CN113410819A - Motor locked-rotor protection control method and device - Google Patents
Motor locked-rotor protection control method and device Download PDFInfo
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- CN113410819A CN113410819A CN202110657451.2A CN202110657451A CN113410819A CN 113410819 A CN113410819 A CN 113410819A CN 202110657451 A CN202110657451 A CN 202110657451A CN 113410819 A CN113410819 A CN 113410819A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H1/00—Details of emergency protective circuit arrangements
- H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Abstract
The embodiment of the specification provides a motor locked-rotor protection control method and a motor locked-rotor protection control device, and the method comprises the following steps: determining the resistance of the motor, setting a first current threshold value, and determining a corresponding first power threshold value according to the first current threshold value and the resistance; acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to a first d-axis estimated current and a resistor; judging whether the first q-axis estimated current reaches a first current threshold value and whether a first power value reaches a first power threshold value; if the first q-axis estimated current reaches a first current threshold value and the first power value reaches a first power threshold value, the first q-axis estimated current is maintained at the first current threshold value, and the duration of the first power value maintained at the first power threshold value reaches a first duration, the motor is determined to be locked when being started, and the motor is subjected to shutdown protection. The invention can prolong the service life of the motor.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of washing machine technologies, and in particular, to a motor stalling protection control method and device.
Background
For electrical equipment such as refrigerators, air conditioners, washing machines and the like, in the starting and running processes of a motor, stalling may occur due to factors such as an internal mechanical structure of the motor, external acting force, inaccurate control algorithm or unreasonable parameter selection, and the like, so that the problems of mechanical jamming, large vibration, motor demagnetization, motor damage and the like of the motor are easily caused, and therefore a stalling judgment mechanism is needed to be provided.
Disclosure of Invention
One or more embodiments of the present specification describe a method and apparatus for controlling the deceleration of a drum washing machine.
According to a first aspect, there is provided a method for controlling the deceleration of a drum washing machine, comprising:
determining the resistance of a motor, setting a first current threshold value, and determining a corresponding first power threshold value according to the first current threshold value and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor; the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started;
judging whether the first q-axis estimated current reaches the first current threshold value and whether the first power value reaches the first power threshold value;
if the first q-axis estimated current reaches the first current threshold value, the first power value reaches the first power threshold value, the duration of the first q-axis estimated current being maintained at the first current threshold value and the first power value being maintained at the first power threshold value reaches a first duration, determining that the motor is locked when being started, and carrying out shutdown protection on the motor.
According to a second aspect, there is provided a drum washing machine deceleration control device comprising:
the motor control device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the resistance of a motor, setting a first current threshold value and determining a corresponding first power threshold value according to the first current threshold value and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
the second determining module is used for acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor; the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started;
a data determining module, configured to determine whether the first q-axis estimated current reaches the first current threshold and whether the first power value reaches the first power threshold;
and a third determining module, configured to determine that a locked rotor occurs when the motor is started and perform shutdown protection on the motor if the first q-axis estimated current reaches the first current threshold, the first power value reaches the first power threshold, and a duration that the first q-axis estimated current is maintained at the first current threshold and the first power value is maintained at the first power threshold reaches a first duration.
According to the motor locked-rotor protection control method and device provided by the embodiment of the specification, q-axis estimated current when the motor is started is determined through three-phase current when the motor is started, the power value when the motor is started is determined according to the q-axis estimated current, whether locked-rotor occurs when the motor is started is judged according to the q-axis estimated current and the power value when the motor is started, and shutdown protection is performed when the locked-rotor occurs, so that the problems of motor mechanical jamming, large vibration, motor demagnetization, motor damage and the like are avoided, and the service life of the motor is prolonged. Through setting up the first time of reasonable size, can be timely carry out the locked rotor protection to the motor, can avoid the mistake protection again as far as possible.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a motor locked-rotor protection control method in one embodiment of the present disclosure;
FIG. 2 is a flow chart of the FOC vector control algorithm in one embodiment of the present disclosure.
Detailed Description
The scheme provided by the specification is described below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a motor locked-rotor protection control method, including:
s110, determining the resistance of a motor, setting a first current threshold, and determining a corresponding first power threshold according to the first current threshold and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
in particular implementation, the first power threshold may be calculated using a first formula, where the first formula includes:
P1＝I1_limit2*R
wherein P1 is the first power threshold, R is the resistance, and I1_ limit is the first current threshold.
S120, obtaining a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor;
the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started.
In particular, a first three-phase current, i.e., U, V, W three-phase current, may be obtained in a three-phase inverter of the electric machine.
In a specific implementation, the determining the first q-axis estimated current according to the first three-phase current in S120 may include: and carrying out conversion processing on the first three-phase current according to Clark conversion and park conversion to obtain the first q-axis estimated current.
Wherein, Clark transformation is CLARK transformation, PARK transformation is PARK transformation. The two kinds of algorithms are converted into a conversion algorithm in an FOC vector control algorithm, and the FOC vector control algorithm is an algorithm for controlling the running process of the motor. Specifically, the first three-phase current may be subjected to CLARK transformation, and the CLARK transformation result may be subjected to PARK transformation, so as to obtain a first q-axis estimated current and a first d-axis estimated current. Since the d-axis current of the motor is 0 at the time of starting, the d-axis estimated current is not considered in the stalling determination process at the time of starting.
Referring to fig. 2, in the FOC vector control algorithm, three-phase currents are obtained from a three-phase inverter, then CLARK conversion and PARK conversion are performed on the three-phase currents to obtain q-axis estimated currents and d-axis estimated currents, and then the two estimated currents are involved in PI regulation to realize PI regulation on a voltage loop. In addition, the feedback rotating speed can be calculated according to the two estimated currents, and then PI regulation of a speed loop is carried out through the given rotating speed (namely the command rotating speed) and the feedback rotating speed, so that the integral control of the motor is realized.
In specific implementation, S120 may be according to the formula
Determining a corresponding first power value, R being the resistance of the electrical machine, iq1The current is estimated for the first q-axis.
S130, judging whether the first q-axis estimated current reaches the first current threshold value or not and whether the first power value reaches the first power threshold value or not;
s140, if the first q-axis estimated current reaches the first current threshold value and the first power value reaches the first power threshold value, and the duration of the first q-axis estimated current being maintained at the first current threshold value and the first power value being maintained at the first power threshold value reaches a first duration, determining that the motor is locked during starting, and performing shutdown protection on the motor.
That is, if the first q-axis estimated current reaches the first current threshold and the first power value reaches the first power threshold, and the duration of the maximum value reaches the first time length, the motor is considered to be locked at the time of starting.
Under normal conditions, when the motor is started and operated, the feedback rotating speed w is infinitely close to the command rotating speed w through PI control algorithms such as a rotating speed loop, a current loop and the like*The feedback rotation speed w is at the command rotation speed w*The values fluctuate over a small range. However, when the motor is locked, the feedback rotating speed is less than the command rotating speed at the beginning, and in order to make the feedback rotating speed follow the command rotating speed, the command rotating speed and the feedback rotating speed are subjected to the q-axis current command value obtained after the rotating speed loop PI operation
It is increased until the set maximum current limit value is reached, and then the motor is operated at the maximum current value all the time. Therefore, when the motor is locked, the current of the motor reaches the maximum, and the waveform sine is good. The principle that the invention adopts current to judge whether the locked rotor occurs is adopted.
In a specific implementation, the process of performing shutdown protection on the motor may include: and setting the command rotating speed of the motor to be 0, and closing the pulse width modulation wave, wherein the command rotating speed is used for carrying out PI control on a rotating speed loop with the actual rotating speed of the motor.
When the command rotation speed of the motor is set to 0, the actual rotation speed of the motor gradually approaches the command rotation speed based on the rotation speed loop PI control, so that the motor is stopped. Meanwhile, the pulse width modulation wave is closed, so that the motor can be safely stopped, and the potential safety hazard is reduced.
It can be seen that the above steps S110 to S140 are the process of determining whether the motor is locked when the motor is started and how to handle the locked rotation when the locked rotation occurs. Of course, when the motor enters the running state after being started, it is also necessary to determine whether the stalling occurs in real time, and the following describes a processing procedure in the running process.
In specific implementation, the method for controlling locked-rotor protection of the motor provided by the invention further comprises the following steps:
s210, setting a second current threshold, and determining a corresponding second power threshold according to the second current threshold and the resistor; wherein the second current threshold is a maximum current limit value of the motor in the operation process;
in a specific implementation, the second power threshold may be calculated by using a second formula, where the second formula includes:
P2＝I2_limit2*R
wherein P2 is the second power threshold, R is the resistance, and I2_ limit is the second current threshold.
S220, judging whether the motor is in a flux weakening state in the running process;
in a specific implementation, the determining whether the motor is in a field weakening state in the operation process in S220 may include:
s221, acquiring direct-current bus voltage of the motor;
s222, if the voltage of the direct current bus is smaller than a preset voltage value, the motor is in a field weakening state; otherwise, the motor is not in a field weakening state.
That is to say, whether the motor is in the field weakening state is judged according to the magnitude of the direct-current bus voltage of the motor, when the direct-current bus voltage is small and the rotating speed of the motor is high, the direct-current bus voltage does not provide enough power, and at the moment, the field weakening module needs to be started, so that the motor enters the field weakening state.
The following steps S230a to 250a are processing procedures when the motor is in a non-field weakening state, and steps S230b to 250b are processing procedures when the motor is in a field weakening state.
S230a, if the motor is in a non-weak magnetic state, acquiring a second three-phase current, determining a second q-axis estimated current according to the second three-phase current, and determining a second power value according to the second q-axis estimated current and the resistance;
the second three-phase current is the three-phase current of the motor in the operation process of the motor, the second q-axis estimated current is the corresponding q-axis estimated current of the motor in the operation process, and the second power value is the corresponding power value of the motor in the operation process.
In particular, a second three-phase current, i.e., U, V, W three-phase current, may be obtained in a three-phase inverter of the electric machine.
In an implementation, the determining the second q-axis estimated current according to the second three-phase current in S230a may include: and carrying out conversion processing on the second three-phase current according to Clark conversion and park conversion to obtain a second q-axis estimated current.
Wherein, Clark transformation is CLARK transformation, PARK transformation is PARK transformation. Specifically, CLARK transformation can be performed on the second three-phase current, and PARK transformation is performed on a CLARK transformation result, so that a second q-axis estimated current and a second d-axis estimated current can be obtained. Because the d-axis current of the motor is 0 when the motor is in a non-flux weakening state in the running process, the d-axis estimated current is not considered in the locked rotor judgment process at the moment.
In specific implementation, the formula can be used in S230a
Determining a corresponding second power value, R being the resistance of the motor, iq2The current is estimated for the second q-axis.
S240a, determining whether the second q-axis estimated current reaches the second current threshold and whether the second power value reaches the second power threshold;
s250a, if the second q-axis estimated current reaches the second current threshold value and the second power value reaches the second power threshold value, and the duration of the second q-axis estimated current being maintained at the second current threshold value and the second power value being maintained at the second power threshold value reaches the first duration, determining that the motor is locked in rotation in the operation process, and performing shutdown protection on the motor.
That is, if the second q-axis estimated current reaches the second current threshold and the second power value reaches the second power threshold, and the duration of the maximum value reaches the first duration, the motor is considered to be locked during operation.
In a specific implementation, the shutdown protection process for the motor in S250a may include: and setting the command rotating speed of the motor to be 0, and closing the pulse width modulation wave, wherein the command rotating speed is used for carrying out PI control on a rotating speed loop with the actual rotating speed of the motor.
When the command rotation speed of the motor is set to 0, the actual rotation speed of the motor gradually approaches the command rotation speed based on the rotation speed loop PI control, so that the motor is stopped. Meanwhile, the pulse width modulation wave is closed, so that the motor can be safely stopped, and the potential safety hazard is reduced.
In specific implementation, the method for controlling locked-rotor protection of a motor provided by the invention further comprises the following steps:
s230b, if the motor is in a weak magnetic state, acquiring a second three-phase current, determining a second q-axis estimated current and a second d-axis estimated current according to the second three-phase current, and determining a second power value according to the second q-axis estimated current, the second d-axis estimated current and the resistance;
and the second d-axis estimated current is the corresponding d-axis estimated current of the motor in the operation process. When the motor is in a field weakening state, the d-axis current is not 0, and the second d-axis estimated current needs to be considered. The d-axis current is an excitation current, the q-axis current is a torque current, and the q-axis current is used for controlling the magnitude of the driving force for the motor.
In particular, a second three-phase current, i.e., U, V, W three-phase current, may be obtained in a three-phase inverter of the electric machine.
In a specific implementation, the determining the second q-axis estimated current and the second d-axis estimated current according to the second three-phase current in S230b may include: and carrying out conversion processing on the second three-phase current according to Clark conversion and park conversion to obtain a second q-axis estimated current and a second d-axis estimated current.
Wherein, Clark transformation is CLARK transformation, PARK transformation is PARK transformation. Specifically, CLARK transformation can be performed on the second three-phase current, and PARK transformation is performed on a CLARK transformation result, so that a second q-axis estimated current and a second d-axis estimated current can be obtained.
In specific implementation, the formula can be used in S230b
Determining a corresponding second power value, R being the resistance of the motor, iq2Estimating the current, i, for the second q-axisd2The current is estimated for the second d-axis.
S240b, determining whether the second d-axis estimated current and the second q-axis estimated current reach the second current threshold and whether the second power value reaches the second power threshold;
in practice, it can be judged
Whether the second current threshold is reached to determine whether the second d-axis estimated current and the second q-axis estimated current reach the second current threshold.
S250b, if the d-axis estimated current and the second q-axis estimated current reach the second current threshold value and the second power value reaches the second power threshold value, and the duration of the d-axis estimated current and the second q-axis estimated current maintaining the second current threshold value and the second power value maintaining the second power threshold value reaches a first duration, determining that the motor is locked in rotation in the running process, performing shutdown protection on the motor, and using the command rotating speed for performing PI control of a rotating speed loop with the actual rotating speed of the motor.
That is, if the d-axis estimated current and the second q-axis estimated current reach the second current threshold and the second power value reaches the second power threshold, and the duration of the maximum value reaches the first duration, it is determined that the locked rotor has occurred in the motor during the operation.
In a specific implementation, the shutdown protection process for the motor in S250b may include: and setting the command rotating speed of the motor to be 0, and closing the pulse width modulation wave, wherein the command rotating speed is used for carrying out PI control on a rotating speed loop with the actual rotating speed of the motor.
When the command rotation speed of the motor is set to 0, the actual rotation speed of the motor gradually approaches the command rotation speed based on the rotation speed loop PI control, so that the motor is stopped. Meanwhile, the pulse width modulation wave is closed, so that the motor can be safely stopped, and the potential safety hazard is reduced.
The selection of the first time length cannot be too large or too small, the problem of untimely protection can occur when the first time length is too large, and the error protection can possibly occur when the first time length is too small. The first time period may take 10 s.
According to the motor locked-rotor protection control method provided by the invention, q-axis estimated current when the motor is started is determined through three-phase current when the motor is started, the power value when the motor is started is determined according to the q-axis estimated current, whether locked-rotor occurs when the motor is started is judged according to the q-axis estimated current and the power value when the motor is started, and the motor is stopped and protected when the locked-rotor occurs, so that the service life of the motor is prolonged. Through setting up the first time of reasonable size, can be timely carry out the locked rotor protection to the motor, can avoid the mistake protection again as far as possible.
And in the running process of the motor, if the motor is in a non-weak magnetic state, determining the q-axis estimated current in running through the three-phase current in running of the motor, determining the power value in running of the motor according to the q-axis estimated current, judging whether the motor is locked in running or not according to the q-axis estimated current and the power value in running of the motor, and performing shutdown protection when the locked in running so as to prolong the service life of the motor.
Further, when the motor runs, if the motor is in a flux weakening state, determining a q-axis estimated current and a d-axis estimated current during running through three-phase currents during running of the motor, determining a power value during running of the motor according to the q-axis estimated current and the d-axis estimated current, judging whether locked rotor occurs during running of the motor according to the q-axis estimated current, the d-axis estimated current and the power value during running of the motor, and performing shutdown protection when the locked rotor occurs, so that the service life of the motor is prolonged.
Therefore, the control method and the control device can realize the locked rotor control of the whole process of the motor.
In a second aspect, the present invention provides a motor locked-rotor protection control device, including:
the motor control device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the resistance of a motor, setting a first current threshold value and determining a corresponding first power threshold value according to the first current threshold value and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
the second determining module is used for acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor; the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started;
a data determining module, configured to determine whether the first q-axis estimated current reaches the first current threshold and whether the first power value reaches the first power threshold;
and a third determining module, configured to determine that a locked rotor occurs when the motor is started and perform shutdown protection on the motor if the first q-axis estimated current reaches the first current threshold, the first power value reaches the first power threshold, and a duration that the first q-axis estimated current is maintained at the first current threshold and the first power value is maintained at the first power threshold reaches a first duration.
It is understood that, for the device provided in the embodiment of the present invention, for the explanation, examples, and beneficial effects of the related contents, reference may be made to the corresponding parts in the foregoing method, and details are not described here.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Those skilled in the art will recognize that, in one or more of the examples described above, the functions described in this disclosure may be implemented in hardware, software, hardware, or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (10)
1. A motor locked-rotor protection control method is characterized by comprising the following steps:
determining the resistance of a motor, setting a first current threshold value, and determining a corresponding first power threshold value according to the first current threshold value and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor; the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started;
judging whether the first q-axis estimated current reaches the first current threshold value and whether the first power value reaches the first power threshold value;
if the first q-axis estimated current reaches the first current threshold value, the first power value reaches the first power threshold value, the duration of the first q-axis estimated current being maintained at the first current threshold value and the first power value being maintained at the first power threshold value reaches a first duration, determining that the motor is locked when being started, and carrying out shutdown protection on the motor.
2. The method of claim 1, wherein the first power threshold is calculated using a first formula, the first formula comprising:
P1＝I1_limit2*R
wherein P1 is the first power threshold, R is the resistance, and I1_ limit is the first current threshold.
3. The method of claim 1, further comprising:
setting a second current threshold, and determining a corresponding second power threshold according to the second current threshold and the resistor; wherein the second current threshold is a maximum current limit value of the motor in the operation process;
judging whether the motor is in a flux weakening state in the running process;
if the motor is in a non-weak magnetic state, acquiring a second three-phase current, determining a second q-axis estimated current according to the second three-phase current, and determining a second power value according to the second q-axis estimated current and the resistor; the second three-phase current is the three-phase current of the motor in the operation process of the motor, the second q-axis estimated current is the corresponding q-axis estimated current of the motor in the operation process, and the second power value is the corresponding power value of the motor in the operation process;
determining whether the second q-axis estimated current reaches the second current threshold and whether the second power value reaches the second power threshold;
and if the second q-axis estimated current reaches the second current threshold value and the second power value reaches the second power threshold value, and the duration of the second q-axis estimated current being maintained at the second current threshold value and the second power value being maintained at the second power threshold value reaches the first duration, determining that the motor is locked in rotation in the running process, and performing shutdown protection on the motor.
4. The method of claim 3, wherein the second power threshold is calculated using a second formula, the second formula comprising:
P2＝I2_limit2*R
wherein P2 is the second power threshold, R is the resistance, and I2_ limit is the second current threshold.
5. The method of claim 3, further comprising:
if the motor is in a weak magnetic state, acquiring a second three-phase current, determining a second q-axis estimated current and a second d-axis estimated current according to the second three-phase current, and determining a second power value according to the second q-axis estimated current, the second d-axis estimated current and the resistance; the second d-axis estimated current is a corresponding d-axis estimated current of the motor in the operation process;
determining whether the second d-axis estimated current and the second q-axis estimated current reach the second current threshold and whether the second power value reaches the second power threshold;
if the d-axis estimated current and the second q-axis estimated current reach the second current threshold value, the second power value reaches the second power threshold value, the d-axis estimated current and the second q-axis estimated current are maintained at the second current threshold value, and the duration of the second power value maintained at the second power threshold value reaches a first duration, it is determined that the motor is locked in rotation in the operation process, the motor is subjected to shutdown protection, and the command rotating speed is used for carrying out PI control on a rotating speed loop with the actual rotating speed of the motor.
6. The method of claim 5, wherein said determining whether said second d-axis estimated current and said second q-axis estimated current reach said second current threshold comprises:
judgment of
Whether the second current threshold, i, is reachedd2Estimating a current, i, for said second d-axisq2Estimating a current for said second q-axis.
7. The method of claim 5, wherein determining a second q-axis estimated current and a second d-axis estimated current from the second three-phase current comprises:
and carrying out conversion processing on the second three-phase current according to Clark conversion and park conversion to obtain a second q-axis estimated current and a second d-axis estimated current.
8. The method of claim 3, wherein said determining whether the motor is in a flux weakening state during operation comprises:
acquiring the direct current bus voltage of the motor;
if the voltage of the direct current bus is smaller than a preset voltage value, the motor is in a field weakening state; otherwise, the motor is not in a field weakening state.
9. The method according to any one of claims 1 to 8, wherein the performing shutdown protection on the motor comprises: and setting the command rotating speed of the motor to be 0, and closing the pulse width modulation wave, wherein the command rotating speed is used for carrying out PI control on a rotating speed loop with the actual rotating speed of the motor.
10. The utility model provides a motor locked-rotor protection controlling means which characterized in that includes:
the motor control device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the resistance of a motor, setting a first current threshold value and determining a corresponding first power threshold value according to the first current threshold value and the resistance; wherein the first current threshold is a maximum current limit value when the motor is started;
the second determining module is used for acquiring a first three-phase current, determining a first q-axis estimated current according to the first three-phase current, and determining a corresponding first power value according to the first q-axis estimated current and the resistor; the first three-phase current is the three-phase current of the motor when the motor is started; the first q-axis estimated current is a q-axis estimated current corresponding to the motor when the motor is started, and the first power value is a power value corresponding to the motor when the motor is started;
a data determining module, configured to determine whether the first q-axis estimated current reaches the first current threshold and whether the first power value reaches the first power threshold;
and a third determining module, configured to determine that a locked rotor occurs when the motor is started and perform shutdown protection on the motor if the first q-axis estimated current reaches the first current threshold, the first power value reaches the first power threshold, and a duration that the first q-axis estimated current is maintained at the first current threshold and the first power value is maintained at the first power threshold reaches a first duration.
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