CN113824373A - Motor detection method, device and system and industrial robot system - Google Patents

Motor detection method, device and system and industrial robot system Download PDF

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Publication number
CN113824373A
CN113824373A CN202111039500.2A CN202111039500A CN113824373A CN 113824373 A CN113824373 A CN 113824373A CN 202111039500 A CN202111039500 A CN 202111039500A CN 113824373 A CN113824373 A CN 113824373A
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China
Prior art keywords
motor
phase
servo driver
detected
current sampling
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CN202111039500.2A
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Chinese (zh)
Inventor
陈雨琴
张权
樊柳芝
牛少雄
陈宏奇
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202111039500.2A priority Critical patent/CN113824373A/en
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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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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
    • 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
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application relates to a motor detection method, a device, a system and an industrial robot system, wherein before enabling on a servo driver for driving a motor, the servo driver can start to operate through voltage pulse vector injection. And then, detecting whether the motor has a phase failure or not by acquiring current sampling values of any two phases at the input end of the motor to be detected and combining the current sampling values. Through the scheme, before the servo driver is enabled, namely when equipment such as an industrial robot where the motor is located is static, the defect detection of the motor in a non-working state is realized by injecting the voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the equipment such as the industrial robot runs formally, the possibility of dangerous conditions such as arm falling during the running of the equipment such as the industrial robot is reduced, the running safety of the equipment such as the industrial robot is improved, and the detection reliability is high.

Description

Motor detection method, device and system and industrial robot system
Technical Field
The application relates to the technical field of motor driving, in particular to a motor detection method, a motor detection device, a motor detection system and an industrial robot system.
Background
Because of the advantages of high efficiency, energy conservation and the like, the permanent magnet synchronous motor is widely applied to the fields of industrial robots and the like, and with the rapid development of scientific technology, people put higher requirements on the driving and safety performance of the permanent magnet synchronous motor. In the practical application process, when the power line between industrial robot's servo driver and motor breaks off, if not produce alarm information unusual in order to remind operating personnel circuit wiring, then industrial robot is the arm problem that falls that will appear in the twinkling of an eye of going up the electric messenger, can lead to industrial robot to hit incident such as quick-witted. Therefore, it is important to detect whether the permanent magnet synchronous motor is in a phase failure state.
However, in the current stage, the motor open-phase detection is mostly performed during the motor operation, and in the industrial robot, if the motor open-phase detection is performed during the motor operation, when the open-phase is actually generated, the industrial robot inevitably has the problem of arm falling and the like. Therefore, the traditional motor open-phase detection mode has the defect of poor detection reliability.
Disclosure of Invention
Therefore, it is necessary to provide a motor detection method, device, system and industrial robot system for solving the problem of poor detection reliability of the conventional motor open-phase detection method.
A motor phase loss detection method comprises the following steps: controlling the servo driver to operate according to the injected voltage pulse vector before enabling on the servo driver; the servo driver is connected with a motor to be detected; acquiring current sampling values of any two phases of the input end of the motor to be detected; and obtaining a detection result of whether the motor to be detected is in a phase failure or not according to the current sampling value.
In one embodiment, after the step of obtaining a detection result of whether the motor to be detected has a phase failure according to the current sampling value, the method further includes: and when any phase of the motor to be detected is in phase failure, outputting corresponding phase failure alarm information.
In one embodiment, after the step of obtaining a detection result of whether the motor to be detected has a phase failure according to the current sampling value, the method further includes: and when the three phases of the motor to be detected are not lack of phase, controlling the servo driver to enter a servo operation state.
In one embodiment, the current sampling values include first corresponding first current sampling values, and the step of obtaining a detection result of whether the motor to be detected has a phase failure according to the current sampling values includes: comparing and analyzing according to the first current sampling value and a first preset current threshold value; and when the first current sampling value is not greater than a first preset current threshold value within a preset time period, obtaining a detection result of the phase loss of the first phase of the motor to be detected.
In one embodiment, the step of comparing and analyzing the first current sample value and the first preset current threshold value further includes: when the first current sampling value is larger than a first preset current threshold value within a preset time period, ending the injection of the voltage pulse vector; judging whether the second current sampling value is larger than a second preset current threshold value or not; and when the second current sampling value is less than or equal to the second preset current threshold value, obtaining a detection result of the second phase of the motor to be detected, which is in phase failure.
In one embodiment, after the step of determining whether the second current sample value is greater than a second preset current threshold, the method further includes: when the second current sampling value is larger than the second preset current threshold value, judging whether the difference value of the first current sampling value and the second current sampling value is smaller than a third preset current threshold value; and when the difference value is larger than or equal to a third preset current threshold value, obtaining a detection result of the third phase of the motor to be detected with the phase loss.
In one embodiment, after the step of determining whether the difference between the first current sample value and the second current sample value is smaller than a third preset current threshold, the method further includes: and when the difference value is smaller than a third preset current threshold value, obtaining a detection result that no phase failure occurs in all three phases of the motor to be detected.
In one embodiment, the step of controlling the operation of the servo driver according to the injected voltage pulse vector comprises: acquiring an injected voltage pulse vector; generating a three-phase comparison value according to the voltage pulse vector; and generating a pulse width modulation signal according to the three-phase comparison value and outputting the pulse width modulation signal to a servo driver.
A motor phase loss detection device comprising: the drive control module is used for controlling the servo driver to operate according to the injected voltage pulse vector before the servo driver is enabled; the servo driver is connected with a motor to be detected; the current sampling acquisition module is used for acquiring current sampling values of any two phases at the input end of the motor to be detected; and the detection analysis module is used for obtaining a detection result of whether the motor to be detected has a phase failure or not according to the current sampling value.
A motor phase loss detection system comprises a control device, a servo driver and a motor, wherein the servo driver and the motor are respectively connected with the control device, the servo driver is connected with the motor, and the control device is used for carrying out motor phase loss detection according to the motor phase loss detection method.
In one embodiment, the control device comprises a space vector pulse width modulator, a current sampler and a processor, wherein the space vector pulse width modulator is connected with the pulse width modulator, the pulse width modulator is connected with the servo driver, the current sampler is connected with the servo driver and the motor, and the processor is connected with the current sampler.
An industrial robot system comprises a robot body and the motor open-phase detection system.
According to the motor detection method, the motor detection device, the motor detection system and the industrial robot system, the servo driver can start to operate through voltage pulse vector injection before the servo driver for driving the motor is enabled. And then, detecting whether the motor has a phase failure or not by acquiring current sampling values of any two phases at the input end of the motor to be detected and combining the current sampling values. Through the scheme, before the servo driver is enabled, namely when equipment such as an industrial robot where the motor is located is static, the defect detection of the motor in a non-working state is realized by injecting the voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the equipment such as the industrial robot runs formally, the possibility of dangerous conditions such as arm falling during the running of the equipment such as the industrial robot is reduced, the running safety of the equipment such as the industrial robot is improved, and the detection reliability is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a phase loss detection method for a motor according to an embodiment;
FIG. 2 is a schematic diagram illustrating a structural process of a phase loss detection system of the motor according to an embodiment;
FIG. 3 is a schematic flow chart of a phase loss detection method for a motor according to another embodiment;
FIG. 4 is a schematic flow chart illustrating a phase loss detection method for a motor according to yet another embodiment;
FIG. 5 is a schematic flow chart illustrating a phase loss detection method for a motor according to still another embodiment;
FIG. 6 is a flow chart of a phase loss detection method for a motor according to an embodiment;
FIG. 7 is a schematic diagram of an embodiment of a voltage pulse vector injection process;
FIG. 8 is a schematic structural diagram of a phase loss detection apparatus for a motor according to an embodiment;
FIG. 9 is a schematic structural diagram of a phase loss detection apparatus for a motor according to another embodiment;
FIG. 10 is a schematic structural diagram of a phase loss detection apparatus for a motor according to yet another embodiment;
fig. 11 is a schematic structural diagram of a phase loss detection system of a motor in another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a method for detecting a phase loss of a motor includes steps S100, S200, and S300.
And step S100, before the servo driver is enabled, controlling the servo driver to operate according to the injected voltage pulse vector.
Specifically, the servo driver is connected with a motor to be detected. Enabling on the servo driver means that the servo driver receives an enabling signal sent by an upper computer, and the enabling signal can enable the servo driver so as to start the servo driver to operate and drive a motor to be detected. In the scheme of this embodiment, before the servo driver is enabled, that is, in a state where the servo driver does not receive the enabling signal to be formally started, the motor to be detected and the industrial robot or other equipment where the motor to be detected is located are both in a non-working state in this state. At the moment, the control device injects a voltage pulse vector, the servo driver is started to operate under the action of the voltage pulse vector, so that the state that the motor to be detected is driven during actual work is simulated, and the open-phase detection operation of the motor to be detected under the static state of equipment such as an industrial robot where the motor is located is further realized.
After voltage pulse vectors are injected into the control device, the control device processes the voltage pulse vectors of each phase, finally outputs pulse width modulation signals to the servo driver, and the switching tube of the servo driver acts under the action of the pulse width modulation signals, so that three-phase current is output to the motor to be detected, and the driving operation of the motor to be detected is realized.
It will be appreciated that the number of pulse width modulated signals that the control device ultimately outputs to the servo drivers will vary for different types of servo drivers. For example, in an embodiment, please refer to fig. 2 in combination, the servo driver 20 specifically adopts three half-bridge inverter circuits formed by six switching devices, and at this time, the corresponding control device needed outputs 6 pulse width modulation signals according to the injected voltage pulse vector, so as to perform on-off control of different switching devices respectively. Likewise, the type of motor to be detected is not unique, and in a more detailed embodiment, the motor to be detected is a permanent magnet synchronous motor.
It should be noted that the magnitude of the voltage pulse vector injected in the control device is not exclusive and in one embodiment may be injected for the U-phase
Figure BDA0003248569180000061
Voltage pulse vector of (2) for injecting into V-phase and W-phase respectively
Figure BDA0003248569180000062
Voltage pulse vector of (2), wherein UdcRepresenting the dc bus voltage. In other embodiments, the injected voltage pulse vector can be injected for the U-phase and the W-phase
Figure BDA0003248569180000063
Voltage pulse vector of (2), for V-phase injection
Figure BDA0003248569180000064
Voltage pulse vector of (a); or injecting into U phase and V phase
Figure BDA0003248569180000065
Voltage pulse vector of (2), for W phase
Figure BDA0003248569180000066
Voltage pulse vector of (2).
And step S200, acquiring current sampling values of any two phases at the input end of the motor to be detected.
Specifically, the three-phase input end of the motor to be detected is connected to the servo driver through the wiring terminal respectively, and simultaneously, the three-phase input end of the motor to be detected is connected to the control device respectively. When the servo driver operates under the action of the input pulse width modulation signal, a current signal is output to the motor to be detected through the wiring terminal, so that the permanent magnet synchronous motor is controlled to operate. In an actual use scene, the sampling operation of the input current of the motor to be detected can be realized through the control device only by connecting the control device to any two ends of the three-phase input end of the motor to be detected.
It should be noted that, when the control device samples the currents of any two phases of the motor to be detected, the specific sampling manner is not unique, and in one embodiment, the sampling manner may be implemented by a current sensor or a current transformer, and in other embodiments, a voltage sampling device may be used to sample the voltages and then correspondingly convert the sampled voltages to obtain the current sample values of any two phases.
And step S300, obtaining a detection result of whether the motor to be detected has a phase failure or not according to the current sampling value.
Specifically, after the control device obtains the current sampling values of any two phases of the three-phase input end of the motor to be detected, the current sampling values corresponding to the two phases are combined to perform analysis, so that the detection result of whether the two sampled phases are in a phase failure or not and whether the phase which is not subjected to current sampling is in a phase failure or not can be obtained. Through the scheme, in the actual sampling process, only the voltage pulse vector needs to be injected into the motor phase-loss detection system, and the detection result of whether any phase in three phases has phase loss can be obtained simultaneously by sampling any two-phase current sampling value for analysis.
Referring to fig. 3, in an embodiment, after step S300, the method further includes step S400.
And S400, outputting corresponding phase-lack alarm information when any phase of the motor to be detected is in phase-lack state.
Specifically, when the control device analyzes according to the acquired current sampling values of any two phases, as long as a phase-lack fault occurs to any one phase, the control device generates alarm information to inform a user, so that the user can timely perform phase-lack protection on the motor, and is reminded to execute processing measures such as checking power line wiring and the like, and dangerous conditions such as arm falling of equipment such as an industrial robot where the motor is located are avoided.
It can be understood that, in an embodiment, the phase-missing alarm information output by the control device is different according to the phase line in which the phase missing occurs in the current state, and the correspondingly output phase-missing alarm information is also different, so that the user can accurately know which phase has the defect at the time. Therefore, the user can carry out open-phase fault processing on pertinence, and the detection accuracy of the motor open-phase detection can be improved. In another embodiment, the same phase-lack alarm information can be output when any phase of the motor to be detected is in phase-lack state, and the user can be informed of the fault state of the phase-lack of the motor to be detected.
It should be noted that the manner of outputting the phase-lack alarm information by the control device is not exclusive, and in one embodiment, the alarm may be performed in the form of outputting information such as sound, light, or vibration, and may be selected differently according to the actual application scenario of the motor to be detected or the user's requirement.
Referring to fig. 4, in an embodiment, after step S300, the method further includes step S500.
And S500, controlling the servo driver to enter a servo operation state when no phase loss occurs in the three phases of the motor to be detected.
Specifically, when the control device performs open-phase detection according to any two-phase sampled current sampling value, the condition that three phases are not open-phase can also occur, at the moment, the condition that the power connection between the servo driver and the motor to be detected is normally connected is shown, and the motor to be detected can normally run under the driving of the servo driver. Therefore, in this embodiment, when detecting that none of the three phases is out of phase, the control device only needs to control the servo driver to start operation according to the received upper enable signal sent by the upper computer, and normal driving of the motor to be detected is realized.
Referring to fig. 5, in one embodiment, the current sample values include first corresponding first current sample values, and step S300 includes step S310 and step S320.
Step S310, comparing and analyzing according to the first current sampling value and a first preset current threshold value; step S320, when the first current sampling value is not greater than the first preset current threshold within the preset time period, obtaining a detection result of the phase loss of the first phase of the motor to be detected.
Specifically, please refer to fig. 6, which takes the first phase as the U-phase as an example for explanation, after the control device samples the first current sampling value corresponding to U, the first current sampling value is compared with the preset current threshold, and timing is performed at the same time, if the first current sampling value is not greater than the first preset current threshold within the preset time duration, it indicates that the U-phase is open-phase, and the control device outputs the detection result of the first phase being open-phase (that is, the U-phase is open-phase) to notify the user.
It can be understood that the first current sampling value is greater than the first preset current threshold value within the preset time period, and it may be that the first current sampling value is greater than the first preset current threshold value within the preset time period; or within a preset time, the first current sampling value is continuously greater than the first preset current threshold, and in particular, different choices can be made according to actual scenes.
It should be noted that, neither the preset time length nor the first preset current threshold is unique, and different choices may be made in combination with actual usage scenarios and user requirements. For example, in a more detailed embodiment, the first predetermined current threshold may be set to 0.5 times the rated current.
Referring to fig. 5, in one embodiment, the current sample values include a second corresponding second current sample value, and after step S310, the method further includes step S330, step S340 and step S350.
Step S330, when the first current sampling value is greater than a first preset current threshold value within a preset time period, ending the injection of the voltage pulse vector; step S340, judging whether the second current sampling value is larger than a second preset current threshold value; and step S350, when the second current sampling value is less than or equal to a second preset current threshold value, obtaining a detection result of the second phase of the motor to be detected having a phase failure.
Specifically, please refer to fig. 6, which illustrates the second phase as the V phase. When the control device obtains the first current sampling value corresponding to U, and performs comparison analysis according to the first current sampling value and the first preset current threshold, a situation that the first current sampling value is greater than the first preset current threshold within the first preset time period may occur. At this time, it is indicated that the connection between the phase line corresponding to the U and the motor to be detected is normal, that is, the U phase is not open, and then the injection operation of the voltage pulse vector is ended, and the detection of whether the V phase is open is performed by combining the second current sampling value corresponding to the V phase.
When the phase loss of the V phase is detected, the comparison and analysis of the second current sampling value corresponding to the V and the second preset current threshold are only needed, and whether the second current sampling value is larger than the second preset current threshold is judged. If the second current sampling value is less than or equal to the second preset current threshold value, the phase line corresponding to the V is in fault, at the moment, the power connection of the motor to be detected and the servo driver is in fault, and the control device outputs a detection result of the second phase occurrence phase loss (V-phase loss) to inform a user.
It should be noted that, in one embodiment, the phase loss detection of the second phase is performed in a case where the phase loss of the first phase does not occur, and if the phase loss of the first phase has occurred, this indicates that the power connection between the motor to be detected and the servo driver is faulty, and it is not necessary to perform the phase loss detection of the other phases, the control device directly outputs the phase loss alarm signal of the first phase, and the phase loss detection operation is ended.
It is to be understood that the magnitude of the second preset current threshold is not unique, and may be equal to the second preset current threshold, or greater than or less than the first preset current threshold, and may be selected differently according to actual usage scenarios.
Further, referring to fig. 5 in combination, in an embodiment, after the step S340, the method further includes a step S360 and a step S370.
Step S360, when the second current sampling value is larger than a second preset current threshold value, judging whether the difference value of the first current sampling value and the second current sampling value is smaller than a third preset current threshold value; and step S370, when the difference value is larger than or equal to a third preset current threshold value, obtaining a detection result of the third phase of the motor to be detected with the phase failure.
Specifically, after the control device respectively implements the open-phase detection operation of the first phase and the second phase according to the first current sampling value and the second current sampling value, if the first phase and the second phase do not have an open phase, it is necessary to detect whether the third phase has an open phase, and if the third phase has an open phase, it is necessary to implement the detection by simultaneously combining the first current sampling value and the second current sampling value. Referring to fig. 6, taking the third phase as the W phase as an example for explanation, when no phase loss occurs in the V phase and the U phase, the control device performs a difference operation on the first current sampling value and the second current sampling value obtained by sampling to obtain a difference value between the first current sampling value and the second current sampling value, then compares and analyzes the difference value with a third preset current threshold, and obtains a detection result of the phase loss occurring in the third phase (W phase loss) and outputs the detection result to notify the user when the difference value is greater than or equal to the third preset current threshold. It should be noted that, in an embodiment, the difference obtained by subtracting the first current sample value and the second current sample value is specifically: an absolute value of a difference between the first current sample value and the second current sample value.
Further, with reference to fig. 5, in one embodiment, after step S360, the method further includes step S380.
And step S380, when the difference value is smaller than a third preset current threshold value, obtaining a detection result that no phase loss occurs in all three phases of the motor to be detected.
Specifically, when the control device performs an analysis based on the difference between the first current sample value and the second current sample value, a situation may also occur in which the difference is smaller than a third preset current threshold value, in which case it indicates that no phase loss has occurred in the third phase. Whether the third phase is in the default phase or not is performed on the basis that the first phase and the second phase are not in the default phase, so that the fact that the third phase is not in the default phase is detected, the fact that the first phase, the second phase and the third phase are not in the default phase is also indicated, and at the moment, the control device can directly output the detection result that the three phases of the motor to be detected are not in the default phase to inform a user.
Referring to fig. 7, in one embodiment, the step of controlling the operation of the servo driver according to the injected voltage pulse vector includes steps S110, S120 and S130.
Step S110, acquiring an injected voltage pulse vector; step S120, generating a three-phase comparison value according to the voltage pulse vector; step S130, generating a pulse width modulation signal according to the three-phase comparison value and outputting the pulse width modulation signal to the servo driver.
Specifically, referring to fig. 2, in this embodiment, the control device 10 correspondingly includes a space vector pulse width modulator 11, a pulse width modulator 12, a current sampler 13, and a processor 14, where the space vector pulse width modulator 11 is connected to the pulse width modulator 12, the pulse width modulator 12 is connected to the servo driver 20, the current sampler 13 is connected to the servo driver 20 and the motor 30, and the processor 14 is connected to the current sampler 13.
The space Vector Pulse Width modulator 11, that is, the SVPWM (space Vector Pulse Width modulation), changes Ua, Ub, Uc generated by inverse PARK conversion of the input three-phase voltage to the corresponding voltage Pulse Vector size in the SVPWM control strategy, and performs voltage Pulse Vector injection. The pulse Width modulator 12, that is, pwm (pulse Width modulation), the pulse Width modulator 12 is an analog control method, and modulates the bias of the base electrode of the transistor or the gate of the MOS transistor according to the change of the corresponding load to change the conduction time of the transistor or the MOS transistor, thereby changing the output of the switching regulator. The implementation mode of the space vector pulse width modulator 11 heating algorithm mainly includes sector judgment of reference voltage vectors, calculation of voltage vector action time of each sector and determination of vector switching points of each sector, and finally, triangular carrier signals with certain frequency are used for being compared with vector switching points of each sector, so that pulse width modulator signals required by a converter can be generated, after the pulse width modulator signals act on the servo driver 20, an inverter of the servo driver 20 operates in a special switching triggering sequence and pulse width size combination, and the switching triggering sequence and combination can generate sine wave current waveforms with three phases of 120 degrees and less distortion in stator coils, so as to drive a motor to be detected.
The motor detection method can enable the servo driver to start running through voltage pulse vector injection before enabling the servo driver for driving the motor. And then, detecting whether the motor has a phase failure or not by acquiring current sampling values of any two phases at the input end of the motor to be detected and combining the current sampling values. Through the scheme, before the servo driver is enabled, namely when equipment such as an industrial robot where the motor is located is static, the defect detection of the motor in a non-working state is realized by injecting the voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the equipment such as the industrial robot runs formally, the possibility of dangerous conditions such as arm falling during the running of the equipment such as the industrial robot is reduced, the running safety of the equipment such as the industrial robot is improved, and the detection reliability is high.
Referring to fig. 8, a motor phase loss detection apparatus includes a driving control module 100, a current sampling module 200, and a detection analysis module 300.
The drive control module 100 is configured to control the operation of the servo driver according to the injected voltage pulse vector before enabling the servo driver; the current sampling acquisition module 200 is used for acquiring current sampling values of any two phases at the input end of the motor to be detected; the detection and analysis module 300 is used for obtaining a detection result of whether the motor to be detected has a phase failure or not according to the current sampling value.
Referring to fig. 9, in one embodiment, after the detection and analysis module 300, the apparatus further includes an alarm module 400. The alarm module 400 is used for outputting corresponding phase-missing alarm information when any phase of the motor to be detected is in phase-missing.
Referring to fig. 10, in one embodiment, after the detection and analysis module 300, the apparatus further includes a servo operation control module 500. The servo operation control module 500 is used for controlling the servo driver to enter a servo operation state when the three phases of the motor to be detected are not lack of phases.
In one embodiment, the detection analysis module 300 is further configured to perform a comparison analysis according to the first current sampling value and a first preset current threshold; and when the first current sampling value is not greater than the first preset current threshold value within the preset time, obtaining a detection result of the phase loss of the first phase of the motor to be detected.
In one embodiment, the detection analysis module 300 is further configured to end the injection of the voltage pulse vector when the first current sample value is greater than the first preset current threshold value within a preset time period; judging whether the second current sampling value is larger than a second preset current threshold value or not; and when the second current sampling value is less than or equal to a second preset current threshold value, obtaining a detection result of the second phase of the motor to be detected with the phase loss.
In one embodiment, the detection analysis module 300 is further configured to determine whether a difference between the first current sample and the second current sample is smaller than a third preset current threshold when the second current sample is larger than the second preset current threshold; and when the difference value is larger than or equal to a third preset current threshold value, obtaining a detection result of the third phase of the motor to be detected with the phase loss.
In an embodiment, the detection analysis module 300 is further configured to obtain a detection result that no phase loss occurs in any of the three phases of the motor to be detected when the difference is smaller than a third preset current threshold.
In one embodiment, the drive control module 100 is further configured to obtain an injected voltage pulse vector; generating a three-phase comparison value according to the voltage pulse vector; and generating a pulse width modulator signal according to the three-phase comparison value and outputting the pulse width modulator signal to the servo driver.
For the specific definition of the motor open-phase detection device, reference may be made to the above definition of the motor open-phase detection method, which is not described herein again. All or part of each module in the motor open-phase detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The motor detection device can enable the servo driver to start running through voltage pulse vector injection before enabling the servo driver for driving the motor. And then, detecting whether the motor has a phase failure or not by acquiring current sampling values of any two phases at the input end of the motor to be detected and combining the current sampling values. Through the scheme, before the servo driver is enabled, namely when equipment such as an industrial robot where the motor is located is static, the defect detection of the motor in a non-working state is realized by injecting the voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the equipment such as the industrial robot runs formally, the possibility of dangerous conditions such as arm falling during the running of the equipment such as the industrial robot is reduced, the running safety of the equipment such as the industrial robot is improved, and the detection reliability is high.
Referring to fig. 11, a motor open-phase detection system includes a control device 10, a servo driver 20 and a motor 30, the servo driver 20 and the motor 30 are respectively connected to the control device 10, the servo driver 20 is connected to the motor 30, and the control device 10 is configured to perform motor open-phase detection according to the motor open-phase detection method.
Specifically, enabling on the servo driver 20 means that the servo driver 20 receives an enable signal sent by the upper computer, and the enable signal can enable the servo driver 20 to start running, so as to drive the motor 30. In the solution of the present embodiment, before the enabling on the servo driver 20, that is, in a state where the servo driver 20 does not receive the enabling signal to be formally started, the motor 30 and the industrial robot or other equipment where the motor 30 is located are in the non-working state accordingly. At this time, the control device 10 injects a voltage pulse vector, and the servo driver 20 is operated under the action of the voltage pulse vector to simulate a state of driving the motor 30 in actual work, thereby realizing the open-phase detection operation of the motor 30 in a state where the industrial robot or the like in which the motor 30 is located is stationary.
After the voltage pulse vectors are injected, the control device 10 processes the voltage pulse vectors of each phase, and finally outputs a pulse width modulator signal to the servo driver 20, and under the action of the pulse width modulator signal, the switching tube of the servo driver 20 operates, so that a three-phase current is output to the motor 30, and the driving operation of the motor 30 is realized.
The three-phase input terminals of the motor 30 are connected to the servo driver 20 through connection terminals, respectively, and simultaneously, the three-phase input terminals of the motor 30 are connected to the control device 10, respectively. When the servo driver 20 operates under the action of the input pwm signal, a current signal is outputted to the motor 30 through the connection terminal, thereby controlling the operation of the permanent magnet synchronous motor 30. In an actual use scenario, the control device 10 is only required to be connected to any two ends of the three-phase input end of the motor 30, so that the sampling operation of the input current of the motor 30 can be realized through the control device 10.
After the control device 10 obtains the current sampling values of any two phases of the three-phase input terminals of the motor 30, the two current sampling values corresponding to the two phases are combined for analysis, so that the detection results of whether the two sampled phases are in a phase failure state or not and whether the one phase which is not subjected to current sampling is in a phase failure state or not can be obtained. Through the scheme, in the actual sampling process, only the voltage pulse vector needs to be injected into the motor phase-loss detection system, and the detection result of whether any phase in three phases has phase loss can be obtained simultaneously by sampling any two-phase current sampling value for analysis.
In one embodiment, referring to fig. 2 in combination, the control device 10 includes a control device 10 including a space vector pulse width modulator 11, a pulse width modulator 12, a current sampler 13 and a processor 14, wherein the space vector pulse width modulator 11 is connected to the pulse width modulator 12, the pulse width modulator 12 is connected to a servo driver 20, the current sampler 13 is connected to the servo driver 20 and a motor 30, and the processor 14 is connected to the current sampler 13.
Specifically, the space vector pulse width modulator 11, that is, the SVPWM, changes the Ua, Ub, Uc generated by inverse PARK conversion of the input three-phase voltage to the corresponding voltage pulse vector size in the SVPWM control strategy, and performs voltage pulse vector injection. The pulse width modulator 12, that is, the PWM, the pulse width modulator 12 is an analog control mode, and modulates the bias of the base of the transistor or the gate of the MOS transistor according to the change of the corresponding load to change the conduction time of the transistor or the MOS transistor, thereby changing the output of the switching regulator. The implementation method of the space vector pulse width modulator 11 heating algorithm mainly includes sector judgment of reference voltage vectors, calculation of voltage vector action time of each sector and determination of vector switching points of each sector, and finally, triangular carrier signals with a certain frequency are used for being compared with vector switching points of each sector, so that pulse width modulator signals required by a converter can be generated, after the pulse width modulator signals act on the servo driver 20, an inverter of the servo driver 20 operates in a special switching triggering sequence and pulse width size combination, and the switching triggering sequence and combination can generate sine wave current waveforms with three phases of 120 degrees and less distortion in stator coils, so as to drive the motor 30.
The motor detection system described above enables the servo driver 20 to start operating by voltage pulse vector injection before enabling on the servo driver 20 for driving the motor 30. And then, detecting whether the motor 30 has a phase failure or not by acquiring current sampling values of any two phases at the input end of the motor 30 and combining the current sampling values. Through the scheme, before the servo driver 20 is enabled, namely when equipment such as an industrial robot where the motor 30 is located is static, the defect detection of the motor 30 in a non-working state is realized by injecting a voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the equipment such as the industrial robot runs formally, the possibility of dangerous conditions such as arm falling during the running of the equipment such as the industrial robot is reduced, the running safety of the equipment such as the industrial robot is improved, and the detection reliability is high.
An industrial robot system comprises a robot body and the motor open-phase detection system.
Specifically, as shown in the above embodiments and the accompanying drawings, the motor 30 is used to drive the robot body to move. Enabling on the servo driver 20 means that the servo driver 20 receives an enabling signal sent by the upper computer, and the enabling signal can enable the servo driver 20 to start the servo driver 20 to operate, so as to drive the motor 30. In the solution of the present embodiment, before the enabling on the servo driver 20, that is, in a state where the servo driver 20 does not receive the enabling signal to be formally started, the motor 30 and the industrial robot or other equipment where the motor 30 is located are in the non-working state accordingly. At this time, the control device 10 injects a voltage pulse vector, and the servo driver 20 is operated under the action of the voltage pulse vector to simulate a state of driving the motor 30 in actual work, thereby realizing the open-phase detection operation of the motor 30 in a state where the industrial robot or the like in which the motor 30 is located is stationary.
After the voltage pulse vectors are injected, the control device 10 processes the voltage pulse vectors of each phase, and finally outputs a pulse width modulator signal to the servo driver 20, and under the action of the pulse width modulator signal, the switching tube of the servo driver 20 operates, so that a three-phase current is output to the motor 30, and the driving operation of the motor 30 is realized.
The three-phase input terminals of the motor 30 are connected to the servo driver 20 through connection terminals, respectively, and simultaneously, the three-phase input terminals of the motor 30 are connected to the control device 10, respectively. When the servo driver 20 operates under the action of the input pwm signal, a current signal is outputted to the motor 30 through the connection terminal, thereby controlling the operation of the permanent magnet synchronous motor 30. In an actual use scenario, the control device 10 is only required to be connected to any two ends of the three-phase input end of the motor 30, so that the sampling operation of the input current of the motor 30 can be realized through the control device 10.
After the control device 10 obtains the current sampling values of any two phases of the three-phase input terminals of the motor 30, the two current sampling values corresponding to the two phases are combined for analysis, so that the detection results of whether the two sampled phases are in a phase failure state or not and whether the one phase which is not subjected to current sampling is in a phase failure state or not can be obtained. Through the scheme, in the actual sampling process, only the voltage pulse vector needs to be injected into the motor phase-loss detection system, and the detection result of whether any phase in three phases has phase loss can be obtained simultaneously by sampling any two-phase current sampling value for analysis.
The industrial robot system described above enables the servo driver 20 to start operating by voltage pulse vector injection before enabling on the servo driver 20 for driving the motor 30. And then, detecting whether the motor 30 has a phase failure by acquiring current sampling values of any two phases at the input end of the motor to be detected and combining the current sampling values. By the above scheme, before enabling on the servo driver 20, that is, when the industrial robot where the motor 30 is located is stationary, the defect detection of the motor 30 in the non-working state is realized by injecting the voltage pulse vector. Therefore, the open-phase fault is detected and eliminated before the industrial robot formally operates, the possibility of dangerous conditions such as arm falling and the like during the operation of the industrial robot is reduced, the operation safety of the industrial robot is improved, and the detection reliability is high.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (12)

1. A motor phase loss detection method is characterized by comprising the following steps:
controlling the servo driver to operate according to the injected voltage pulse vector before enabling on the servo driver; the servo driver is connected with a motor to be detected;
acquiring current sampling values of any two phases of the input end of the motor to be detected;
and obtaining a detection result of whether the motor to be detected is in a phase failure or not according to the current sampling value.
2. The motor open-phase detection method according to claim 1, wherein after the step of obtaining the detection result of whether the motor to be detected has an open phase according to the current sampling value, the method further comprises:
and when any phase of the motor to be detected is in phase failure, outputting corresponding phase failure alarm information.
3. The motor open-phase detection method according to claim 1, wherein after the step of obtaining the detection result of whether the motor to be detected has an open phase according to the current sampling value, the method further comprises:
and when the three phases of the motor to be detected are not lack of phase, controlling the servo driver to enter a servo operation state.
4. The motor open-phase detection method according to claim 1, wherein the current sampling values include first corresponding current sampling values, and the step of obtaining the detection result of whether the motor to be detected is open-phase according to the current sampling values includes:
comparing and analyzing according to the first current sampling value and a first preset current threshold value;
and when the first current sampling value is not greater than a first preset current threshold value within a preset time period, obtaining a detection result of the phase loss of the first phase of the motor to be detected.
5. The method for detecting the open-phase of the motor according to claim 4, wherein the current sampling values comprise second corresponding current sampling values, and after the step of performing the comparative analysis according to the first current sampling value and the first preset current threshold, the method further comprises:
when the first current sampling value is larger than a first preset current threshold value within a preset time period, ending the injection of the voltage pulse vector;
judging whether the second current sampling value is larger than a second preset current threshold value or not;
and when the second current sampling value is less than or equal to the second preset current threshold value, obtaining a detection result of the second phase of the motor to be detected, which is in phase failure.
6. The method for detecting a phase loss of an electric motor according to claim 5, wherein after the step of determining whether the second current sample is greater than a second predetermined current threshold, the method further comprises:
when the second current sampling value is larger than the second preset current threshold value, judging whether the difference value of the first current sampling value and the second current sampling value is smaller than a third preset current threshold value;
and when the difference value is larger than or equal to a third preset current threshold value, obtaining a detection result of the third phase of the motor to be detected with the phase loss.
7. The method for detecting a phase loss of an electric motor according to claim 6, wherein after the step of determining whether the difference between the first current sample and the second current sample is smaller than a third preset current threshold, the method further comprises:
and when the difference value is smaller than a third preset current threshold value, obtaining a detection result that no phase failure occurs in all three phases of the motor to be detected.
8. The motor phase loss detection method of claim 1, wherein the step of controlling the operation of the servo driver according to the injected voltage pulse vector comprises:
acquiring an injected voltage pulse vector;
generating a three-phase comparison value according to the voltage pulse vector;
and generating a pulse width modulation signal according to the three-phase comparison value and outputting the pulse width modulation signal to a servo driver.
9. A motor phase loss detection device, comprising:
the drive control module is used for controlling the servo driver to operate according to the injected voltage pulse vector before the servo driver is enabled; the servo driver is connected with a motor to be detected;
the current sampling acquisition module is used for acquiring current sampling values of any two phases at the input end of the motor to be detected;
and the detection analysis module is used for obtaining a detection result of whether the motor to be detected has a phase failure or not according to the current sampling value.
10. A motor open-phase detection system is characterized by comprising a control device, a servo driver and a motor, wherein the servo driver and the motor are respectively connected with the control device, the servo driver is connected with the motor, and the control device is used for carrying out motor open-phase detection according to the motor open-phase detection method of any one of claims 1 to 8.
11. The motor open-phase detection system according to claim 10, wherein the control device comprises a space vector pulse width modulator, a current sampler and a processor, the space vector pulse width modulator is connected with the pulse width modulator, the pulse width modulator is connected with the servo driver, the current sampler is connected with the servo driver and the motor, and the processor is connected with the current sampler.
12. An industrial robot system, characterized in that it comprises a robot body and a motor phase loss detection system according to any of claims 10-11.
CN202111039500.2A 2021-09-06 2021-09-06 Motor detection method, device and system and industrial robot system Pending CN113824373A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117215254A (en) * 2023-11-09 2023-12-12 中润华谷(南京)科技有限公司 Safety control method of industrial controller

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117215254A (en) * 2023-11-09 2023-12-12 中润华谷(南京)科技有限公司 Safety control method of industrial controller

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