CN114256808A - Motor overload protection method and device, electronic equipment, storage medium and product - Google Patents
Motor overload protection method and device, electronic equipment, storage medium and product Download PDFInfo
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- H02H7/0854—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 responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
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Abstract
The application provides a motor overload protection method, a motor overload protection device, electronic equipment, a storage medium and a product, wherein the method comprises the following steps: and acquiring real-time three-phase winding current of the motor, and acquiring the current parameter of the tested model through a square sum algorithm. Based on the temperature rise algorithm model, the following algorithm processing is executed to obtain the temperature rise calculation result of the test: and obtaining the accumulated parameters of the test according to the model current parameters. And obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test. And if the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing. The motor current is calculated in real time through a temperature rise algorithm model based on a thermal balance formula to obtain a temperature rise calculation result, a motor current parameter is converted into a temperature rise parameter, the motor abnormal overload is accurately warned, and the motor overload protection is realized.
Description
Technical Field
The present disclosure relates to the field of motor control, and in particular, to a motor overload protection method and apparatus, an electronic device, a storage medium, and a product.
Background
At present, in the motor control field, the controller generally can set for an overload coefficient (2 ~ 3) according to the rated current of motor to make the output current of motor stabilize in safe scope value, specifically for the size that the controller obtained motor output current, compare with the overload current threshold value according to this output current size, if reach above the current threshold value for a certain time then report to the police and overflow, thereby the protection motor is unlikely to long-term heavy current and is generated heat and burn out. For example, if the current of the winding is detected to reach the set overload threshold value, the counting is accumulated, otherwise, the counting is decreased, and if the counting reaches the set alarm value, the overload alarm is reported. Therefore, the problem that the motor is burnt out in the large-current operation process can be solved, and the situation that the motor is misreported due to the large load is avoided.
However, the method has a problem that although the current motor winding coil current obtained by the current sensor is compared with the set safety threshold, and the overload is reported when the current motor winding coil current exceeds the threshold for a certain time, the safety protection problem of the load under the common working condition is solved, the false alarm or the false alarm can occur when the alarm threshold is improperly selected particularly when the spindle of the industrial sewing machine and the like has frequent large load change, and the specific expression is that if the instant large torque output is required (the instant overload of the industrial sewing machine industry to the spindle load can reach more than 8 times of the rated current), the scene that the overload current of the small motor of the industrial sewing machine cannot be met and the false alarm is caused; on the contrary, if the setting is too high, the condition of medium and low overload current can not be solved, and the report is missed.
Therefore, how to establish an alarm method for accurately monitoring the motor with frequent heavy load change and realizing motor overload protection is a research focus.
Disclosure of Invention
The application provides a motor overload protection method, a motor overload protection device, electronic equipment, a storage medium and a motor overload protection product, which are used for accurately alarming abnormal overload of a motor and realizing motor overload protection.
In a first aspect, the present application provides a motor overload protection method, including: obtaining real-time three-phase winding current of the motor, and obtaining a model current parameter of the test through a square sum algorithm; based on the temperature rise algorithm model, the following algorithm processing is executed to obtain the temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test; if the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing; wherein the boundary condition is determined based on a rated current of the motor.
In a possible implementation manner, the obtaining of the real-time three-phase winding current of the motor and the obtaining of the model current parameter of the current test through a sum-of-squares algorithm includes: acquiring real-time three-phase winding current of the motor; performing Clark conversion and Park conversion on the three-phase winding current to obtain converted two-phase current; and performing sliding filtering on the two-phase current, and performing square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the test.
In one possible embodiment, the method further comprises: according to a differential equation of a heat balance basic equation, establishing a relation formula of the current of the motor and the current of the motor when the temperature is stable through condition constraint:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
and performing Z conversion on the relation formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
In one possible embodiment, the method further comprises: acquiring rated current of the motor; the product of the square value of the rated current and a predetermined compensation factor is set as the boundary condition.
In one possible embodiment, the performing motor overload protection processing includes: and sending an overload indicating signal to a main control module so that the main control module controls the motor to stop working.
In a second aspect, the present application provides a motor overload protection apparatus, comprising: the acquisition module is used for acquiring the real-time three-phase winding current of the motor and acquiring the current parameter of the model of the test through a square sum algorithm; the calculation module is used for executing the following algorithm processing based on the temperature rise algorithm model to obtain the temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test; the processing module is used for executing motor overload protection processing if the temperature rise calculation result of the test reaches a preset boundary condition; wherein the boundary condition is determined based on a rated current of the motor.
In a possible embodiment, the obtaining module is specifically configured to obtain a real-time three-phase winding current of the motor; the obtaining module is specifically used for performing Clark conversion and Park conversion on the three-phase winding current to obtain converted two-phase current; the obtaining module is specifically configured to perform sliding filtering on the two-phase current, and perform square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the test.
In a possible embodiment, the apparatus further comprises: the modeling module is used for establishing a relation formula of the current of the motor and the current of the motor in stable temperature rise through condition constraint according to a differential equation of the heat balance basic equation:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
the modeling module is further used for performing Z transformation on the relational formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
In a possible embodiment, the obtaining module is further configured to obtain a rated current of the motor; the obtaining module is further configured to set a product of a square value of the rated current and a predetermined compensation coefficient as the boundary condition.
In a possible embodiment, the apparatus further comprises: and the execution module is used for sending an overload indication signal to the main control module so that the main control module controls the motor to stop working.
In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes computer-executable instructions stored by the memory to implement the method of any of the first aspects.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for execution by a processor to perform the method of any of the first aspects.
In a fifth aspect, the present application provides a computer program product comprising a computer program, characterized in that the computer program is executed by a processor for performing the method according to any of the first aspect.
According to the motor overload protection method, the motor overload protection device, the electronic equipment, the storage medium and the product, the real-time three-phase winding current of the motor is obtained, and the model current parameter of the test is obtained through a square sum algorithm. Based on the temperature rise algorithm model, the following algorithm processing is executed to obtain the temperature rise calculation result of the test: and obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and the model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula. And obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test. If the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing; wherein the boundary condition is determined based on a rated current of the motor. According to the scheme, the motor current is calculated in real time through the temperature rise algorithm model based on the thermal balance formula to obtain the temperature rise calculation result, the motor current parameter is converted into the temperature rise parameter, the motor abnormal overload is accurately warned, and the motor overload protection is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic view of an application scenario of a motor overload protection method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a motor overload protection method according to an embodiment of the present disclosure;
FIG. 3 is an example of a Clark transformation provided by an embodiment of the present application;
FIG. 4 is an example of Park transformation provided by an embodiment of the present application;
FIG. 5 is an example of a temperature rise algorithm model calculation result provided in an embodiment of the present application;
fig. 6 is a diagram illustrating a structure of an overload protection apparatus for a motor according to a second embodiment of the present application;
fig. 7 is a block diagram of an overload protection apparatus for a motor according to a third embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terms involved are explained first:
laplace transform: converting a function with parameter real number into a function with parameter complex number s;
z transformation: a time domain signal (i.e., a discrete time sequence) may be transformed into an expression in the complex frequency domain.
Fig. 1 is a schematic view of an application scenario of a motor overload protection method provided in an embodiment of the present application, as shown in fig. 1, the scenario includes: motor 1 and motor overload protection device 2.
Exemplified in connection with the illustrated scenario: if the motor 1 is damaged due to heating caused by long-time over-load operation during working, the motor overload protection device 2 monitors the motor 1 in real time, and when the motor overload is detected to reach a certain threshold value, the motor 1 is controlled to stop working.
The following describes an example of the embodiments of the present application with reference to the following embodiments.
Example one
Fig. 2 is a schematic flow chart of a motor overload protection method according to an embodiment of the present application, where the method includes the following steps:
s101, obtaining real-time three-phase winding current of a motor, and obtaining a model current parameter of the test through a square sum algorithm;
s102, based on the temperature rise algorithm model, executing the following algorithm processing to obtain the temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test;
s103, if the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing; wherein the boundary condition is determined based on a rated current of the motor.
As an example, the execution subject of this embodiment may be a motor overload protection device, which is variously implemented. For example, the program may be software, or a medium storing a related computer program, such as a usb disk; alternatively, the apparatus may also be a physical device, such as a chip, an intelligent terminal, a computer, a server, etc., integrated with or installed with the relevant computer program.
In one example, S101 specifically includes: acquiring real-time three-phase winding current of the motor; performing Clark conversion and Park conversion on the three-phase winding current to obtain converted two-phase current; and performing sliding filtering on the two-phase current, and performing square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the test.
Specifically, the current I of the three-phase winding is obtained in real time through a sensor connected to the permanent magnet synchronous motora，IbAnd Ic. As shown in fig. 3, fig. 3 is an example of a Clark transformation. Transforming the abc coordinate of the natural coordinate system to an alpha-beta coordinate system by Clark transformation to obtain IαAnd Iβ：
As shown in fig. 4, fig. 4 is an example of Park transformation. Transforming the alpha-beta coordinate system to a synchronously rotating d-q coordinate system through Park transformation to obtain IdAnd Iq：
Wherein 0 is the rotation angle of the coordinate system.
Two-phase current IdAnd IqPerforming sliding filter transforms, respectively:
Y[k]＝(X(k-m+1)+X(k-m+2)+…+X(k-2)+X(k-1)+X(k))/m
wherein, Y [ k ]]Is a two-phase current IdAnd IqThe filtered value, X (k), being the two-phase current IdAnd IqFiltering the pre-transformed values; and m is a sliding transformation parameter.
Two-phase current I after sliding filteringdAnd IqCalculating the sum of squares to obtain the current parameter X of the model tested this timein：
Xin＝Id*Id+Iq*Iq
Based on the above embodiment, a three-phase current can be converted into a two-phase current, thereby simplifying the subsequent calculation and analysis process.
In one example, the motor overload protection method further comprises: according to a differential equation of a heat balance basic equation, establishing a relation formula of the current of the motor and the current of the motor when the temperature is stable through condition constraint:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
and performing Z conversion on the relation formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
Specifically, the heating of the motor is caused by the loss Δ P generated inside the motor when the motor is in operation, and the calculation process is as follows:
wherein the content of the first and second substances,
is the heat flux, and the unit is J/s or W; p1The unit is the input power of the motor and is W; p2Is the on-axis output power W; eta is the motor efficiency; p is a radical of0Is notVariable losses, i.e., no-load losses, including iron losses and mechanical losses; p is a radical ofcuIs a variable loss, i.e., copper loss, which varies with load and is proportional to the square of the load current.
According to the heat balance equation:
A＝aS
wherein C is the heat capacity of the motor, namely the heat required by the temperature rise of the motor by 1 ℃, and the unit is J/K; a is the heat dissipation coefficient of the motor, and the unit is W/K; s is the heat dissipation area; a is the conductivity; the temperature rise is τ.
Let C/A be Tθ，
The differential equation in its basic form can be obtained:
as can be seen from the formula (1), d τ is 0 at the end of heat generation, and it can be seen that
Further finding the temperature rise
And because of
Therefore, τ ═ Δ P/a, and this is substituted into formula (2) to obtain:
wherein, tauWThe temperature rise of the motor after the motor works stably for a long time; τ is a temperature rise curve which is a function of time t, varying with time; formula (2) representsAt TθAt a certain time, tau is approximately equal to tau when t → + ∞WAnd τ is represented by τ ═ Δ P/aWSubstituting Δ P/a into equation (2) to obtain equation (3); delta P is the loss generated at the current moment when the motor works, and the unit is W; delta PWThe unit is W for the loss of the motor after the motor works stably for a long time.
According to the current equivalence method, the loss of the ith-level load under variable load is as follows:
ΔPi＝p0+pcu
wherein p is0Constant loss, i.e., no-load loss; p is a radical ofcuThe variable loss is copper loss, which changes along with the change of the load and is in direct proportion to the square of the load current;
c is a motor winding related constant. Average loss Δ PdThe current corresponding to the medium variable loss is called equivalent current IdxThen, then
Because of p0To keep the no-load loss constant, the current is 0 if characterized by current, and thus can be simplified to
Let Δ P be Δ PdSubstituting the time domain differential equation into the equation (3) to obtain a time domain differential equation:
the time domain differential equation is subjected to Laplace transform to obtain an s-domain expression as follows:
ΔPd+TθsΔPd＝ΔPW
simplifying to obtain:
wherein the content of the first and second substances,
the temperature rise is characterized by a tendency to be stable or by a stable temperature rise current after the load is reduced;
current characterization for the current temperature rise; t isθFor the time constant, the time constant T can be determined by selecting a set of special solutionsθ。
Performing Z transformation on the formula (4) to obtain a discrete domain expression:
Yk＝Yk-1+α(Xin-Yk-1)……(5)
wherein, YkThe unit of the temperature rise calculation result of the test is the square of the current; y isk-1The temperature rise calculation result of the last test is shown in the unit of the square of the current; xinThe unit is the square of the current as the current parameter of the model tested at this time; alpha is the temperature rise coefficient.
In combination with a scene example, the purpose of motor overload protection is to prevent a motor from being burnt out due to heating caused by long-term large current operation, in the related art, the motor overload protection is monitored by comparing the current working current with a current threshold from the perspective of current, and if the current working current is higher than the current threshold and lasts for a certain time, an alarm is triggered. And for the motor with frequent and large load change, a scene of ultrahigh overload current can appear, and if the current threshold is too small, the scene of ultrahigh overload current of the motor of the industrial sewing machine cannot be met, so that false alarm is caused. If the current threshold is set to be too high, the situation of medium and low overload current can not be solved, and the report is missed. In the motor overload protection method provided by the example, the heating process of the motor is researched, the temperature rise algorithm model with the current parameter accumulation in the heating process of the motor is obtained through equivalent transformation based on the heat balance equation, and the temperature rise algorithm model can directly reflect the heating process of the motor in the working process of the motor.
Based on the above embodiment, in the example, the temperature rise algorithm model related to the current parameter is obtained according to the heating process of the motor, the heating process of the motor in the working process of the motor can be directly reflected, the heating state of the motor is reflected according to the current parameter, and the monitoring method is more accurate. On the other hand, the simplified temperature rise algorithm model is obtained through conversion, the calculation amount is very small, the consumption of the CPU can be almost ignored, and the method is particularly suitable for occasions with relatively less CPU resources.
In one example, the motor overload protection method further comprises: acquiring rated current of the motor; the product of the square value of the rated current and a predetermined compensation factor is set as the boundary condition.
Specifically, the rated current I of the motor is obtainedeThe rated current I is seteThe product of the squared value of (a) and a predetermined compensation factor k, is set as the alarm boundary:
Yerr_gate＝Ie*Ie*k
wherein Yerr _ gate is an alarm boundary; i iseRated current; k is a compensation coefficient and can be adjusted according to specific working conditions.
In one example, S102 specifically includes: substituting the current parameter into a temperature rise algorithm model to obtain a temperature rise calculation result; if the temperature rise calculation result exceeds the alarm boundary, triggering an alarm and executing motor overload protection processing; and if the temperature rise calculation result does not exceed the alarm boundary, taking the temperature rise calculation result of this time as an accumulation parameter to participate in the next temperature rise calculation.
Specifically, the current parameter XinTemperature rise calculation result Y obtained by substituting temperature rise algorithm modelk(ii) a If the temperature rises, calculating the result YkIf the alarm boundary Yerr _ gate is exceeded, triggering an alarm and executing motor overload protection processing; if the temperature rises, calculating the result Yk-1If the temperature rise does not exceed the alarm boundary Yerr _ gate, the temperature rise calculation result Y is calculatedkAs an addition parameter Yk-1And participating in the next temperature rise calculation.
In combination with the scenario example, as shown in fig. 5, fig. 5 is an example of the calculation result of the temperature rise algorithm model. When the motor is not started, the real-time current is 0, the motor does not generate heat at the moment, and the temperature rise calculation result is an initial value Yk，YkIf the alarm boundary is not exceeded, Y is setkAs Yk-1And participating in the next temperature rise calculation. When the motor is just started, a large current is instantly generated, and the temperature rise calculation result YkThe temperature rise calculation result in fig. 5 increases in slope, corresponding to a rapid motor temperature rise. As the motor operates for a period of time, the current generated by the motor gradually decreases and tends to be stable, the slope of the temperature rise calculation result in fig. 5 gradually decreases and tends to 0, and the corresponding motor temperature rise rate changes and tends to a constant temperature. After the motor stops working, the generated current is 0, and the temperature rise calculation result Y iskGradually reduce, correspond the motor and no longer produce heat, dispel the heat gradually, the motor temperature reduces.
Based on the above embodiment, the temperature condition of the motor can be accurately reflected through the temperature rise calculation result obtained by the temperature rise algorithm model, so that the overload alarm time can be accurately judged.
In one example, the performing motor overload protection processing includes: and sending an overload indicating signal to a main control module so that the main control module controls the motor to stop working.
Combining with a scene example, if the temperature rise calculation result of the test reaches a preset boundary condition, an alarm is sent out, an overload indication signal is sent to the main control module, and the main control module receives the identification signal to control the motor to stop working.
In the motor overload protection method provided by this embodiment, the real-time three-phase winding current of the motor is obtained, and the model current parameter of the current test is obtained through a sum-of-squares algorithm. Based on the temperature rise algorithm model, the following algorithm processing is executed to obtain the temperature rise calculation result of the test: and obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and the model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula. And obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test. If the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing; wherein the boundary condition is determined based on a rated current of the motor. According to the scheme, the motor current is calculated in real time through the temperature rise algorithm model based on the thermal balance formula to obtain the temperature rise calculation result, the motor current parameter is converted into the temperature rise parameter, the motor abnormal overload is accurately warned, and the motor overload protection is realized.
Example two
Fig. 6 is a schematic structural diagram of an overload protection apparatus for a motor according to a third embodiment of the present application, and as shown in fig. 6, the system includes:
the obtaining module 61 is used for obtaining the real-time three-phase winding current of the motor and obtaining the current parameter of the model of the test through a square sum algorithm;
the calculating module 62 is configured to execute the following algorithm processing based on the temperature rise algorithm model to obtain a temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test;
the processing module 63 is configured to execute motor overload protection processing if the temperature rise calculation result of the current test reaches a predetermined boundary condition; wherein the boundary condition is determined based on a rated current of the motor.
In one example, the obtaining module 61 is specifically configured to obtain a real-time three-phase winding current of the motor; the obtaining module 61 is further specifically configured to perform Clark conversion and Park conversion on the three-phase winding current to obtain a converted two-phase current; the obtaining module 61 is further specifically configured to perform sliding filtering on the two-phase current, and perform square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the current test.
Specifically, the current I of the three-phase winding is obtained in real time through a sensor connected to the permanent magnet synchronous motora，IbAnd Ic. As shown in FIG. 3FIG. 3 is a schematic representation of the Clark transformation. Transforming the abc coordinate of the natural coordinate system to an alpha-beta coordinate system by Clark transformation to obtain IαAnd Iβ：
As shown in fig. 4, fig. 4 is a schematic diagram of Park transformation. Transforming the alpha-beta coordinate system to a synchronously rotating d-q coordinate system through Park transformation to obtain IdAnd Iq：
Wherein θ is the rotation angle of the coordinate system.
Two-phase current IdAnd IqPerforming sliding filter transforms, respectively:
Y[k]＝(X(k-m+1)+X(k-m+2)+…+X(k-2)+X(k-1)+X(k))/m
wherein, Y [ k ]]Is a two-phase current IdAnd IqThe filtered value, X (k), being the two-phase current IdAnd IqFiltering the pre-transformed values; and m is a sliding transformation parameter.
Two-phase current I after sliding filteringdAnd IqCalculating the sum of squares to obtain the current parameter X of the model tested this timein：
Xin＝Id*Id+Iq*Iq
Based on the above embodiment, a three-phase current can be converted into a two-phase current, thereby simplifying the subsequent calculation and analysis process.
In one example, the motor overload protection apparatus further includes a modeling module 64 configured to establish a relationship equation between the current of the motor and the current when the motor is steadily warmed via condition constraints according to a differential equation of a basic equation of heat balance:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
the modeling module 64 is further configured to perform Z-transform on the relational formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
Specifically, the heating of the motor is caused by the loss Δ P generated inside the motor when the motor is in operation, and the calculation process is as follows:
wherein the content of the first and second substances,
is the heat flux, and the unit is J/s or W; p1The unit is the input power of the motor and is W; p2Is the on-axis output power W; eta is the motor efficiency; p is a radical of0The loss is constant, namely no-load loss, including iron loss and mechanical loss; p is a radical ofcuIs a variable loss, i.e., copper loss, which varies with load and is proportional to the square of the load current.
According to the heat balance equation:
A＝aS
wherein C is the heat capacity of the motor, namely the heat required by the temperature rise of the motor by 1 ℃, and the unit is J/K; a is the heat dissipation coefficient of the motor, and the unit is W/K; s is the heat dissipation area; a is the conductivity; the temperature rise is τ.
Let C/A be Tθ，
The differential equation in its basic form can be obtained:
as can be seen from the formula (1), d τ is 0 at the end of heat generation, and it can be seen that
Further finding the temperature rise
And because of
Therefore, τ ═ Δ P/a, and this is substituted into formula (2) to obtain:
wherein, tauWThe temperature rise of the motor after the motor works stably for a long time; τ is a temperature rise curve which is a function of time t, varying with time; formula (2) is shown at TθAt a certain time, tau is approximately equal to tau when t → + ∞WAnd τ is represented by τ ═ Δ P/aWSubstituting Δ P/a into equation (2) to obtain equation (3); delta P is the loss generated at the current moment when the motor works, and the unit is W; delta PWThe loss of the motor after long-time stable operation,the unit is W.
According to the current equivalence method, the loss of the ith-level load under variable load is as follows:
ΔPi＝p0+pcu
wherein p is0Constant loss, i.e., no-load loss; p is a radical ofcuThe variable loss is copper loss, which changes along with the change of the load and is in direct proportion to the square of the load current;
c is a motor winding related constant. Average loss Δ PdThe current corresponding to the medium variable loss is called equivalent current IdxThen, then
Because of p0To keep the no-load loss constant, the current is 0 if characterized by current, and thus can be simplified to
Let Δ P be Δ PdSubstituting the time domain differential equation into the equation (3) to obtain a time domain differential equation:
the modeling module 64 is further configured to perform laplace transform on the time-domain differential equation to obtain an s-domain expression:
ΔPd+TθsΔPd＝ΔPW
simplifying to obtain:
wherein the content of the first and second substances,
the temperature rise is characterized by a tendency to be stable or by a stable temperature rise current after the load is reduced;
current characterization for the current temperature rise; t isθFor the time constant, the time constant T can be determined by selecting a set of special solutionsθ。
The modeling module 64 is further configured to perform Z transform on the formula (4) to obtain a discrete domain expression:
Yk＝Yk-1+α(Xin-Yk-1)……(5)
wherein, YkThe unit of the temperature rise calculation result of the test is the square of the current; y isk-1The temperature rise calculation result of the last test is shown in the unit of the square of the current; xinThe unit is the square of the current as the current parameter of the model tested at this time; alpha is the temperature rise coefficient.
In combination with a scene example, the purpose of motor overload protection is to prevent a motor from being burnt out due to heating caused by long-term large current operation, in the related art, the motor overload protection is monitored by comparing the current working current with a current threshold from the perspective of current, and if the current working current is higher than the current threshold and lasts for a certain time, an alarm is triggered. And for the motor with frequent and large load change, a scene of ultrahigh overload current can appear, and if the current threshold is too small, the scene of ultrahigh overload current of the motor of the industrial sewing machine cannot be met, so that false alarm is caused. If the current threshold is set to be too high, the situation of medium and low overload current can not be solved, and the report is missed. In the motor overload protection method provided by the example, the heating process of the motor is researched, the temperature rise algorithm model with the current parameter accumulation in the heating process of the motor is obtained through equivalent transformation based on the heat balance equation, and the temperature rise algorithm model can directly reflect the heating process of the motor in the working process of the motor.
Based on the above embodiment, in the example, the temperature rise algorithm model related to the current parameter is obtained according to the heating process of the motor, the heating process of the motor in the working process of the motor can be directly reflected, the heating state of the motor is reflected according to the current parameter, and the monitoring method is more accurate. On the other hand, the simplified temperature rise algorithm model is obtained through conversion, the calculation amount is very small, the consumption of the CPU can be almost ignored, and the method is particularly suitable for occasions with relatively less CPU resources.
In one example, the obtaining module 61 is further configured to obtain a rated current of the motor; the obtaining module 61 is further configured to set a product of a square value of the rated current and a predetermined compensation coefficient as the boundary condition.
Specifically, the rated current I of the motor is obtainedeThe rated current I is seteThe product of the squared value of (a) and a predetermined compensation factor k, is set as the alarm boundary:
Yerr_gate＝Ie*Ie*k
wherein Yerr _ gate is an alarm boundary; i iseRated current; k is a compensation coefficient and can be adjusted according to specific working conditions.
In one example, the calculating module 62 is specifically configured to bring the current parameter into a temperature rise algorithm model to obtain a temperature rise calculation result; the calculation module 62 is specifically configured to trigger an alarm and execute motor overload protection processing if the temperature rise calculation result exceeds an alarm boundary; the calculating module 62 is further specifically configured to, if the temperature rise calculation result does not exceed the alarm boundary, take the temperature rise calculation result of this time as an accumulation parameter to participate in the next temperature rise calculation.
Specifically, the current parameter XinTemperature rise calculation result Y obtained by substituting temperature rise algorithm modelk(ii) a If the temperature rises, calculating the result YkIf the alarm boundary Yerr _ gate is exceeded, triggering an alarm and executing motor overload protection processing; if the temperature rises, calculating the result Yk-1If the temperature rise does not exceed the alarm boundary Yerr _ gate, the temperature rise calculation result Y is calculatedkAs an addition parameter Yk-1And participating in the next temperature rise calculation.
In combination with the scenario example, as shown in fig. 5, fig. 5 is an example of the calculation result of the temperature rise algorithm model. When the motor is not started, the real-time current is 0, the motor does not generate heat at the moment, and the temperature rise calculation result is an initial value Yk，YkIf the alarm boundary is not exceeded, Y is setkAs Yk-1And participating in the next temperature rise calculation. When the motor is just started, a large current is instantly generated, and the temperature rise calculation result YkIncrease rapidlyIn addition, the slope of the temperature rise calculation result in fig. 5 increases, and the temperature rises rapidly corresponding to the motor. As the motor operates for a period of time, the current generated by the motor gradually decreases and tends to be stable, the slope of the temperature rise calculation result in fig. 5 gradually decreases and tends to 0, and the corresponding motor temperature rise rate changes and tends to a constant temperature. After the motor stops working, the generated current is 0, the temperature rise calculation result Yk is gradually reduced, heat is not generated any more corresponding to the motor, heat is gradually dissipated, and the temperature of the motor is reduced.
Based on the above embodiment, the temperature condition of the motor can be accurately reflected through the temperature rise calculation result obtained by the temperature rise algorithm model, so that the overload alarm time can be accurately judged.
In one example, the motor overload protection apparatus includes an execution module 65, configured to send an overload indication signal to a main control module, so that the main control module controls the motor to stop operating.
Combining with a scene example, if the temperature rise calculation result of the test reaches a preset boundary condition, an alarm is sent out, an overload indication signal is sent to the main control module, and the main control module receives the identification signal to control the motor to stop working.
In the overload protection device for the motor provided by this embodiment, the obtaining module is configured to obtain a real-time three-phase winding current of the motor, and obtain a model current parameter of the current test through a sum-of-squares algorithm. The calculation module is used for executing the following algorithm processing based on the temperature rise algorithm model to obtain the temperature rise calculation result of the test: and obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and the model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula. And obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test. The processing module is used for executing motor overload protection processing if the temperature rise calculation result of the test reaches a preset boundary condition; wherein the boundary condition is determined based on a rated current of the motor. According to the scheme, the motor current is calculated in real time through the temperature rise algorithm model based on the thermal balance formula to obtain the temperature rise calculation result, the motor current parameter is converted into the temperature rise parameter, the motor abnormal overload is accurately warned, and the motor overload protection is realized.
EXAMPLE III
Fig. 7 is a block diagram illustrating an apparatus of a motor overload protection apparatus, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., according to an exemplary embodiment.
The apparatus 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the device 800 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Example four
Fig. 8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, and as shown in fig. 8, the electronic device includes:
a processor (processor)291, the electronic device further including a memory (memory) 292; a Communication Interface 293 and bus 294 may also be included. The processor 291, the memory 292, and the communication interface 293 may communicate with each other via the bus 294. Communication interface 293 may be used for the transmission of information. Processor 291 may call logic instructions in memory 294 to perform the methods of the embodiments described above.
Further, the logic instructions in the memory 292 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.
The memory 292 is a computer-readable storage medium for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present application. The processor 291 executes the functional application and data processing by executing the software program, instructions and modules stored in the memory 292, so as to implement the method in the above method embodiments.
The memory 292 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 292 may include a high speed random access memory and may also include a non-volatile memory.
The present application provides a non-transitory computer-readable storage medium, in which computer-executable instructions are stored, and when executed by a processor, the computer-executable instructions are used to implement the method according to the foregoing embodiments.
The present application provides a computer program product, including a computer program, which when executed by a processor implements the method according to the foregoing embodiments.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (13)
1. A method of overload protection for an electric machine, the method comprising:
obtaining real-time three-phase winding current of the motor, and obtaining a model current parameter of the test through a square sum algorithm;
based on the temperature rise algorithm model, the following algorithm processing is executed to obtain the temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test;
if the temperature rise calculation result of the test reaches a preset boundary condition, executing motor overload protection processing; wherein the boundary condition is determined based on a rated current of the motor.
2. The method according to claim 1, wherein the obtaining of the real-time three-phase winding current of the motor and the obtaining of the model current parameter of the current test through a sum-of-squares algorithm comprise:
acquiring real-time three-phase winding current of the motor;
performing Clark conversion and Park conversion on the three-phase winding current to obtain converted two-phase current;
and performing sliding filtering on the two-phase current, and performing square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the test.
3. The method of claim 1, further comprising:
according to a differential equation of a heat balance basic equation, establishing a relation formula of the current of the motor and the current of the motor when the temperature is stable through condition constraint:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
and performing Z conversion on the relation formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
4. The method of claim 2, further comprising:
acquiring rated current of the motor;
the product of the square value of the rated current and a predetermined compensation factor is set as the boundary condition.
5. The method according to any one of claims 1-4, wherein the performing a motor overload protection process comprises:
and sending an overload indicating signal to a main control module so that the main control module controls the motor to stop working.
6. An overload protection apparatus for an electric motor, the apparatus comprising:
the acquisition module is used for acquiring the real-time three-phase winding current of the motor and acquiring the current parameter of the model of the test through a square sum algorithm;
the calculation module is used for executing the following algorithm processing based on the temperature rise algorithm model to obtain the temperature rise calculation result of the test: obtaining an accumulation parameter of the test according to the model current parameter, wherein the accumulation parameter is a product of a temperature rise coefficient and a difference between the model current parameter and a model current parameter of the last test, and the temperature rise coefficient is obtained by condition constraint and Z transformation based on a differential equation of a thermal balance formula; obtaining the temperature rise calculation result of the test by calculating the sum of the accumulated parameters of the test and the temperature rise calculation result of the last test;
the processing module is used for executing motor overload protection processing if the temperature rise calculation result of the test reaches a preset boundary condition; wherein the boundary condition is determined based on a rated current of the motor.
7. The apparatus of claim 6,
the acquisition module is specifically used for acquiring the real-time three-phase winding current of the motor;
the obtaining module is specifically used for performing Clark conversion and Park conversion on the three-phase winding current to obtain converted two-phase current;
the obtaining module is specifically configured to perform sliding filtering on the two-phase current, and perform square sum calculation on the two-phase current after the sliding filtering to obtain the model current parameter of the test.
8. The apparatus of claim 6, further comprising:
the modeling module is used for establishing a relation formula of the current of the motor and the current of the motor in stable temperature rise through condition constraint according to a differential equation of the heat balance basic equation:
wherein, Idx_xThe current of the motor is obtained; i isdx_wStabilizing the current of the motor during temperature rise; s is the complex frequency; t isθIs a time constant;
the modeling module is further used for performing Z transformation on the relational formula to obtain the temperature rise algorithm model:
Yk＝Yk-1+α(Xin-Yk-1)
wherein, YkCalculating a result for the temperature rise of the test; y isk-1Calculating the result for the temperature rise of the last test; xinThe current parameter of the model tested at this time; alpha is the temperature rise coefficient.
9. The apparatus of claim 7,
the acquisition module is further used for acquiring the rated current of the motor;
the obtaining module is further configured to set a product of a square value of the rated current and a predetermined compensation coefficient as the boundary condition.
10. The apparatus according to any one of claims 6-9, further comprising:
and the execution module is used for sending an overload indication signal to the main control module so that the main control module controls the motor to stop working.
11. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-5.
12. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the method of any one of claims 1-5.
13. A computer program product comprising a computer program, characterized in that the computer program realizes the method according to any of claims 1-5 when executed by a processor.
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| JPH01133586A (en) * | 1987-11-16 | 1989-05-25 | Fanuc Ltd | Overload protection of motor |
| CN112993940A (en) * | 2021-02-10 | 2021-06-18 | 成继勋 | Motor thermal overload protection method and device with accurate thermal memory based on temperature rise tracking |
| US11128253B1 (en) * | 2020-03-20 | 2021-09-21 | Schneider Electric USA, Inc. | Rotor resistance based motor thermal protection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01133586A (en) * | 1987-11-16 | 1989-05-25 | Fanuc Ltd | Overload protection of motor |
| US11128253B1 (en) * | 2020-03-20 | 2021-09-21 | Schneider Electric USA, Inc. | Rotor resistance based motor thermal protection |
| CN113497437A (en) * | 2020-03-20 | 2021-10-12 | 施耐德电气美国股份有限公司 | Motor thermal protection based on rotor resistance |
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