CN113922334A - Operation protection method and device for servo motor, storage medium and electronic equipment - Google Patents
Operation protection method and device for servo motor, storage medium and electronic equipment Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The invention relates to an operation protection method, an operation protection device, a storage medium and electronic equipment of a servo motor, wherein the method comprises the following steps: acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected; acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length; and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running. The invention can realize effective protection when the servo motor exceeds rated protection current and maximum overload heat in a short time, and improves the accuracy of operation protection and detection efficiency of the servo motor.
Description
Technical Field
The invention relates to the technical field of servo motor application, in particular to a servo motor operation protection method, a servo motor operation protection device, a storage medium and electronic equipment.
Background
With the rapid development of the current information society, the market demand is continuously expanding, and the servo motor is widely applied to industrial production. In order to meet the requirement of industrial production and prevent the servo motor from generating heat due to overload caused by long-time work, how to protect the servo motor is a problem which needs to be solved urgently under the condition of not increasing the input cost.
In the prior art, a common method is that a temperature sensor is additionally arranged on a servo motor, so that the heating temperature of the servo motor is measured to reach a limit value; and a current constant value detection mode is adopted, the alarm is stopped after the current of the servo motor exceeds the rated current for a period of time, but in the practical application process, the current changes frequently, the detection cannot be accurately carried out, and the overload protection cannot play a role.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a device for protecting the operation of a servo motor, a storage medium and electronic equipment.
The technical scheme of the operation protection method of the servo motor is as follows:
acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length;
and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The operation protection method of the servo motor has the following beneficial effects:
the method comprises the steps of obtaining the maximum overload heat of the servo motor to be protected, obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected, obtaining the actual heat in the first time from the current time point, judging whether the actual heat is greater than the maximum overload heat, triggering an alarm and controlling the servo motor to be protected to stop operating if the actual heat is greater than the maximum overload heat, and controlling the servo motor to be protected to continue operating if the actual heat is not greater than the maximum overload heat.
On the basis of the scheme, the operation protection method of the servo motor can be further improved as follows.
Further, the acquiring of the maximum overload heat of the servo motor to be protected includes:
and calculating to obtain the maximum overload heat according to the rated current, the maximum current running time and the overload threshold coefficient of the servo motor to be protected.
The beneficial effect of adopting the further scheme is that: according to the obtained parameters of the servo motor to be protected, the maximum overload heat of the servo motor to be protected can be obtained through calculation, and subsequent judgment is facilitated.
Further, the relationship between the rated protection current and the rated current is as follows:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
Further, acquiring the actual heat in a first time period from the current time point, wherein the value of the first time period is equal to the value of the maximum operation time period, and the method comprises the following steps:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The beneficial effect of adopting the further scheme is that: the acquired heat of each sampling period in the current time period is accumulated, so that whether the heat of the servo motor is overheated or overloaded is detected in real time, subsequent judgment is facilitated, and corresponding operation is performed according to a judgment result, so that the accuracy of operation protection and the detection efficiency of the servo motor are improved.
The technical scheme of the operation protection device of the servo motor is as follows:
the method comprises the following steps: the device comprises a configuration module, an acquisition module and a detection module;
the configuration module is configured to: acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the acquisition module is configured to: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length;
the detection module is used for: and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The operation protection device of the servo motor has the following beneficial effects:
the device acquires the maximum overload heat of the servo motor to be protected, acquires the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected, acquires the actual heat within the first time from the current time point, judges whether the actual heat is greater than the maximum overload heat, triggers an alarm and controls the servo motor to be protected to stop operating if the actual heat is greater than the maximum overload heat, and controls the servo motor to be protected to continue operating if the actual heat is not greater than the maximum overload heat.
On the basis of the scheme, the operation protection device of the servo motor can be further improved as follows.
Further, the acquiring of the maximum overload heat of the servo motor to be protected includes:
and calculating to obtain the maximum overload heat according to the rated current, the maximum current running time and the overload threshold coefficient of the servo motor to be protected.
The beneficial effect of adopting the further scheme is that: according to the obtained parameters of the servo motor to be protected, the maximum overload heat of the servo motor to be protected can be obtained through calculation, and subsequent judgment is facilitated.
Further, the relationship between the rated protection current and the rated current is as follows:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
Further, the obtaining module is specifically configured to:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The beneficial effect of adopting the further scheme is that: the acquired heat of each sampling period in the current time period is accumulated, so that whether the heat of the servo motor is overheated or overloaded is detected in real time, subsequent judgment is facilitated, and corresponding operation is performed according to a judgment result, so that the accuracy of operation protection and the detection efficiency of the servo motor are improved.
The technical scheme of the storage medium of the invention is as follows:
the storage medium has instructions stored therein, which when read by the computer, cause the computer to execute the steps of the operation protection method of the servo motor as described in any one of the above.
The technical scheme of the electronic equipment is as follows:
the servo motor operation protection method comprises a memory, a processor and a computer program which is stored on the memory and can be operated on the processor, and is characterized in that when the processor executes the computer program, the computer is caused to execute the steps of the servo motor operation protection method.
Drawings
Fig. 1 is a schematic flow chart of an operation protection method for a servo motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an operation protection device for a servo motor according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, an operation protection method for a servo motor according to an embodiment of the present invention includes the following steps:
s1, acquiring the maximum overload heat of the servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
s2, acquiring actual heat in a first time length from the current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
and S3, judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
In the embodiment, the maximum overload heat of the servo motor to be protected is obtained, the maximum operation time of the servo motor to be protected is obtained according to the maximum overload heat and the rated protection current of the servo motor to be protected, the actual heat in the first time from the current time point is obtained, whether the actual heat is greater than the maximum overload heat is judged, if yes, an alarm is triggered and the servo motor to be protected is controlled to stop operating, and if not, the servo motor to be protected is controlled to continue operating.
The actual heat formula of the servo motor to be protected is as follows:
wherein T represents a sampling period, R represents the resistance value of the servo motor to be protected, T represents the maximum operation time length of the servo motor to be protected, n represents the number of sampling periods in the maximum operation time length of the servo motor to be protected, and IiThe current value representing the ith sampling period is 0.1ms as a default value of T, T can be set according to actual conditions, and n is T/T.
Specifically, the method comprises the following steps: obtaining the maximum operation time T by substituting the obtained maximum overload heat and rated protection current into a formula, obtaining the total heat in the T time period from the current time point to the previous time point as the actual heat, judging the actual heat and the maximum overload heat, and if Q is greater than the maximum overload heat, judging the maximum overload heatPractice of>QOverloadStopping running and alarming if Q isPractice of<QOverloadAnd continuously operating the servo motor, continuously measuring the actual heat in the T time period from the current time point in real time, constantly comparing the actual heat, and stopping the operation in time when the abnormality occurs.
Preferably, in the above technical solution, the obtaining of the maximum overload heat of the servo motor to be protected includes:
according to the rated current I of the servo motor to be protectedRated valueMaximum current IMaximum ofMaximum current operation time T and overload thresholdValue coefficient k, calculating to obtain the maximum overload heat QOverload。
Wherein the content of the first and second substances,
for example, when the rated current is 10A, the maximum current is 50A, the maximum current operation time is 2S, the resistance of the servo motor to be protected is 10 Ω, and the overload threshold coefficient is 90%, the maximum overload heat is 4500J according to the above formula, when the heat in the actual operation time period is detected not to exceed 4500J, the servo motor will continue to operate, and when the heat in the actual operation time period is detected to exceed 4500J, an alarm will be triggered and the operation of the servo motor will be stopped.
Preferably, in the above technical solution, a relationship between the rated protection current and the rated current is:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
The normal servo motors all have certain overload capacity, and when the current is less than 110% of the rated current, the servo motors can bear the heating value for a long time and run for a long time, so that 110% of the rated current is selected as the rated protection current.
Preferably, in the above technical solution, acquiring an actual heat within a first time period from a current time point, where a value of the first time period is equal to a value of the maximum operating time period includes:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
For example, the sampling period of the current servo motor is 0.1ms, that is, the current value of the servo motor to be protected is detected every 0.1ms, assuming that the current maximum operation time is 2S, the sum of the heat of each sampling period within 2S before the current time point is the required actual heat, the actual heat and the maximum overload heat are determined, and protection or continuous operation is correspondingly performed.
In the above embodiments, although the steps are numbered as S1, S2, etc., those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 2, an operation protection device 200 for a servo motor according to an embodiment of the present invention includes: a configuration module 210, an acquisition module 220, and a detection module 230;
the configuration module 210 is configured to: acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the obtaining module 220 is configured to: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length;
the detection module 230 is configured to: and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The device acquires the maximum overload heat of the servo motor to be protected, acquires the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected, acquires the actual heat within the first time from the current time point, judges whether the actual heat is greater than the maximum overload heat, triggers an alarm and controls the servo motor to be protected to stop operating if the actual heat is greater than the maximum overload heat, and controls the servo motor to be protected to continue operating if the actual heat is not greater than the maximum overload heat.
Preferably, in the above technical solution, the obtaining of the maximum overload heat of the servo motor to be protected includes:
and calculating to obtain the maximum overload heat according to the rated current, the maximum current running time and the overload threshold coefficient of the servo motor to be protected.
Preferably, in the above technical solution, a relationship between the rated protection current and the rated current is:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
The normal servo motors all have certain overload capacity, and when the current is less than 110% of the rated current, the servo motors can bear the heating value for a long time and run for a long time, so that 110% of the rated current is selected as the rated protection current.
Preferably, in the above technical solution, the obtaining module 220 is specifically configured to:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The above-mentioned steps for realizing the corresponding functions of each parameter and each module in the operation protection device 200 for a servo motor of the present invention can refer to each parameter and step in the above-mentioned embodiment of the operation protection method for a servo motor, and are not described herein again.
An embodiment of the present invention provides a storage medium, including: the storage medium stores instructions, and when the computer reads the instructions, the computer is enabled to execute the steps of the operation protection method for the servo motor according to any one of the above embodiments, which may specifically refer to each parameter and step in the above embodiment of the operation protection method for the servo motor, and are not described herein again.
Computer storage media such as: flash disks, portable hard disks, and the like.
An electronic device provided in an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and capable of being executed on the processor, and is characterized in that when the processor executes the computer program, the computer executes the steps of the operation protection method for a servo motor according to any one of the above descriptions, and specifically, reference may be made to each parameter and step in the above embodiments of the operation protection method for a servo motor, which is not described herein again.
Those skilled in the art will appreciate that the present invention may be embodied as methods, apparatus, storage media and electronic devices.
Thus, the present invention may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium. Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An operation protection method of a servo motor is characterized by comprising the following steps:
acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length;
and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
2. The operation protection method of the servo motor according to claim 1, wherein the obtaining of the maximum overload heat of the servo motor to be protected comprises:
and calculating to obtain the maximum overload heat according to the rated current, the maximum current running time and the overload threshold coefficient of the servo motor to be protected.
3. The operation protection method of a servo motor according to claim 2, wherein the relationship between the rated protection current and the rated current is:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
4. The operation protection method of the servo motor according to any one of claims 1 to 3, wherein acquiring the actual heat amount within a first period of time to the current time point, a value of the first period of time being equal to a value of the maximum operation period of time, comprises:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
5. An operation protection device of a servo motor, comprising: the device comprises a configuration module, an acquisition module and a detection module;
the configuration module is configured to: acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the acquisition module is configured to: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to that of the maximum operation time length;
the detection module is used for: and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
6. The operation protection device for the servo motor according to claim 5, wherein the obtaining of the maximum overload heat of the servo motor to be protected comprises:
and calculating to obtain the maximum overload heat according to the rated current, the maximum current running time and the overload threshold coefficient of the servo motor to be protected.
7. The operation protection device of a servo motor according to claim 6, wherein the relationship between the rated protection current and the rated current is:
and a is 110% × B, where a represents the rated protection current and B represents the rated current.
8. The operation protection device of the servo motor according to any one of claims 5 to 7, wherein the obtaining module is specifically configured to:
dividing the first time length into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
9. A storage medium having stored therein instructions that, when read by a computer, cause the computer to execute the operation protection method of a servo motor according to any one of claims 1 to 4.
10. A computer electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, causes the computer to execute the operation protection method of a servo motor according to any one of claims 1 to 4.
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Cited By (1)
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| CN114857261A (en) * | 2022-05-23 | 2022-08-05 | 东风汽车集团股份有限公司 | Automatic transmission gear shifting motor overcurrent protection method based on maximum heat |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114857261A (en) * | 2022-05-23 | 2022-08-05 | 东风汽车集团股份有限公司 | Automatic transmission gear shifting motor overcurrent protection method based on maximum heat |
| CN114857261B (en) * | 2022-05-23 | 2024-01-12 | 东风汽车集团股份有限公司 | Automatic transmission gear shifting motor overcurrent protection method based on maximum heat |
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