CN113036720A - Motor phase loss detection method - Google Patents
Motor phase loss detection method Download PDFInfo
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- CN113036720A CN113036720A CN202110277227.0A CN202110277227A CN113036720A CN 113036720 A CN113036720 A CN 113036720A CN 202110277227 A CN202110277227 A CN 202110277227A CN 113036720 A CN113036720 A CN 113036720A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/16—Measuring asymmetry of polyphase networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The embodiment of the invention discloses a motor phase loss detection method. The motor phase loss detection method comprises the following steps: in the running process of the motor, continuously and synchronously monitoring and comprehensively analyzing the given torque, the feedback torque and the feedback phase current, judging the phase-lacking state of the motor based on the analysis result and outputting corresponding information; when the given torque meets the set judgment condition, if the torque feedback is in a zero torque feedback state, judging that the power line of the motor is not connected, otherwise, judging a torque following state; when the torque is in a non-following state, if a certain phase current of UVW three phases is in a zero current state, determining that the phase is open. The technical scheme of the embodiment of the invention realizes accurate detection of the phase failure, has high reliability of the phase failure detection, and simultaneously improves the overall safety of the system.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor phase loss detection method.
Background
At present, motors are widely applied to the field of industrial control, and the requirements on the use safety of the motors are increasingly improved. As the motor inevitably loosens or falls off the power cable connector in the use process, the operation safety of the equipment is seriously influenced, and the phase-lack detection of the motor is very necessary.
In the prior art, a method for detecting phase loss of a motor is to detect a phase loss state through feedback of a motor phase current in the operation process of the motor, for example, a three-phase current effective value is calculated within a period of time, whether the three phases of the motor are balanced is judged through a phase current amplitude relationship, if a ratio of a maximum value of the phase current amplitude to a minimum value of the amplitude exceeds a preset judgment threshold, the phase loss is judged, or phase loss is judged through integral operation of the motor phase current within a period of time and according to whether an integral value is continuously smaller than a preset zero current threshold. However, under the light-load low-speed working condition of the motor, because the feedback current is small and has sampling deviation, the detection duration needs to be accurately estimated according to the rotating speed of the motor, and the method for detecting the phase failure only depending on the feedback current is low in accuracy and reliability and prone to fault and false alarm due to various factors.
Disclosure of Invention
The embodiment of the invention provides a motor phase-loss detection method, which is used for accurately detecting phase loss, has high reliability of phase-loss detection and simultaneously improves the overall safety of a system.
The embodiment of the invention provides a motor open-phase detection method, which comprises the following steps:
in the running process of the motor, if the torque given absolute value of the motor is detected to be larger than a preset torque given threshold value, and the detected detection timing accumulation exceeds a preset torque given detection duration, a torque given judgment condition is established, and a zero torque feedback state of the motor is determined under the torque given judgment condition;
carrying out full open-phase judgment on the motor based on the zero-torque feedback state, and determining a torque following state of the motor according to a full open-phase judgment result;
and performing phase loss judgment on the motor based on the torque following state, and outputting phase loss detection information of the motor.
Further, after the phase loss judgment of the motor is performed based on the zero-torque feedback state, the method further includes:
and if the motor is judged to be in a zero-torque feedback state, judging that the power line of the motor is not connected, and outputting the information that the power line is not connected.
Further, determining a zero-torque feedback state of the motor under the torque-giving determination condition includes:
if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, judging whether the detected detection timing accumulation exceeds the preset zero torque feedback detection duration or not;
and determining the zero torque feedback state of the motor according to the judgment whether the preset zero torque feedback detection time length is exceeded.
Further, determining a zero torque feedback state of the motor according to whether the preset zero torque feedback detection duration is exceeded or not includes:
and if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection duration, judging that the motor is in a zero torque feedback state, the power lines are not connected at all, and the motor is in a full phase loss state.
Further, determining a zero torque feedback state of the motor according to whether the preset zero torque feedback detection duration is exceeded or not includes:
and if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, determining that the motor is in a zero torque feedback state.
Further, determining a torque following state of the motor according to a result of the full open-phase judgment includes:
if the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value, judging whether the detected detection timing accumulation exceeds a preset torque following detection duration or not;
and determining the torque following state of the motor according to the judgment of whether the preset torque following detection time length is exceeded.
Further, determining the torque following state of the motor according to whether the preset torque following detection time length is exceeded or not includes:
and if the preset torque following detection time length is not exceeded, determining that the motor is in a torque following state and the motor is not in a phase failure state.
Further, determining the torque following state of the motor according to whether the preset torque following detection time length is exceeded or not includes:
and if the preset torque following detection duration is exceeded, the motor is in a torque non-following state, and the absolute value of the U-phase current, the absolute value of the V-phase current and the absolute value of the W-phase current in the current running state of the motor are determined.
Further, the phase loss determination of the motor based on the torque following state includes:
if the absolute value of the U-phase current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the U-phase of the motor is in phase failure; and/or the presence of a gas in the gas,
if the absolute value of the phase current of the V phase is smaller than a preset zero-phase current threshold value, the detected detection timing is accumulated to exceed the preset zero-phase current detection duration, and the phase lack of the V phase of the motor is judged; and/or the presence of a gas in the gas,
and if the absolute value of the phase W current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the phase W of the motor is in phase failure.
Further, the motor phase loss detection method further includes:
if the detected torque given absolute value is larger than the preset torque given threshold value, and the detected detection timing accumulation does not exceed the preset detection time length, continuously accumulating and detecting the time length of the torque given absolute value larger than the preset torque given threshold value.
According to the technical scheme of the embodiment of the invention, in the running process of the motor, continuous synchronous monitoring and comprehensive analysis are carried out on given torque, torque feedback and phase current feedback, and the open-phase state of the motor is judged and output based on the analysis result; when the given torque meets the set judgment condition, if the torque feedback is in a zero torque feedback state, judging that the power line of the motor is not connected, otherwise, judging a torque following state; when the torque is in a non-following state, if a certain phase current of UVW three phases is in a zero current state, determining that the phase is open. The method solves the problems that the existing motor phase loss detection method is low in accuracy and reliability and prone to fault and false alarm, so that accurate phase loss detection is achieved, the phase loss detection reliability is high, and meanwhile, the overall safety of the system is improved.
Drawings
Fig. 1 is a flowchart of a method for detecting a phase loss of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a motor phase loss detection method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a motor phase loss detection method according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a motor phase loss detection method according to an embodiment of the present invention, which is applicable to a situation where a motor phase loss is detected without being affected by an operation condition of the motor.
The motor phase loss detection method specifically comprises the following steps:
s110, in the running process of the motor, if the torque given absolute value of the motor is detected to be larger than a preset torque given threshold value, and the detected detection timing accumulation exceeds a preset torque given detection time length, a torque given judgment condition is met, and the zero torque feedback state of the motor is determined under the torque given judgment condition.
The motor running process in the embodiment can include that the motor is in the starting process or the motor is in the normal running process and phase loss occurs, the motor running process specifically referred to in the motor running process is not limited in any way, namely the motor phase loss detection method provided by the embodiment is not influenced by the running working condition of the motor, and accurate motor phase loss detection can be realized.
In the running process of the motor, the command speed of the motor controller and the feedback rotating speed of the motor are closed-loop, when the command and the feedback have deviation, a given torque value is output through the control action of the speed PI regulator, namely, the given torque absolute value corresponding to the motor in the embodiment can be calculated and output through the speed loop.
The preset torque setting threshold can be selected and set by a person skilled in the art according to the actual motor condition, and the embodiment does not limit the setting.
For example, in the present embodiment, the indication may be performed by setting a torque setting flag corresponding to the torque setting state. When the torque given absolute value of the motor is detected to be larger than a preset torque given threshold value, the detected detection timing accumulation exceeds a preset torque given detection duration, the torque given identification position is set as a first identification, and otherwise, the torque given identification position is set as a second identification.
On the basis of the above embodiment, if the detected torque given absolute value is greater than the preset torque given threshold, and the detected detection timing accumulation does not exceed the preset detection time period, the time period in which the detected torque given absolute value is greater than the preset torque given threshold is continuously accumulated.
Wherein the first flag and the second flag can be adjusted in two different states by two different binary numbers (e.g., 1 and 0), for example, the torque given to the first flag corresponding to the flag bit can be TorqRef — F equal to 1.
In addition, when the torque given absolute value of the motor is detected to be greater than a preset torque given threshold, the detection timing is accumulated according to the sampling period time, otherwise, the zero clearing is carried out; if the detection timing is greater than the accumulation exceeding the preset torque set detection period, the torque set flag is set to the first flag, i.e., the torque set flag, TorqRef _ F, is equal to 1, otherwise the torque set flag is set to the second flag, i.e., the torque set flag, TorqRef _ F, is equal to 0.
Further, determining a zero-torque feedback state of the motor under the torque-giving determination condition includes: if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, judging whether the detected detection timing accumulation exceeds the preset zero torque feedback detection duration or not; and determining the zero torque feedback state of the motor according to the motor state corresponding to the result of judging whether the preset zero torque feedback detection time length is exceeded.
Further, determining a zero torque feedback state of the motor according to whether the preset zero torque feedback detection duration is exceeded or not includes: and if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection duration, judging that the motor is in a zero torque feedback state, the power lines are not connected at all, and the motor is in a full phase loss state.
Specifically, when the absolute value of the torque feedback of the motor is detected to be smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds a preset zero torque feedback detection time length, the zero torque feedback identification position is set to be a first identification, that is, the zero torque feedback identification position Torq0_ F is equal to 1, and at this time, it is determined that the current operation state of the motor is that the motor is in a full open-phase state.
And if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, determining that the motor is in a zero torque feedback state.
Specifically, when the absolute value of the torque feedback of the motor is detected to be smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation does not exceed the preset zero torque feedback detection time length, the zero torque feedback flag is set to be a second flag, that is, the zero torque feedback flag Torq0 — F is equal to 0, and then the torque following state of the motor is further determined.
Similarly, the zero-torque feedback state of the motor may be represented by setting a zero-torque feedback flag corresponding to the zero-torque feedback state, in this embodiment, when it is detected that the absolute value of the torque feedback of the motor is smaller than the preset zero-torque feedback threshold, and whether the detected detection timing accumulation exceeds the preset zero-torque feedback detection duration, the zero-torque feedback flag is set as the first flag, otherwise, the zero-torque feedback flag is the second flag.
The first flag and the second flag may be adjusted in two different states through two different binary numbers (e.g., 0 and 1), for example, the first flag corresponding to the zero-torque feedback flag may be Torq0 — F is equal to 1.
In addition, when the absolute value of the torque feedback of the motor is detected to be smaller than a preset zero torque feedback threshold, the detection timing is accumulated according to the sampling period time, otherwise, the zero clearing is carried out; if the detection timing accumulation exceeds the preset zero torque feedback detection period, the zero torque feedback flag is set to the first flag, i.e., the zero torque feedback flag, Torq0_ F, is equal to 1, otherwise, the zero torque feedback flag is set to the second flag, i.e., the zero torque feedback flag, Torq0_ F, is equal to 0.
It is understood that the above-mentioned sampling period time can be selected and set by a person skilled in the art according to experience, and the specific time length of the sampling period time is not limited in any way in the present embodiment.
And S120, carrying out full open-phase judgment on the motor based on the zero torque feedback state, and determining the torque following state of the motor according to the result of the full open-phase judgment.
Specifically, the motor is judged to be in full phase loss based on the zero-torque feedback state, if the motor is in the zero-torque feedback state, the motor power line is judged not to be connected and the information is output, and otherwise, the torque following state of the motor is judged.
Further, after the phase loss judgment of the motor is performed based on the zero-torque feedback state, the method further includes: and if the motor is judged to be in a zero-torque feedback state, judging that the power line of the motor is not connected, and outputting the information that the power line is not connected.
Further, determining a torque following state of the motor according to a result of the full open-phase judgment includes: if the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value, judging whether the detected detection timing accumulation exceeds a preset torque following detection duration or not; and determining the torque following state of the motor according to the judgment of whether the preset torque following detection time length is exceeded.
Determining the torque following state of the motor according to the judgment of whether the preset torque following detection time length is exceeded or not, wherein the method comprises the following steps: and if the preset torque following detection time length is not exceeded, determining that the motor is in a torque following state and the motor is not in a phase failure state. If the preset torque following detection duration is exceeded, the motor is in a torque non-following state, and a U-phase current absolute value, a V-phase current absolute value and a W-phase current absolute value of the motor in the current operation state are determined, namely the zero-current states of the U-phase current, the V-phase current and the W-phase current of the motor in the current operation state are obtained.
For example, in the present embodiment, the indication may be performed by setting a torque following flag corresponding to the torque following state. When the absolute value of the torque following error of the motor is larger than a preset torque following error threshold value, the detected detection timing accumulation exceeds the preset torque following detection duration, the torque following identification position is set as a first identification, and otherwise, the torque following identification position is set as a second identification.
The first flag and the second flag may be adjusted in two different states through two different binary numbers (e.g., 1 and 0), for example, the first flag corresponding to the torque following flag may be TorqErr _ F equal to 1.
In addition, when the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value, the detection timing is accumulated according to the sampling period time, otherwise, the zero clearing is carried out; if the detection timing accumulation exceeds the preset torque following detection period, the torque following flag is set to a first flag, that is, the torque following flag, TorqErr _ F, is equal to 1, otherwise, the torque following flag is set to a second flag, that is, the torque following flag, TorqErr _ F, is equal to 0.
And S130, performing open-phase judgment on the motor based on the torque following state, and outputting open-phase detection information of the motor.
In the embodiment, in the running process of a motor driver, based on a drive control period, a processor samples the current Iu and Iv of the motor U/V phase in real time, and calculates a theoretical Iw value according to kirchhoff current law Iu + Iv + Iw as 0; in the motor phase-loss state, if the phase-loss of the V phase occurs and the U/W phase forms a loop, Iv is 0, and Iu + Iv + Iw is 0; the phase currents Iu and Iw are transformed by CLARK and PARK coordinates to obtain D, Q axis currents, and the motor feedback torque TorqFdbk can be calculated.
Specifically, if the absolute value of the phase current of the U-phase is detected to be smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, the phase loss of the U-phase of the motor is judged; and/or the presence of a gas in the gas,
if the absolute value of the phase current of the V phase is smaller than a preset zero-phase current threshold value, the detected detection timing is accumulated to exceed the preset zero-phase current detection duration, and the phase lack of the V phase of the motor is judged; and/or the presence of a gas in the gas,
and if the absolute value of the phase W current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the phase W of the motor is in phase failure.
For example, the motor U/V/W phase current can be represented by setting a phase zero current flag corresponding to the motor U/V/W phase current state.
In this embodiment, when the absolute value of the detected U-phase current is smaller than the preset zero-phase current threshold, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, the U-phase current identification bit is set as a first identification, that is, it is determined that the U-phase of the motor is open-phase, otherwise, it is a second identification; when the absolute value of the detected V-phase current is smaller than a preset zero-phase current threshold value, the detected detection timing accumulation exceeds the preset zero-phase current detection duration, setting a V-phase current identification position as a first identification, namely judging that the V-phase of the motor is in a phase failure state, otherwise, judging that the V-phase is a second identification; when the absolute value of the W-phase current is smaller than the preset zero-phase current threshold value, the detected detection timing accumulation exceeds the preset zero-phase current detection duration, the W-phase current identification position is set as a first identification, namely the W-phase loss of the motor is judged, and otherwise, the W-phase current identification position is a second identification.
The first flag and the second flag may be adjusted in two different states through two different binary numbers (e.g., 0 and 1), for example, the first flag corresponding to the U-phase current flag, the V-phase current flag, and the W-phase current flag may be set to 1 corresponding to Iu _ F, Iv _ F, or Iw _ F.
In addition, when the absolute value of the phase current U, the absolute value of the phase current V and the absolute value of the phase current W are respectively smaller than a preset zero-phase current threshold, the corresponding detection timing is accumulated according to the sampling period time, otherwise, the detection timing is reset; and if the corresponding detection timing accumulation exceeds the preset zero-phase current detection duration, setting the U-phase current identification position, the V-phase current identification position and the W-phase current identification position as first identifications respectively, namely Iu _ F, Iv _ F, Iw _ F are respectively set to be 1, otherwise, setting the U-phase current identification position, the V-phase current identification position and the W-phase current identification position as second identifications respectively, namely Iu _ F, Iv _ F, Iw _ F are respectively set to be 0.
According to the technical scheme of the embodiment of the invention, in the running process of the motor, if the torque given absolute value of the motor is detected to be larger than the preset torque given threshold value, and the detected detection timing accumulation exceeds the preset torque given detection duration, the torque given judgment condition is satisfied, and the zero torque feedback state of the motor is determined under the torque given judgment condition; carrying out full open-phase judgment on the motor based on the zero-torque feedback state, and determining a torque following state of the motor according to a full open-phase judgment result; and performing phase loss judgment on the motor based on the torque following state, and outputting phase loss detection information of the motor. The method solves the problems that the existing motor phase loss detection method is low in accuracy and reliability and prone to fault and false alarm, so that accurate phase loss detection is achieved, the phase loss detection reliability is high, and meanwhile, the overall safety of the system is improved.
Example two
Fig. 2 is a flowchart of a motor open-phase detection method according to a second embodiment of the present invention, which is optimized based on the second embodiment.
Correspondingly, the method of the embodiment specifically includes:
s210, in the running process of the motor, if the torque given absolute value of the motor is detected to be larger than a preset torque given threshold value, and the detected detection timing accumulation exceeds a preset torque given detection duration, judging that the detected torque feedback absolute value of the motor is smaller than a preset zero torque feedback threshold value, and determining whether the detected detection timing accumulation exceeds the preset zero torque feedback detection duration or not, wherein the corresponding motor state is the zero torque feedback state of the motor.
Specifically, a preset torque given threshold value is TorqRef _ TH, a preset torque given detection time period is TorqRef _ Tmax, the detection timing of the detection time period when the torque given absolute value of the motor is greater than the preset torque given threshold value is TorqRef _ T, and a torque given identification position is TorqRef _ F;
in the embodiment, if the absolute value of the torque given TorqRef is greater than a preset torque given threshold value TorqRef _ TH, the detection timing TorqRef _ T is accumulated according to the sampling period time, otherwise, zero clearing is performed; if TorqRef _ T is greater than the preset torque set detection duration TorqRef _ Tmax, the torque set flag TorqRef _ F is set to 1, otherwise to 0.
It can be understood that if the absolute value of the torque feedback of the motor is detected to be smaller than the preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, it is determined that the motor is in the full open-phase state.
And S220, if the detected torque given absolute value is larger than the preset torque given threshold value, and the detected detection timing accumulation does not exceed the preset detection time length, continuously accumulating and detecting the time length of the torque given absolute value larger than the preset torque given threshold value.
And S230, if the absolute value of the torque feedback of the motor is detected to be smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, determining the zero torque feedback state of the motor.
Specifically, the preset zero-torque feedback threshold is Torq0_ TH, the preset zero-torque feedback detection time period is Torq0_ Tmax, the detection timing when the absolute value of the torque feedback of the motor is smaller than the preset zero-torque feedback threshold is defined as Torq0_ T, and the zero-torque feedback flag is Torq0_ F.
In this embodiment, if the absolute value of the torque feedback TorqFdbk is less than the zero torque feedback threshold Torq0_ TH, the detection timing Torq0_ T is accumulated by the sampling period time, otherwise, zero clearing is performed; if Torq0_ T is greater than the preset zero torque feedback detection duration Torq0_ Tmax, the zero torque feedback flag, Torq0_ F, is set to 1, otherwise to 0.
S240, carrying out full open-phase judgment on the motor based on the zero torque feedback state, and determining the torque following state of the motor according to the result of the full open-phase judgment.
And carrying out full phase loss judgment on the motor based on the zero-torque feedback state, if the motor is in the zero-torque feedback state, judging that the power line of the motor is not connected and outputting the information, and otherwise, judging the torque following state of the motor.
Further, when the motor torque feedback is in a non-zero torque feedback state, if the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value, whether the detected detection timing accumulation exceeds a preset torque following detection duration is judged; and determining the torque following state of the motor according to the result of judging whether the preset torque following detection time length is exceeded.
If the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, the motor is determined to be in a zero torque feedback state, and otherwise, the motor is determined to be in a non-zero torque feedback state.
Determining a torque following state of the motor according to a result of judging whether the preset torque following detection time period is exceeded, including: and if the preset torque following detection time length is not exceeded, determining that the motor is in a phase-missing state. If the preset torque following detection duration is exceeded, the motor is in a torque non-following state, and a U-phase current absolute value, a V-phase current absolute value and a W-phase current absolute value of the motor in the current operation state are determined, namely the zero-current states of the U-phase current, the V-phase current and the W-phase current of the motor in the current operation state are obtained.
Specifically, the preset torque following error threshold is 0.2 × torqref _ TH, the preset torque following detection time period is TorqErr _ Tmax, the detection timing when the absolute value of the torque following error of the motor is greater than the preset torque following error threshold is defined as TorqErr _ T, and the torque following flag is defined as TorqErr _ F.
When the absolute value of the torque given TorqRef is greater than a preset torque given threshold TorqRef _ TH, if the absolute value of the torque following error torqrer ═ TorqRef-TorqFdbk is greater than a preset torque following error threshold value 0.2xTorqRef _ TH, the detection timing TorqErr _ T is accumulated by a sampling period, otherwise, it is cleared, if TorqErr _ T is greater than a preset torque following detection period torqrer _ Tmax, the torque following flag bit TorqErr _ F is set to 1, otherwise, it is set to 0.
And S250, performing open-phase judgment on the motor based on the torque following state, and outputting open-phase detection information of the motor.
Further, the phase loss determination of the motor based on the torque following state includes:
if the absolute value of the U-phase current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the U-phase of the motor is in phase failure; and/or the presence of a gas in the gas,
if the absolute value of the phase current of the V phase is smaller than a preset zero-phase current threshold value, the detected detection timing is accumulated to exceed the preset zero-phase current detection duration, and the phase lack of the V phase of the motor is judged; and/or the presence of a gas in the gas,
and if the absolute value of the phase W current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the phase W of the motor is in phase failure.
Specifically, a preset zero-phase current threshold Is _ TH, a preset zero-phase current detection duration Is _ Tmax, detection timings when the absolute value of the U/V/W phase current of the motor Is smaller than the preset zero-phase current threshold are respectively Iu _ T, Iv _ T, Iw _ T, and a U-phase current identification bit, a V-phase current identification bit and a W-phase current identification bit are respectively Iu _ F, Iv _ F, Iw _ F.
In the embodiment, if the absolute values of the U/V/W phase currents Iu, Iv and Iw of the motor are respectively smaller than a preset zero-phase current threshold value Is _ TH, the detection timing Iu _ T, Iv _ T, Iw _ T Is accumulated according to the sampling period time, otherwise, the detection timing Iu _ T, Iv _ T, Iw _ T Is cleared; if Iu _ T or Iv _ T or Iw _ T Is greater than the preset zero-phase current detection duration Is _ Tmax, the U-phase current identification bit, the V-phase current identification bit and the W-phase current identification bit Iu _ F or Iv _ F or Iw _ F are correspondingly set to be 1, and otherwise, the U-phase current identification bit, the V-phase current identification bit and the W-phase current identification bit are set to be 0.
According to the technical scheme of the embodiment of the invention, various states are monitored and detected in real time by presetting a zero-phase current threshold, a zero-torque feedback threshold, a torque given threshold and various detection durations thereof; the motor driver detects U, V phase line feedback current of the motor in real time, calculates motor feedback torque, monitors and comprehensively analyzes motor phase current feedback, torque feedback and torque instructions in the motor running process, judges the phase-lacking state of the motor based on the analysis result, distinguishes and processes all phase-lacking phases and phase-lacking phases, and can indicate the phase-lacking state of a certain phase. The embodiment of the invention does not need to additionally increase the hardware cost, is simple and convenient to realize through software, has high reliability of the phase-lack detection of the motor, can carry out real-time detection in the whole operation period of the motor, and improves the overall safety of the system.
EXAMPLE III
Fig. 3 is a flowchart of a motor open-phase detection method provided in the third embodiment of the present invention, and the technical solution of the third embodiment of the present invention is further optimized based on the above embodiments. The method of the embodiment specifically includes:
s310, judging whether the torque given absolute value of the motor is larger than a preset torque given threshold value, and detecting whether the detected timing accumulation exceeds a preset torque given detection time length, if so, executing a step S320, and if not, executing the step S310.
And S320, judging whether the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and whether the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, if so, executing a step S330, and if not, executing a step S340.
And S330, turning off the motor enable, outputting the information that the power line of the motor is not connected, and returning to the step S310 again.
S340, when the torque feedback is in a non-zero torque feedback state, judging whether the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value or not, and whether the detected detection timing accumulation exceeds a preset torque following detection time length or not, if so, executing a step S350, and if not, executing a step S310.
And S350, acquiring a U-phase current absolute value, a V-phase current absolute value and a W-phase current absolute value of the motor in the current running state.
S351, judging whether the absolute value of the detected U-phase current is smaller than a preset zero-phase current threshold value, and if so, outputting U-phase default phase information and then executing the step S360.
And S352, judging that the absolute value of the detected V-phase current is smaller than a preset zero-phase current threshold value, wherein the detected detection timing accumulation exceeds the preset zero-phase current detection duration, and if so, outputting V-phase default phase information and then executing the step S360.
And S353, judging that the absolute value of the detected W-phase current is smaller than a preset zero-phase current threshold value, and if so, outputting W-phase default phase information and then executing the step S360.
And S360, turning off the motor enable, and returning to re-execute the step S310.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A motor phase loss detection method is characterized by comprising the following steps:
in the running process of the motor, if the torque given absolute value of the motor is detected to be larger than a preset torque given threshold value, and the detected detection timing accumulation exceeds a preset torque given detection duration, a torque given judgment condition is established, and a zero torque feedback state of the motor is determined under the torque given judgment condition;
carrying out full open-phase judgment on the motor based on the zero-torque feedback state, and determining a torque following state of the motor according to a full open-phase judgment result;
and performing phase loss judgment on the motor based on the torque following state, and outputting phase loss detection information of the motor.
2. The motor open-phase detection method according to claim 1, further comprising, after the motor is judged to be fully open-phase based on the zero-torque feedback state:
and if the motor is judged to be in a zero-torque feedback state, judging that the power line of the motor is not connected, and outputting the information that the power line is not connected.
3. The motor phase loss detection method according to claim 1, wherein determining a zero-torque feedback state of the motor under the torque given determination condition includes:
if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, judging whether the detected detection timing accumulation exceeds the preset zero torque feedback detection duration or not;
and determining the zero torque feedback state of the motor according to the judgment whether the preset zero torque feedback detection time length is exceeded.
4. The motor phase loss detection method of claim 3, wherein determining the zero-torque feedback state of the motor based on determining whether a preset zero-torque feedback detection duration is exceeded comprises:
and if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection duration, judging that the motor is in a zero torque feedback state, the power lines are not connected at all, and the motor is in a full phase loss state.
5. The motor phase loss detection method of claim 3, wherein determining the zero-torque feedback state of the motor based on determining whether a preset zero-torque feedback detection duration is exceeded comprises:
and if the absolute value of the torque feedback of the motor is smaller than a preset zero torque feedback threshold value, and the detected detection timing accumulation exceeds the preset zero torque feedback detection time length, determining that the motor is in a zero torque feedback state.
6. The motor open-phase detection method according to claim 1, wherein determining the torque following state of the motor according to the result of the full open-phase judgment includes:
if the absolute value of the torque following error of the motor is detected to be larger than a preset torque following error threshold value, judging whether the detected detection timing accumulation exceeds a preset torque following detection duration or not;
and determining the torque following state of the motor according to the judgment of whether the preset torque following detection time length is exceeded.
7. The motor phase loss detection method according to claim 6, wherein determining the torque following state of the motor based on determining whether a preset torque following detection period is exceeded includes:
and if the preset torque following detection time length is not exceeded, determining that the motor is in a torque following state and the motor is not in a phase failure state.
8. The motor phase loss detection method according to claim 6, wherein determining the torque following state of the motor based on determining whether a preset torque following detection period is exceeded includes:
and if the preset torque following detection duration is exceeded, the motor is in a torque non-following state, and the absolute value of the U-phase current, the absolute value of the V-phase current and the absolute value of the W-phase current in the current running state of the motor are determined.
9. The motor open-phase detection method according to claim 8, wherein determining the open-phase of the motor based on the torque following state includes:
if the absolute value of the U-phase current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the U-phase of the motor is in phase failure; and/or the presence of a gas in the gas,
if the absolute value of the phase current of the V phase is smaller than a preset zero-phase current threshold value, the detected detection timing is accumulated to exceed the preset zero-phase current detection duration, and the phase lack of the V phase of the motor is judged; and/or the presence of a gas in the gas,
and if the absolute value of the phase W current is smaller than a preset zero-phase current threshold value, and the detected detection timing accumulation exceeds the preset zero-phase current detection duration, judging that the phase W of the motor is in phase failure.
10. The motor phase loss detection method according to claim 1, further comprising:
if the detected torque given absolute value is larger than the preset torque given threshold value, and the detected detection timing accumulation does not exceed the preset detection time length, continuously accumulating and detecting the time length of the torque given absolute value larger than the preset torque given threshold value.
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| WO2022193556A1 (en) * | 2021-03-15 | 2022-09-22 | 广东拓斯达科技股份有限公司 | Motor phase loss detection method and device, and storage medium |
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