received or not after a sampling is completed and reset is immediately performed, or whether a sampling termination signal is received or not after a voltage sampling value is compared with a preset conversion saturation value after the sampling is completed, a situation that the sampling termination signal is received can occur, and at this time, only the end of the voltage detection operation of the whole motor needs to be controlled to be terminated, and the detection operation is finished.
Referring to fig. 8, in one embodiment, step S300 includes step S310 and step S320.
And S310, if the integral addition circuit between the last sampling and the current sampling is reset, analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain the voltage detection value at the motor end. Step S320, if the integrating and adding circuit between the last sampling and the current sampling is not reset, analyzing according to the voltage sampling value corresponding to the current collection time, the voltage sampling value corresponding to the last collection time, and the preset detection circuit parameter, to obtain the voltage detection value at the motor end.
Specifically, in the actual voltage detection value calculation process, the voltage detection value is analyzed according to whether the current sampling frequency is according to the reset signal after the inversion, that is, whether the processor performs one inversion on the reset signal between the last sampling and the current sampling, that is, whether the reset zero clearing operation is performed on the integral addition circuit, and detailed voltage detection value calculation modes are different. If the integral adder is not reset and reset after the last sampling is finished, voltage accumulation exists in the capacitor of the integral adder, and the voltage detection value is calculated by combining the last obtained voltage sampling value and the current voltage detection value; if the reset occurs, no voltage is accumulated in the integrator capacitor of the integration and addition circuit, and calculation is performed according to the current voltage sampling value. It can be understood that, when the sampling analysis calculation is performed for the first time, it is considered that a similar calculation manner is adopted as the case where the reset zero clearing is not performed on the integrating and adding circuit after the last sampling.
It should be noted that the specific type of the predetermined detection circuit parameter may also be different in the above-mentioned two different voltage detection value analysis calculations. For example, in one embodiment, when the current sampling times is to perform voltage detection value analysis according to the inverted reset signal, the corresponding preset detection circuit parameters include a gain K of the motor terminal voltage detection circuit (including a gain of the sampling circuit, an integral coefficient of the integral addition circuit, and the like), a switching period Ts of an external inverter circuit connected to the front end of the motor, and a deviation value S in the integral addition circuit, and the current sampling times are compared with the voltage detection value analysis according to the inverted reset signalThe calculation method of the detection voltage value is as follows:
wherein u isnAnd representing a voltage sampling value corresponding to the current acquisition times, and vn representing a final voltage detection value.
It can be understood that, in the actual integrating and adding circuit, the integrating part is formed by an operational amplifier, and the output voltage of the operational amplifier has a certain range, and cannot completely reach the maximum value or the minimum value. This value can be obtained by actual testing or given an empirical value. The actual test is to put the integrators in the integration and addition circuit in a reset and clear state, observe the output of the integration and addition circuit and record the output, that is, the deviation value S in the integration and addition circuit, which is generally a very small value.
Correspondingly, if the current sampling frequency is not when the voltage detection value is analyzed according to the reset signal after the turnover, namely after the last sampling, the integral addition circuit is not reset and cleared, the corresponding preset detection circuit parameters comprise the gain K of the sampling circuit, the switching period Ts of the external inverter circuit connected with the front end of the motor is determined, and the corresponding detection voltage value is calculated in the following mode:
wherein u isnRepresenting the voltage sample value u corresponding to the current acquisition timesn-1And representing the voltage sampling value corresponding to the last sampling time, and vn representing the final voltage detection value.
The specific form of the integrating and adding circuit is not exclusive, please refer to fig. 9, in an embodiment, taking an example that the integrating and adding circuit includes an inverter 21, a first integrator 22, a second integrator 23 and an adder 24, a first input terminal of the integrating and adding circuit includes a first input terminal of the first integrator 22 and a first input terminal of the second integrator 23, a second input terminal of the integrating and adding circuit includes a second input terminal of the first integrator 22 and a second input terminal of the second integrator 23, the first input terminal of the first integrator 22 and the first input terminal of the second integrator 23 are respectively connected to the sampling circuit, a reset terminal of the processor is connected to the second input terminal of the first integrator 22, the reset terminal of the processor is connected to the second input terminal of the second integrator 23 through the inverter 21, an output terminal of the first integrator 22 and an output terminal of the second integrator 23 are respectively connected to the input terminal of the adder 24, an output of adder 24 is coupled as an output of the integrating and adding circuit to an input of the processor.
Accordingly, in this embodiment, the processor first outputs a high-level reset signal, at which time the first integrator 22 enters the integration state, the second integrator 23 starts entering the reset state, and the integration circuit inside the second integrator 23 is in the discharge state (of course, the reverse operation is also possible, i.e., the reset signal outputs a low level, the second integrator 23 starts entering the integration state, and the first integrator 22 is in the discharge state). The motor is started to operate, and the inverter emits square waves with a certain duty ratio according to a switching period. At the same time, the first integrator 22 enters the integration state to start operating, and the second integrator 23 enters the reset state. By the next sampling period, the ADC module (analog-to-digital converter within the processor) starts acting to convert the output value of the adder 24 into a digital value. Then, the processor inverts the reset control signal (the high level becomes low level, the low level becomes high level), and waits for entering the next voltage sampling, and the specific working timing waveforms are shown in fig. 10, where the integrator 1 is the first integrator 22, the integrator 2 is the second integrator 23, and of the two waveforms respectively corresponding to the first integrator 22 and the second integrator 23, the upper one is the actual output waveform, and the lower one is the discharge waveform of the voltage-dividing capacitor inside the integrator.
It should be noted that, although the embodiment shown in fig. 9 only shows the sampling analysis operation of one signal, the sampling analysis of the other two signals output by the resistance voltage division sampling circuit shown in fig. 2 is similar to that shown in fig. 9, and three integrating and adding circuit structures identical to those shown in fig. 9 can be designed in an actual design to implement the voltage detection operation corresponding to three signals.
It should be noted that, in consideration of chip resources, the reset signals of the integrators of the respective integrating and adding circuits may be multiplexed, one reset signal may be used for each integrating and adding circuit, one reset signal may be shared by three circuits, one reset signal may be used for one integrator in each integrating and adding circuit, and so on. As long as the reset clear function can be completed within a predetermined time. In addition, the reset signal may be a PWM signal. The PWM is configured into a complementary mode, one path is high level, and the other path is low level, and the two paths are respectively used for the reset functions of the two integrators. And turning over a reset signal every time one sampling is completed.
According to the method for detecting the voltage of the motor terminal, the sampling circuit is arranged at the input end of the motor to collect the voltage sampling signal at the input end of the motor, and meanwhile, the sampling circuit is further connected with the integral addition circuit and the processor. And the integral addition circuit performs integral summation processing according to the reset signal sent by the processor and the voltage sampling signal acquired by the sampling circuit, and finally converts a voltage detection value in the processor by combining preset detection circuit parameters to realize the detection operation of the voltage of the motor terminal. Through the scheme, when the terminal voltage of the motor is detected, the integral addition circuit can be used for carrying out integral summation processing on the voltage sampling signal obtained by primary sampling, so that frequency interference in a square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, nonlinear accurate compensation of the output voltage of the inverter circuit can be realized, and the terminal voltage sampling method has higher sampling reliability compared with the traditional terminal voltage sampling method of the alternating current variable frequency motor.
Referring to fig. 11, a motor terminal voltage detection apparatus includes a reset signal sending module 100, a voltage sampling value obtaining module 200, and a voltage detection value analyzing module 300.
The reset signal sending module 100 is configured to send a reset signal to the integral addition circuit when the motor starts to operate; the voltage sampling value acquisition module 200 is configured to receive a voltage sampling value output by the integral addition circuit after integral summation processing is performed on the reset signal and the voltage sampling signal; the voltage detection value analysis module 300 analyzes the voltage sampling value and the preset detection circuit parameter to obtain the voltage detection value at the motor end.
Referring to fig. 12, in an embodiment, the apparatus for detecting terminal voltage of a motor further includes a flipping re-detection module 400. The inversion re-detection module 400 is configured to invert the reset signal and control the reset signal transmission module 100 to perform an operation of transmitting the reset signal to the integral addition circuit.
In one embodiment, the flipping re-detection module 400 is further configured to flip the reset signal and determine whether a sampling termination signal is received; when the sampling termination signal is not received, the reset signal transmission module 100 is controlled to perform an operation of transmitting the reset signal to the integral addition circuit.
In one embodiment, the rolling retest module 400 is further configured to determine whether the voltage sampling value is greater than a predetermined transition saturation value. In step S430, when the voltage sampling value is greater than the preset conversion saturation value, the reset signal is inverted, and the reset signal transmission module 100 is controlled to perform an operation of transmitting the reset signal to the integral addition circuit.
In one embodiment, the turnover re-detection module 400 is further configured to determine whether a sampling termination signal is received when the voltage sampling value is less than or equal to a preset conversion saturation value; when the sampling termination signal is not received, the reset signal transmission module 100 is controlled to perform an operation of transmitting the reset signal to the integral addition circuit.
In one embodiment, the rollover re-detection module 400 is further configured to end the motor terminal voltage detection when the sampling termination signal is received.
In an embodiment, the voltage detection value analyzing module 300 is further configured to analyze the voltage sampling value and a preset detection circuit parameter to obtain a voltage detection value at the motor end if the integral adding circuit is reset between the last sampling and the current sampling. And if the integral addition circuit between the last sampling and the current sampling is not reset, analyzing according to the voltage sampling value corresponding to the current collection frequency, the voltage sampling value corresponding to the last collection frequency and preset detection circuit parameters to obtain a voltage detection value at the motor end.
For specific definition of the motor terminal voltage detection device, reference may be made to the above definition of the motor terminal voltage detection method, which is not described herein again. All or part of the modules in the motor terminal voltage detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to the motor terminal voltage detection device, the sampling circuit is arranged at the input end of the motor to collect the voltage sampling signal at the input end of the motor, and meanwhile, the sampling circuit is further connected with the integral addition circuit and the processor. And the integral addition circuit performs integral summation processing according to the reset signal sent by the processor and the voltage sampling signal acquired by the sampling circuit, and finally converts a voltage detection value in the processor by combining preset detection circuit parameters to realize the detection operation of the voltage of the motor terminal. Through the scheme, when the terminal voltage of the motor is detected, the integral addition circuit can be used for carrying out integral summation processing on the voltage sampling signal obtained by primary sampling, so that frequency interference in a square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, nonlinear accurate compensation of the output voltage of the inverter circuit can be realized, and the terminal voltage sampling method has higher sampling reliability compared with the traditional terminal voltage sampling method of the alternating current variable frequency motor.
Referring to fig. 13, a circuit for detecting a voltage at a motor terminal includes a sampling circuit 10, an integration and addition circuit 20, and a processor 30, where the sampling circuit 10 is disposed at an input end of a motor, the sampling circuit 10 is connected to a first input end of the integration and addition circuit 20, an output end of the integration and addition circuit 20 is connected to an input end of the processor 30, a reset end of the processor 30 is connected to a second input end of the integration and addition circuit 20, and the processor 30 is configured to detect a voltage at a motor terminal according to the above method.
Specifically, the motor is started, that is, the motor is enabled by an inverter circuit in a drive control system under the action of the corresponding drive control system, and the inverter circuit sends square waves with a certain duty ratio according to a switching period. In this state, the processor 30 of the terminal voltage detection circuit generates a reset signal and sends it to the integrating and adding circuit 20 of the terminal voltage detection circuit, so that the integrating and adding circuit 20 starts operating according to the received signal. It should be noted that the type of the reset signal is not exclusive, and in one embodiment, the reset signal may be high or low, depending on the specific operation mode of the integration and addition circuit 20, and in the corresponding level state, the integration and addition circuit 20 will be turned on to enter the integration state or the reset zero state, so as to implement the integration and addition process according to the received signal.
The voltage sampling signal is collected by a sampling circuit 10 of the motor terminal voltage detection circuit and is sent to an integral addition circuit 20, and the sampling circuit 10 is arranged at the input end of the motor. A sampling circuit 10 is arranged between the input end of the motor and the input end of the external inverter circuit, and the sampling circuit 10 is used for collecting the square wave signal transmitted to the motor by the inverter circuit when the motor starts to operate, obtaining a corresponding voltage sampling signal, and transmitting the voltage sampling signal to an integral addition circuit 20. After receiving the reset signal and the voltage sampling signal, the integration and addition circuit 20 performs integration processing according to the reset signal and the voltage sampling signal, and then filters out the switching frequency interference component in the voltage sampling signal to obtain a voltage sampling value, and transmits the voltage sampling value to the processor 30.
It should be noted that the particular type of sampling circuit 10 is not exclusive and in one embodiment may be implemented using a resistive divider sampling circuit 10, which has the advantage of low cost in the form of sampling circuit 10. In other embodiments, it can also be done by using a filter circuit with an operational amplifier and a cut-off frequency much higher than the maximum output frequency of the motor, as long as the voltage signal is obtained. Referring to fig. 2, taking the resistance voltage-dividing sampling circuit 10 as an example, a resistance voltage-dividing sampling circuit 10 is disposed between each input terminal of the motor and the external inverter circuit, a common terminal of two resistors in each resistance voltage-dividing sampling circuit 10 is used as a sampling output terminal to be connected to a first input terminal of the integration and addition circuit 20, and the voltage sampling values are output to the integration and addition circuit 20, that is, V1, V2, and V3 are respectively output to the first input terminal of the integration and addition circuit 20.
After receiving the voltage sampling value output by the integral addition circuit 20, the processor 30 further performs analysis and calculation by combining with preset detection circuit parameters prestored therein to obtain a voltage detection value finally filtering the high-frequency switch interference, thereby completing the primary motor terminal voltage detection operation.
In one embodiment, referring to fig. 9 in combination, the integrating and adding circuit 20 includes an inverter 21, a first integrator 22, a second integrator 23 and an adder 24, the first input terminal of the integrating and adding circuit 20 includes a first input terminal of the first integrator 22 and a first input terminal of the second integrator 23, the second input terminal of the integrating and adding circuit 20 includes a second input terminal of the first integrator 22 and a second input terminal of the second integrator 23, the first input terminal of the first integrator 22 and the first input terminal of the second integrator 23 are respectively connected to the sampling circuit 10, the reset terminal of the processor 30 is connected to the second input terminal of the first integrator 22, the reset terminal of the processor 30 is connected to the second input terminal of the second integrator 23 through an inverter 21, the output terminal of the first integrator 22 and the output terminal of the second integrator 23 are respectively connected to the input terminal of the adder 24, and the output terminal of the adder 24 serves as the output terminal of the integrating and adding circuit 20 and is connected to the input terminal of the processor 30.
In one embodiment, referring to fig. 9 in combination, the processor 30 includes an analog-to-digital converter 32 and a reset signal generator 31, the analog-to-digital converter 32 is connected to the reset signal generator 31 and the output terminal of the adder 24, and the reset signal generator 31 is connected to the second input terminal of the first integrator 22 and the second input terminal of the second integrator 23 through the inverter 21.
Specifically, in this embodiment, first, the processor 30 outputs a high-level reset signal, at which time the first integrator 22 enters the integration state, the second integrator 23 starts entering the reset state, and the integration circuit inside the second integrator 23 is in the discharge state (of course, the reverse operation is also possible, that is, the reset signal outputs a low level, the second integrator 23 starts entering the integration state, and the first integrator 22 is in the discharge state). The motor is started to operate, and the inverter emits square waves with a certain duty ratio according to a switching period. At the same time, the first integrator 22 enters the integration state to start operating, and the second integrator 23 enters the reset state. By the next sampling period, the ADC module (the analog-to-digital converter 32 within the processor 30) starts acting to convert the output value of the adder 24 into a digital value. Then, the reset signal generator 31 inverts the reset control signal (the high level becomes low level, the low level becomes high level), and waits for entering the next voltage sampling, and the specific working timing waveforms are shown in fig. 10, where the integrator 1 is the first integrator 22, the integrator 2 is the second integrator 23, and of the two waveforms respectively corresponding to the first integrator 22 and the second integrator 23, the upper one is the actual output waveform, and the lower one is the discharge waveform of the voltage-dividing capacitor inside the integrator.
In one embodiment, when the current sampling frequency is to perform voltage detection value analysis according to the inverted reset signal, that is, reset clearing occurs in the integrating and adding circuit between two sampling, the corresponding preset detection circuit parameters include a gain K of the motor terminal voltage detection circuit (including a gain of the sampling circuit 10, an integral coefficient of the integrating and adding circuit 20, and the like), a switching period Ts of an external inverter circuit connected to the front end of the motor, and a deviation value S in the integrating and adding circuit 20, and the corresponding detection voltage value is calculated in the following manner:
wherein u isnAnd representing a voltage sampling value corresponding to the current acquisition times, and vn representing a final voltage detection value.
Correspondingly, if the current sampling frequency is not according to the reset signal after the turnover to carry out the voltage detection value analysis, that is, after the last sampling, the integral addition circuit 20 is not reset and cleared, the corresponding preset detection circuit parameters include the gain K of the sampling circuit 10, the switching period Ts of the external inverter circuit connected to the front end of the motor, and the corresponding detection voltage value is calculated in the following manner:
wherein u isnRepresenting the voltage sample value u corresponding to the current acquisition timesn-1And representing the voltage sampling value corresponding to the last sampling time, and vn representing the final voltage detection value.
In the above-mentioned circuit for detecting terminal voltage of a motor, a sampling circuit 10 is provided at an input end of the motor to collect a voltage sampling signal at the input end of the motor, and meanwhile, the sampling circuit 10 is further connected with an integral addition circuit 20 and a processor 30. The integral addition circuit 20 performs integral summation processing on the reset signal sent by the processor 30 and the voltage sampling signal collected by the sampling circuit 10, and finally converts a voltage detection value in the processor 30 by combining preset detection circuit parameters, so as to realize the detection operation of the motor terminal voltage. Through the scheme, when the terminal voltage of the motor is detected, the integral addition circuit 20 can be used for carrying out integral summation processing on the voltage sampling signal obtained by primary sampling, so that the frequency interference in the square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, the nonlinear accurate compensation of the output voltage of the inverter circuit can be realized, and the terminal voltage sampling method has higher sampling reliability compared with the traditional terminal voltage sampling method of the alternating current variable frequency motor.
An air conditioning system comprises a motor and the motor terminal voltage detection circuit.
Specifically, in the air conditioning system of this embodiment, the motor terminal voltage detection circuit shown in each of the above embodiments is disposed at the front end of the motor, and in the air conditioning system of this embodiment, the sampling circuit 10 is disposed at the input end of the motor to collect the voltage sampling signal at the input end of the motor, and meanwhile, the sampling circuit 10 is further connected to the integral addition circuit 20 and the processor 30. The integral addition circuit 20 performs integral summation processing on the reset signal sent by the processor 30 and the voltage sampling signal collected by the sampling circuit 10, and finally converts a voltage detection value in the processor 30 by combining preset detection circuit parameters, so as to realize the detection operation of the motor terminal voltage. Through the scheme, when the terminal voltage of the motor is detected, the integral addition circuit 20 can be used for carrying out integral summation processing on the voltage sampling signal obtained by primary sampling, so that the frequency interference in the square wave signal output to the front end of the motor by an external inverter circuit can be effectively filtered, the minimum phase delay (half switching period) is realized, the nonlinear accurate compensation of the output voltage of the inverter circuit can be realized, and the terminal voltage sampling method has higher sampling reliability compared with the traditional terminal voltage sampling method of the alternating current variable frequency motor.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A motor terminal voltage detection method is characterized by comprising the following steps:
when the motor starts to operate, a reset signal is sent to the integral addition circuit;
receiving a voltage sampling value output by the integration and addition circuit after integration and summation processing is carried out on the reset signal and the voltage sampling signal; the voltage sampling signal is collected by a sampling circuit and is sent to the integral addition circuit, the sampling circuit is arranged at the input end of the motor, and the sampling circuit is connected with the integral addition circuit;
and analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain a voltage detection value at the motor end.
2. A method for detecting a voltage at a motor terminal as claimed in claim 1, wherein said step of analyzing according to said voltage sampling value and a preset detection circuit parameter to obtain a voltage detection value at a motor terminal further comprises:
and turning over the reset signal and returning to the step of sending the reset signal to the integral addition circuit.
3. A terminal voltage detecting method for a motor according to claim 2, wherein said step of inverting said reset signal and returning to said step of sending a reset signal to said integration and addition circuit comprises:
turning over the reset signal and judging whether a sampling termination signal is received or not;
and returning to the step of transmitting the reset signal to the integration and addition circuit when the sampling termination signal is not received.
4. A terminal voltage detecting method for a motor according to claim 2, wherein said step of inverting said reset signal and returning to said step of sending a reset signal to said integration and addition circuit comprises:
judging whether the voltage sampling value is larger than a preset conversion saturation value or not;
and when the voltage sampling value is larger than the preset conversion saturation value, turning over the reset signal and returning to the step of sending the reset signal to the integral addition circuit.
5. The method for detecting terminal voltage of a motor according to claim 4, wherein said step of determining whether the voltage sampling value is greater than a preset switching saturation value further comprises:
when the voltage sampling value is less than or equal to a preset conversion saturation value, judging whether a sampling termination signal is received;
and returning to the step of transmitting the reset signal to the integration and addition circuit when the sampling termination signal is not received.
6. A terminal voltage detecting method according to claim 3 or 5, wherein said step of determining whether a sampling termination signal is received further comprises:
and when receiving the sampling termination signal, finishing the detection of the terminal voltage of the motor.
7. A method for detecting voltage at a motor terminal as claimed in any one of claims 2-5, wherein said step of analyzing according to said voltage sampling value and a preset detection circuit parameter to obtain a detected voltage value at a motor terminal comprises:
if the integral addition circuit is reset between the last sampling and the current sampling, analyzing according to the voltage sampling value and preset detection circuit parameters to obtain a voltage detection value at the motor end;
and if the integral addition circuit is not reset between the last sampling and the current sampling, analyzing according to the voltage sampling value corresponding to the current collection frequency, the voltage sampling value corresponding to the last collection frequency and a preset detection circuit parameter to obtain a voltage detection value at the end of the motor.
8. A terminal voltage detection device for a motor, comprising:
a reset signal sending module; the integrated addition circuit is used for sending a reset signal to the integrated addition circuit when the motor starts to operate;
the voltage sampling value acquisition module is used for receiving a voltage sampling value output by the integral addition circuit after integral summation processing is carried out on the reset signal and the voltage sampling signal; the voltage sampling signal is collected by a sampling circuit and is sent to the integral addition circuit, the sampling circuit is arranged at the input end of the motor, and the sampling circuit is connected with the integral addition circuit;
and the voltage detection value analysis module is used for analyzing according to the voltage sampling value and the preset detection circuit parameter to obtain a voltage detection value at the motor end.
9. A circuit for detecting terminal voltage of a motor, comprising a sampling circuit, an integral addition circuit and a processor, wherein the sampling circuit is disposed at an input terminal of the motor, the sampling circuit is connected to a first input terminal of the integral addition circuit, an output terminal of the integral addition circuit is connected to an input terminal of the processor, a reset terminal of the processor is connected to a second input terminal of the integral addition circuit, and the processor is configured to perform terminal voltage detection of the motor according to the method of any one of claims 1 to 7.
10. A terminal voltage detecting circuit according to claim 9, wherein said integrating and summing circuit comprises an inverter, a first integrator, a second integrator and a summer, the first input terminal of said integrating and summing circuit comprises the first input terminal of said first integrator and the first input terminal of said second integrator, the second input terminal of said integrating and summing circuit comprises the second input terminal of said first integrator and the second input terminal of said second integrator, the first input terminal of said first integrator and the first input terminal of said second integrator are respectively connected to said sampling circuit, the reset terminal of said processor is connected to the second input terminal of said first integrator, the reset terminal of said processor is connected to the second input terminal of said second integrator through said inverter, the output terminal of said first integrator and the output terminal of said second integrator are respectively connected to the input terminal of said summer, and the output end of the adder is used as the output end of the integral addition circuit and is connected with the input end of the processor.
11. A terminal voltage detecting circuit according to claim 10, wherein said processor comprises an analog-to-digital converter and a reset signal generator, said analog-to-digital converter is connected to said reset signal generator and an output terminal of said adder, said reset signal generator is connected to a second input terminal of said first integrator and a second input terminal of said second integrator through said inverter.
12. A terminal voltage detecting circuit according to claim 9, wherein said sampling circuit is a resistance voltage division sampling circuit.
13. An air conditioning system comprising a motor and a motor terminal voltage detection circuit according to any one of claims 9 to 12.
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