CN113489425A - Driving motor locked-rotor control method, system and storage medium - Google Patents
Driving motor locked-rotor control method, system and storage medium Download PDFInfo
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- CN113489425A CN113489425A CN202110624106.9A CN202110624106A CN113489425A CN 113489425 A CN113489425 A CN 113489425A CN 202110624106 A CN202110624106 A CN 202110624106A CN 113489425 A CN113489425 A CN 113489425A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
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- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a method, a system and a storage medium for controlling locked rotor of a driving motor, wherein the method comprises the following steps: acquiring a motor current value and a motor rotating speed; when the current value of the motor is greater than or equal to the locked-rotor current value within the preset time and the rotating speed of the motor is less than the preset locked-rotor rotating speed, judging that the motor enters a locked-rotor working condition, performing locked-rotor protection, and acquiring the initial temperature of a winding and the locked-rotor entering time; if the current value of the motor is larger than the continuous locked-rotor current value of the motor, acquiring the maximum locked-rotor time and the estimated value of the temperature of the stator of the motor according to the initial temperature of the winding, the locked-rotor entering time and a mapping table; acquiring the maximum allowable temperature of the motor; and when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum allowable temperature of the motor or the locked-rotor entering time is greater than or equal to the maximum locked-rotor entering time, the locked-rotor protection is quitted, and the output torque of the motor is reduced. According to the method, the maximum time for stalling can be quickly estimated off line by sampling the temperature of the stator in one path without increasing the hardware cost, and the maximum performance of the motor is exerted.
Description
Technical Field
The invention relates to the field of automobile motor control, in particular to a method and a system for controlling locked rotor of a driving motor and a storage medium.
Background
When the whole vehicle is normally driven, the U/V/W three-phase temperature of the motor stator is balanced, a motor system collects 1 path of stator temperature sensors arranged on one of the three phases of the stator, the temperature of the motor stator is monitored in real time, namely the temperature can be equivalent to the highest temperature of the three phases, and the temperature protection of the stator is carried out.
After the whole vehicle enters the locked rotor, the randomness of the locked rotor angle and the locked rotor phase sequence is limited, when the locked rotor occurs in the phase sequence without temperature sampling, the electric control cannot acquire the real highest temperature of three phases of the stator in real time, and a protection strategy based on the temperature cannot be triggered, so that the temperature of the phase sequence in the real locked rotor rapidly rises, and the risk of thermal runaway occurs.
Disclosure of Invention
The invention aims to overcome the defects of the background art, and provides a method, a system and a storage medium for controlling locked rotor of a driving motor, which can perform the maximum performance of the motor on the premise of ensuring the thermal safety of the driving motor by sampling the temperature of a stator in one path and quickly estimating the maximum time for locked rotor off line in a mode of not increasing the hardware cost.
In a first aspect, a method for controlling locked-rotor of a driving motor is provided, which includes the following steps:
acquiring a motor current value and a motor rotating speed;
when the current values of the motors are larger than or equal to the locked-rotor current value within the preset time and the rotating speeds of the motors are smaller than the preset locked-rotor rotating speed, judging that the motors enter a locked-rotor working condition, performing locked-rotor protection, and acquiring the initial temperature of a winding and the locked-rotor entering time;
if the motor current value is larger than a motor continuous locked rotor current value, acquiring locked rotor maximum time and a motor stator temperature estimated value according to the winding initial temperature, the locked rotor entering time and a corresponding mapping table, wherein the motor continuous locked rotor current value is larger than the locked rotor current value;
acquiring the maximum allowable temperature of the motor;
and when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum allowable temperature of the motor or the time for entering the locked rotor is greater than or equal to the maximum locked rotor time, the locked rotor protection is quitted, and the output torque of the motor is reduced.
According to the first aspect, in a first possible implementation manner of the first aspect, before the step "obtaining the motor current value", the method includes the following steps:
controlling the motor to be in a maximum locked rotor capacity state based on the electric control maximum current value, and acquiring a three-phase temperature change curve of the motor;
and acquiring locked-rotor time corresponding to the maximum temperature allowed by the motor at different temperatures and a temperature change curve in the temperature rise process according to the maximum temperature allowed by the motor and the three-phase temperature change curve, and establishing a corresponding mapping table.
According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step "if the motor current value is greater than a motor continuous locked-rotor current value, obtaining a maximum locked-rotor time and an estimated motor stator temperature according to the winding initial temperature, the locked-rotor entering time, and a corresponding mapping table, where the motor continuous locked-rotor current value is greater than the locked-rotor current value", includes the following steps:
if the current value of the motor is larger than the continuous locked-rotor current value of the motor, a locked-rotor record is obtained;
if the current state is judged to be in the maximum locked rotor capacity state after being electrified, acquiring the maximum locked rotor time and the estimated value of the temperature of the motor stator according to the initial temperature of the winding, the locked rotor entering time and a corresponding mapping table;
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value and a correction coefficient;
and acquiring the maximum locked rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, the calibration temperature difference value, the correction coefficient and a corresponding mapping table.
According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, after the step "if it is determined that the maximum locked rotor capacity state is not entered for the first time after the current power-on according to the locked rotor record, the step obtains the calibration temperature difference value and the correction coefficient", the method includes the following steps:
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value;
acquiring a maximum current value and a minimum current value in three-phase current values of a motor when the motor enters a locked-rotor working condition;
acquiring a phase current value provided with a temperature sensor and a maximum performance current value of the motor;
and acquiring the correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, before the step "if it is determined that the maximum locked rotor capacity state is not entered for the first time after the current power-on according to the locked rotor record, the step obtains the calibrated temperature difference value", the method includes the following steps:
and controlling the motor to be in a maximum locked rotor capacity state based on the continuous locked rotor current value of the motor, and acquiring the three-phase maximum temperature difference value of the motor after the heat balance state is reached as the calibration temperature difference value.
According to the first aspect, in a fifth possible implementation manner of the first aspect, the step "when the motor current values are all greater than or equal to the locked-rotor current value within the preset time and the motor rotation speeds are all less than the preset locked-rotor rotation speed," determining that the motor enters the locked-rotor working condition, performing locked-rotor protection, and obtaining the initial winding temperature and the locked-rotor entering time "includes the following steps:
if the current value of the motor is smaller than or equal to the continuous locked-rotor current value of the motor, acquiring a torque limit value corresponding to the continuous locked-rotor current value of the motor;
and controlling the motor to output according to the torque limit value.
According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, after the step of "controlling the motor to output according to the torque limit", the method includes the steps of:
and when the current value of the motor is smaller than the locked-rotor current value, judging that the motor exits the locked-rotor working condition.
According to the first aspect, in a seventh possible implementation manner of the first aspect, before the step "if the motor current value is greater than the motor continuous locked-rotor current value, obtaining a maximum locked-rotor time and an estimated motor stator temperature according to the winding initial temperature, the locked-rotor entering time, and a corresponding mapping table, where the motor continuous locked-rotor current value is greater than the locked-rotor current value", the method includes the following steps:
and adjusting the zone bit to be in a locked rotor protection state, and executing cooling operation.
In a second aspect, a drive motor stall control system is provided, comprising:
the current acquisition module is used for acquiring the current value and the rotating speed of the motor;
the working condition analysis module is in communication connection with the current acquisition module and is used for judging that the motor enters a locked-rotor working condition when the current value of the motor is greater than or equal to a locked-rotor current value within a preset time and the rotating speed of the motor is less than a preset locked-rotor rotating speed, carrying out locked-rotor protection and acquiring the initial temperature of a winding and the locked-rotor entering time;
the locked rotor index acquisition module is in communication connection with the working condition analysis module and is used for acquiring maximum locked rotor time and estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time and a corresponding mapping table if the motor current value is greater than a motor continuous locked rotor current value, wherein the motor continuous locked rotor current value is greater than the locked rotor current value;
the temperature acquisition module is used for acquiring the maximum temperature allowed by the motor;
and the locked rotor protection module is in communication connection with the locked rotor index acquisition module and the temperature acquisition module and is used for quitting locked rotor protection and reducing the output torque of the motor when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum temperature allowed by the motor or the locked rotor entering time is greater than or equal to the maximum locked rotor time.
In a third aspect, a storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the brake pedal feel adaptive adjustment method described above.
Compared with the prior art, the method has the advantages that the maximum performance of the motor is exerted on the premise of ensuring the thermal safety of the driving motor by sampling the temperature of the stator in one path and quickly estimating the longest locked-rotor time off line in a mode of not increasing the hardware cost; meanwhile, the self-thermal protection and off-line estimation accuracy of the motor under the extreme abuse working condition, such as the frequent in-out locked-rotor working condition, is considered.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling locked-rotor of a driving motor according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling locked-rotor of a driving motor according to another embodiment of the present invention;
fig. 3 is a schematic diagram of locked rotor protection according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a driving motor locked-rotor control system according to an embodiment of the present invention.
Reference numerals:
100. a drive motor stall control system; 110. a current acquisition module; 120. a working condition analysis module; 130. a locked rotor index obtaining module; 140. a temperature acquisition module; 150. locked rotor protection module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for controlling locked-rotor of a driving motor, including the following steps:
acquiring a motor current value and a motor rotating speed;
when the current values of the motors are larger than or equal to the locked-rotor current value within the preset time and the rotating speeds of the motors are smaller than the preset locked-rotor rotating speed, judging that the motors enter a locked-rotor working condition, performing locked-rotor protection, and acquiring the initial temperature of a winding and the locked-rotor entering time;
if the motor current value is larger than a motor continuous locked rotor current value, acquiring locked rotor maximum time and a motor stator temperature estimated value according to the winding initial temperature, the locked rotor entering time and a corresponding mapping table, wherein the motor continuous locked rotor current value is larger than the locked rotor current value;
acquiring the maximum allowable temperature of the motor;
and when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum allowable temperature of the motor or the time for entering the locked rotor is greater than or equal to the maximum locked rotor time, the locked rotor protection is quitted, and the output torque of the motor is reduced.
Specifically, in this embodiment, the motor current value and the motor speed are obtained, when the motor current value is greater than or equal to the locked-rotor current value within the preset time and the motor speed is less than the preset locked-rotor speed, it is determined that the motor enters the locked-rotor working condition, locked-rotor protection is performed, the current state of the motor is detected, and corresponding measures are taken in time once. And acquiring the initial temperature of the winding and the time for entering locked rotor, wherein the time for entering the locked rotor is acquired to avoid potential safety hazard caused by the fact that the locked rotor time is too long and exceeds the allowable time of the motor. Meanwhile, the zone bit is adjusted to be in a locked-rotor protection state, so that the history record of the locked-rotor of the motor can be conveniently acquired subsequently. A cooling operation is performed, such as turning on a water pump, a fan, etc.
And further judging that if the current value of the motor is greater than the continuous locked-rotor current value of the motor, wherein the continuous locked-rotor current value of the motor depends on the performance bearing capacity of the motor, the maximum locked-rotor time and the estimated value of the temperature of the stator of the motor are obtained according to the initial temperature of the winding, the locked-rotor entering time and a corresponding mapping table, and the continuous locked-rotor current value of the motor is greater than the locked-rotor current value. The estimated value of the temperature of the motor stator is continuously obtained, the estimated value of the temperature of the motor stator at each moment can be changed, and the estimated value of the temperature of the motor stator obtained by combining the mapping table is the locked-rotor temperature estimated at the current moment in real time.
And obtaining the maximum temperature allowed by the motor, exiting locked-rotor protection when the estimated value of the temperature of the stator of the motor at a certain moment is more than or equal to the maximum temperature allowed by the motor or the time of entering locked-rotor which is received by the lock-rotor is more than or equal to the maximum time of locked-rotor, and reducing the output torque of the motor by taking other measures so as to reduce the temperature of the motor. And when the current value of the motor is smaller than the locked-rotor current value, judging that the motor exits the locked-rotor working condition.
According to the method, the maximum performance of the motor is exerted on the premise that the thermal safety of the driving motor is guaranteed by rapidly estimating the longest time for locked rotor off line through one path of stator temperature sampling without increasing the hardware cost; meanwhile, the self-thermal protection and off-line estimation accuracy of the motor under the extreme abuse working condition, such as the frequent in-out locked-rotor working condition, is considered.
Optionally, as shown in fig. 2, in another embodiment of the present invention, before the step "obtaining the motor current value", the method includes the following steps:
controlling the motor to be in a maximum locked rotor capacity state based on the electric control maximum current value, and acquiring a three-phase temperature change curve of the motor;
and acquiring locked-rotor time corresponding to the maximum temperature allowed by the motor at different temperatures and a temperature change curve in the temperature rise process according to the maximum temperature allowed by the motor and the three-phase temperature change curve, and establishing a corresponding mapping table.
Specifically, in the embodiment, the motor is modified based on a mass production motor, and stator temperature sensors are embedded in three phases of the motor; the method comprises the steps of carrying out locked rotor rack test according to an electric control maximum current value which can be thermally balanced by a driving motor controller, wherein the electric control maximum current value is the maximum current value allowed by the controller of the motor, is larger than the continuous locked rotor current value of the motor, recording a three-phase temperature value in a torque section corresponding to the electric control maximum current value, obtaining a three-phase temperature change curve of the motor, and recording the state of temperature change along with time in each phase by the three-phase temperature change curve, so that the time required by the temperature rise from one temperature to another temperature can be read from the three-phase temperature change curve.
And acquiring locked-rotor time corresponding to the maximum temperature allowed by the motor increased by different temperatures and a temperature change curve in the temperature increasing process according to the maximum temperature allowed by the motor and the three-phase temperature change curve, and establishing a corresponding mapping table.
According to the invention, the stator temperature sensors are embedded in the three phases of the motor, and then the locked rotor rack test is carried out according to the electric control maximum current value allowed by the electric control maximum performance, so that the longest time for locked rotor is determined, and the self-thermal protection and off-line estimation accuracy of the motor is improved.
Optionally, in another embodiment of the present invention, if the motor current value is greater than a motor continuous locked rotor current value, the step "obtaining a maximum locked rotor time and an estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, and a corresponding mapping table, where the motor continuous locked rotor current value is greater than the locked rotor current value" includes the following steps:
if the current value of the motor is larger than the continuous locked-rotor current value of the motor, a locked-rotor record is obtained;
if the current state is judged to be in the maximum locked rotor capacity state after being electrified, acquiring the maximum locked rotor time and the estimated value of the temperature of the motor stator according to the initial temperature of the winding, the locked rotor entering time and a corresponding mapping table;
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value and a correction coefficient;
and acquiring the maximum locked rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, the calibration temperature difference value, the correction coefficient and a corresponding mapping table.
Specifically, in this embodiment, if it is determined that the motor enters the maximum locked rotor capability state and the current value of the motor is greater than the continuous locked rotor current value of the motor, a locked rotor record is obtained, and the number of times of entering the maximum locked rotor capability state after the motor is currently powered on is determined. And if the locked rotor is in the state of the maximum locked rotor capacity after the current power-on, directly acquiring the maximum locked rotor time and the estimated value of the temperature of the motor stator according to the initial temperature of the winding, the locked rotor entering time and a corresponding mapping table. The mapping table comprises a temperature change curve of temperature changing along with time, so that an initial time node is determined according to the initial temperature of the winding, a corresponding termination time node is determined according to the maximum temperature allowed by the motor, and the time difference between the initial time node and the termination time node is the maximum locked rotor time. And determining the estimated value of the temperature of the stator of the motor at the current moment according to the locked rotor entering time and the initial time node.
If the locked rotor does not enter the maximum locked rotor capacity state for the first time after the current power-on, in order to avoid errors caused by the locked rotor, correction needs to be carried out based on the state of the current motor. Therefore, a calibration temperature difference value and a correction coefficient are obtained, and the maximum locked rotor time and the estimated motor stator temperature value are obtained according to the initial winding temperature, the locked rotor entering time, the calibration temperature difference value, the correction coefficient and a corresponding mapping table.
Optionally, in another embodiment of the present invention, after the step "obtaining a calibration temperature difference value and a correction coefficient" if it is determined that the current state enters the maximum locked rotor capacity state for the first time after being unpowered according to the locked rotor record, "the method includes the following steps:
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value;
acquiring a maximum current value and a minimum current value in three-phase current values of a motor when the motor enters a locked-rotor working condition;
acquiring a phase current value provided with a temperature sensor and a maximum performance current value of the motor;
and acquiring the correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
Specifically, in this embodiment, if the locked rotor does not enter the maximum locked rotor capability state for the first time after the current power-on, the calibrated temperature difference value is obtained, and the calibrated temperature difference value is a calibrated value and is a determined fixed value. And acquiring all current values of three phases of the motor when the motor enters a locked-rotor working condition, and identifying the maximum current value and the minimum current value. The embodiment is suitable for the motor with the temperature sensor in only one of the three-phase circuits of the motor, the phase current value with the temperature sensor and the maximum performance current value of the motor are obtained, and the maximum performance current value of the motor is the current value corresponding to the maximum performance of the motor which is judged according to the performance parameters of the motor. And acquiring a correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
Acquiring initial winding temperature TS0 (a first detection value), and calculating a temperature look-up table value TS0+ k delta T; the k value is determined according to the three-phase current amplitude relation (after electrification, k is 0 when the rotor is locked for the first time, and k is equal to (| Imax | - | Iv |)/(| Imax | - | Imin |)) for the second time or above); the motor control system comprises a controller, a winding temperature sensor, a controller and a controller, wherein Iv is phase current with the winding temperature sensor, Imax and Imin are maximum and minimum current values in three phases of the motor, and the values can be acquired through a current Hall arranged in the controller; by definition of the k-value, the initial temperature TS at which the locked rotor enters is estimated.
Optionally, in another embodiment of the present invention, before the step "if it is determined according to the locked rotor record that the maximum locked rotor capability state is not entered for the first time after the current power-on, the calibration temperature difference value is obtained", the method includes the following steps:
and controlling the motor to be in a maximum locked rotor capacity state based on the continuous locked rotor current value of the motor, and acquiring the three-phase maximum temperature difference value of the motor after the heat balance state is reached as the calibration temperature difference value.
Specifically, in this embodiment, when the motor is locked for a long time at a rated torque, that is, a continuous locked-rotor current value of the motor, and a three-phase temperature stably reaches a thermal equilibrium state, the maximum three-phase temperature difference at each angle is the calibrated temperature difference value.
Optionally, in another embodiment of the present invention, after the step "when the current values of the motor are all greater than or equal to the locked-rotor current value within the preset time, it is determined that the motor enters the locked-rotor working condition, and locked-rotor protection is performed, and the winding initial temperature and the locked-rotor entering time are obtained", the method includes the following steps:
if the current value of the motor is smaller than or equal to the continuous locked-rotor current value of the motor, acquiring a torque limit value corresponding to the continuous locked-rotor current value of the motor;
and controlling the motor to output according to the torque limit value.
Specifically, in this embodiment, when it is determined that the motor is in the maximum locked-rotor capability state, if it is further determined that the motor current value is less than or equal to the motor continuous locked-rotor current value, it is described that although locked-rotor occurs to the motor, the motor is within the allowable range of the motor, and no additional operation is required. And acquiring a torque limit value corresponding to the continuous locked-rotor current value of the motor, controlling the motor to output according to the torque limit value, limiting the output of the motor not to exceed the torque limit value, and enabling the motor to be in the current state for a long time.
Wherein, the locked-rotor protection schematic diagram is shown in fig. 3, and the time period t1 represents the time when the upper limit of the output current is reduced to I1, where I1 is the current (the electrically controlled maximum current value) at which the controller can continuously lock the rotor; the time period t2 is calculated according to the initial detection value Ts0 of the winding temperature and can be obtained by table lookup; the time period t3 is the time when the upper limit of the output current is reduced to the current { the motor continuous locked-rotor current value) corresponding to TRQstall _ limit (torque limit), and can be determined by calibration; the time period t4 represents the maintaining time of the current corresponding to TRQstall _ limit; the time period t5 represents the judgment time for quitting the locked rotor protection function, and is determined by calibration; t6 ═ COUNT _ DELAY _ MAX, which indicates the DELAY time after the locked rotor protection function exits; t7 represents the time required for the output current to rise to Imax (maximum motor performance current value) that can be actually output, and this value should be as short as possible.
As shown in fig. 4, the present invention provides a driving motor locked-rotor control system 100, comprising:
the current obtaining module 110 is configured to obtain a motor current value and a motor rotation speed;
the working condition analysis module 120 is in communication connection with the current acquisition module 110, and is used for judging that the motor enters a locked-rotor working condition when the current values of the motor are greater than or equal to a locked-rotor current value within a preset time and the rotating speeds of the motor are less than a preset locked-rotor rotating speed, performing locked-rotor protection, and acquiring the initial temperature of a winding and the locked-rotor entering time; and adjusting the zone bit to be in a locked rotor protection state, and executing cooling operation.
A locked rotor index obtaining module 130, communicatively connected to the operating condition analyzing module 120, configured to obtain a maximum locked rotor time and an estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, and a corresponding mapping table if the motor current value is greater than a motor continuous locked rotor current value, where the motor continuous locked rotor current value is greater than the locked rotor current value; if the current value of the motor is larger than the continuous locked-rotor current value of the motor, a locked-rotor record is obtained; if the current state is judged to be in the maximum locked rotor capacity state after being electrified, acquiring the maximum locked rotor time and the estimated value of the temperature of the motor stator according to the initial temperature of the winding, the locked rotor entering time and a corresponding mapping table; if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value and a correction coefficient; and acquiring the maximum locked rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, the calibration temperature difference value, the correction coefficient and a corresponding mapping table. If the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value; acquiring a maximum current value and a minimum current value in three-phase current values of a motor when the motor enters a locked-rotor working condition; acquiring a phase current value provided with a temperature sensor and a maximum performance current value of the motor; and acquiring the correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor. And controlling the motor to be in a maximum locked rotor capacity state based on the continuous locked rotor current value of the motor, and acquiring the three-phase maximum temperature difference value of the motor after the heat balance state is reached as the calibration temperature difference value. Controlling the motor to be in a maximum locked rotor capacity state based on the electric control maximum current value, and acquiring a three-phase temperature change curve of the motor; and acquiring locked-rotor time corresponding to the maximum temperature allowed by the motor at different temperatures and a temperature change curve in the temperature rise process according to the maximum temperature allowed by the motor and the three-phase temperature change curve, and establishing a corresponding mapping table.
The temperature acquisition module 140 is used for acquiring the maximum allowable temperature of the motor;
and the locked rotor protection module 150 is in communication connection with the locked rotor index acquisition module 130 and the temperature acquisition module 140, and is used for exiting locked rotor protection and reducing the output torque of the motor when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum temperature allowed by the motor or the locked rotor entering time is greater than or equal to the maximum locked rotor time. If the current value of the motor is smaller than or equal to the continuous locked-rotor current value of the motor, acquiring a torque limit value corresponding to the continuous locked-rotor current value of the motor; and controlling the motor to output according to the torque limit value. And when the current value of the motor is smaller than the locked-rotor current value, judging that the motor exits the locked-rotor working condition.
Specifically, the implementation manner of each module in this embodiment has been elaborated in the above corresponding method embodiment, and therefore, a description thereof is not repeated.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A locked-rotor control method for a driving motor is characterized by comprising the following steps:
acquiring a motor current value and a motor rotating speed;
when the current values of the motors are larger than or equal to the locked-rotor current value within the preset time and the rotating speeds of the motors are smaller than the preset locked-rotor rotating speed, judging that the motors enter a locked-rotor working condition, performing locked-rotor protection, and acquiring the initial temperature of a winding and the locked-rotor entering time;
if the motor current value is larger than a motor continuous locked rotor current value, acquiring locked rotor maximum time and a motor stator temperature estimated value according to the winding initial temperature, the locked rotor entering time and a corresponding mapping table, wherein the motor continuous locked rotor current value is larger than the locked rotor current value;
acquiring the maximum allowable temperature of the motor;
and when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum allowable temperature of the motor or the time for entering the locked rotor is greater than or equal to the maximum locked rotor time, the locked rotor protection is quitted, and the output torque of the motor is reduced.
2. The method for controlling locked-rotor of a driving motor according to claim 1, wherein before the step of obtaining the motor current value, the method comprises the following steps:
controlling the motor to be in a maximum locked rotor capacity state based on the electric control maximum current value, and acquiring a three-phase temperature change curve of the motor;
and acquiring locked-rotor time corresponding to the maximum temperature allowed by the motor at different temperatures and a temperature change curve in the temperature rise process according to the maximum temperature allowed by the motor and the three-phase temperature change curve, and establishing a corresponding mapping table.
3. The method for controlling locked-rotor of a driving motor according to claim 2, wherein said step of obtaining the maximum locked-rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked-rotor entering time and the corresponding mapping table if the motor current value is greater than the motor continuous locked-rotor current value, said motor continuous locked-rotor current value being greater than the locked-rotor current value, comprises the steps of:
if the current value of the motor is larger than the continuous locked-rotor current value of the motor, a locked-rotor record is obtained;
if the current state is judged to be in the maximum locked rotor capacity state after being electrified, acquiring the maximum locked rotor time and the estimated value of the temperature of the motor stator according to the initial temperature of the winding, the locked rotor entering time and a corresponding mapping table;
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value and a correction coefficient;
and acquiring the maximum locked rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time, the calibration temperature difference value, the correction coefficient and a corresponding mapping table.
4. The method for controlling locked-rotor of a driving motor according to claim 3, wherein the step of obtaining the calibration temperature difference value and the correction coefficient if it is determined that the maximum locked-rotor capability state is not entered for the first time after the current power-on according to the locked-rotor record comprises the following steps:
if the current state is judged to be in the maximum locked rotor capacity state for the first time after being powered on according to the locked rotor record, acquiring a calibration temperature difference value;
acquiring a maximum current value and a minimum current value in three-phase current values of a motor when the motor enters a locked-rotor working condition;
acquiring a phase current value provided with a temperature sensor and a maximum performance current value of the motor;
and acquiring the correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
5. The method for controlling locked-rotor of a driving motor according to claim 4, wherein before the step of obtaining the standard temperature difference value if it is determined that the maximum locked-rotor capability state is not entered for the first time after the current power-on according to the locked-rotor record, the method comprises the steps of:
and controlling the motor to be in a maximum locked rotor capacity state based on the continuous locked rotor current value of the motor, and acquiring the three-phase maximum temperature difference value of the motor after the heat balance state is reached as the calibration temperature difference value.
6. The method for controlling locked-rotor of a driving motor according to claim 1, wherein the step of determining that the motor enters a locked-rotor condition and performing locked-rotor protection when the motor current value is greater than or equal to the locked-rotor current value and the motor speed is less than a preset locked-rotor speed within a preset time includes the following steps of:
if the current value of the motor is smaller than or equal to the continuous locked-rotor current value of the motor, acquiring a torque limit value corresponding to the continuous locked-rotor current value of the motor;
and controlling the motor to output according to the torque limit value.
7. The method of claim 6, wherein the step of "controlling the motor to output according to the torque limit" comprises the steps of, after the step of "controlling the motor to output according to the torque limit":
and when the current value of the motor is smaller than the locked-rotor current value, judging that the motor exits the locked-rotor working condition.
8. The method for controlling locked-rotor of a driving motor according to claim 1, wherein said step of obtaining the maximum locked-rotor time and the estimated motor stator temperature according to the winding initial temperature, the locked-rotor entering time and the corresponding mapping table if the motor current value is greater than the motor continuous locked-rotor current value comprises the following steps:
and adjusting the zone bit to be in a locked rotor protection state, and executing cooling operation.
9. A drive motor stall control system, comprising:
the current acquisition module is used for acquiring the current value and the rotating speed of the motor;
the working condition analysis module is in communication connection with the current acquisition module and is used for judging that the motor enters a locked-rotor working condition when the current value of the motor is greater than or equal to a locked-rotor current value within a preset time and the rotating speed of the motor is less than a preset locked-rotor rotating speed, carrying out locked-rotor protection and acquiring the initial temperature of a winding and the locked-rotor entering time;
the locked rotor index acquisition module is in communication connection with the working condition analysis module and is used for acquiring maximum locked rotor time and estimated motor stator temperature according to the winding initial temperature, the locked rotor entering time and a corresponding mapping table if the motor current value is greater than a motor continuous locked rotor current value, wherein the motor continuous locked rotor current value is greater than the locked rotor current value;
the temperature acquisition module is used for acquiring the maximum temperature allowed by the motor;
and the locked rotor protection module is in communication connection with the locked rotor index acquisition module and the temperature acquisition module and is used for quitting locked rotor protection and reducing the output torque of the motor when the estimated value of the temperature of the stator of the motor is greater than or equal to the maximum temperature allowed by the motor or the locked rotor entering time is greater than or equal to the maximum locked rotor time.
10. A storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the drive motor stall control method of any one of claims 1 to 8.
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