CN114301362A - Motor current oscillation identification method, device, equipment and storage medium - Google Patents
Motor current oscillation identification method, device, equipment and storage medium Download PDFInfo
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- CN114301362A CN114301362A CN202111683168.3A CN202111683168A CN114301362A CN 114301362 A CN114301362 A CN 114301362A CN 202111683168 A CN202111683168 A CN 202111683168A CN 114301362 A CN114301362 A CN 114301362A
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Abstract
The invention discloses a motor current oscillation identification method, a device, equipment and a storage medium, and relates to the technical field of motor control, wherein the method comprises the following steps: acquiring a driving current of a motor; filtering the driving current to obtain a harmonic component in the driving current; and determining the oscillation state of the driving current according to the harmonic component. The invention extracts and analyzes the harmonic waves in the driving current of the motor to determine the degree of current oscillation, thereby realizing the identification of the motor current oscillation and being beneficial to more reliably controlling the motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method, a device, equipment and a storage medium for identifying motor current oscillation.
Background
After the driving current of the motor vibrates, the motor is easy to operate and fluctuate, the output is unstable, and even the motor is easy to damage. Taking a permanent magnet synchronous motor as an example, the control modes of the permanent magnet synchronous motor comprise vector control with encoder position feedback and encoder-free vector control. For vector control with encoder position feedback, if the feedback speed of the encoder fluctuates or the parameters of the speed loop and the current loop are not reasonable, current oscillation may occur during vector control. For the encoder-free vector control, if the parameters of the resistance and the inductance of the motor are wrong or the parameters of the speed loop and the current loop are not reasonable, current oscillation may occur during the vector control.
At present, current oscillation of a motor cannot be identified in time in motor control, and the motor can only be protected after the oscillation is amplified. But the vibration is amplified, so that the motor is easily damaged. For the permanent magnet synchronous motor, the current oscillation causes the increase of harmonic current, and further causes the increase of iron loss of the permanent magnet motor, thereby increasing the temperature rise of a motor rotor. After the temperature rise of the motor rotor is increased, the demagnetization current point of the permanent magnet is obviously reduced, and the irreversible demagnetization of the motor permanent magnet can be caused in serious cases. In summary, how to identify the current oscillation in the motor becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide a motor current oscillation identification method, a motor current oscillation identification device, motor current oscillation identification equipment and a storage medium, and aims to solve the technical problem that current oscillation of a motor cannot be identified in time in the prior art.
In order to achieve the above object, the present invention provides a motor current oscillation identification method, which comprises the following steps:
acquiring a driving current of a motor;
filtering the driving current to obtain a harmonic component in the driving current;
and determining the oscillation state of the driving current according to the harmonic component.
Optionally, the filtering the driving current to obtain a harmonic component in the driving current includes:
performing coordinate transformation processing on the driving current based on a space vector coordinate system to obtain direct-axis current and quadrature-axis current;
and filtering the direct-axis current and/or the quadrature-axis current to obtain harmonic components.
Optionally, the filtering processing is performed on the direct-axis current and/or the quadrature-axis current to obtain a harmonic component, and the filtering processing includes:
and filtering the direct-axis current and/or the quadrature-axis current based on the preset frequency to obtain a harmonic component greater than the preset frequency.
Optionally, determining the oscillation state of the driving current according to the harmonic component includes:
carrying out waveform analysis on the harmonic component to obtain an amplitude corresponding to the harmonic component;
and determining the oscillation state of the driving current according to the amplitude.
Optionally, after determining the oscillation state of the driving current according to the amplitude, the method further includes:
and when the amplitude meets the oscillation condition, performing protection operation on the motor.
Optionally, when the amplitude satisfies the oscillation condition, the motor is protected, including:
and when the amplitude is greater than the preset value and the duration reaches the preset time, performing protection operation on the motor.
Optionally, the preset value is 10% of the rated current of the motor.
In addition, in order to achieve the above object, the present invention further provides a motor current oscillation identification apparatus, including:
the detection module is used for acquiring the driving current of the motor;
the filtering module is used for filtering the driving current to obtain a harmonic component in the driving current;
and the judging module is used for determining the oscillation state of the driving current according to the harmonic component.
In addition, in order to achieve the above object, the present invention further provides a motor current oscillation identification device, including: the motor current oscillation identification method comprises a memory, a processor and a motor current oscillation identification program which is stored on the memory and can be operated on the processor, wherein when the motor current oscillation identification program is executed by the processor, the motor current oscillation identification method is realized.
In addition, in order to achieve the above object, the present invention further provides a storage medium, in which a motor current oscillation identification program is stored, and the motor current oscillation identification program is executed by a processor to implement the above motor current oscillation identification method.
In the invention, the driving current of the motor is obtained; then filtering the driving current to obtain a harmonic component in the driving current; thereby determining the oscillation state of the driving current according to the harmonic component. The invention extracts and analyzes the harmonic waves in the driving current of the motor to determine the degree of current oscillation, thereby realizing the identification of the motor current oscillation and being beneficial to more reliably controlling the motor.
Drawings
Fig. 1 is a schematic structural diagram of a motor current oscillation identification device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a motor current oscillation identification method according to a first embodiment of the present invention;
FIG. 3 is a block diagram of a motor drive system according to the present invention;
FIG. 4 is a schematic flow chart illustrating a motor current oscillation identification method according to a second embodiment of the present invention;
FIG. 5 is a control logic diagram of an embodiment of space vector control for a PMSM according to the present invention;
fig. 6 is a block diagram of a first embodiment of a motor current oscillation identification apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a motor current oscillation identification device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the motor current oscillation identifying apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the arrangement shown in figure 1 does not constitute a limitation of the motor current oscillation identification device and may comprise more or less components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a motor current oscillation identification program.
In the motor current oscillation identification device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the motor current oscillation identification device calls a motor current oscillation identification program stored in the memory 1005 through the processor 1001, and executes the motor current oscillation identification method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the motor current oscillation identification method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the motor current oscillation identification method of the present invention, and provides the first embodiment of the motor current oscillation identification method of the present invention.
In a first embodiment, a method for identifying motor current oscillation includes the following steps:
step S10: and acquiring the driving current of the motor.
It should be understood that the main execution body of this embodiment is the motor current oscillation identification device, which has functions of data processing, data communication, program operation, and the like, and the motor current oscillation identification device may be a motor controller or a computer, and this embodiment takes the motor controller as an example for description. Of course, other devices with similar functions may be used, and the present embodiment is not limited thereto.
The driving current is a current transmitted to the motor by the power supply device corresponding to the motor. The driving current of the motor can be obtained by arranging the current sensor and other detection equipment at the power input end of the motor. Of course, the driving current may be detected in other manners, and this embodiment is not limited to this.
Referring to fig. 3, fig. 3 is a block diagram of a motor driving system according to the present invention. The power supply equipment is used for supplying power to the motor, and the controller is used for controlling the operation of the motor. Meanwhile, the controller can acquire the current transmitted to the motor by the power supply equipment through the detection equipment, so that the driving current of the motor is acquired.
Step S20: and filtering the driving current to obtain a harmonic component in the driving current.
It will be appreciated that the drive current, when oscillating, causes harmonics in the current waveform. Therefore, the waveform of the detected driving current includes a fundamental wave and a harmonic wave, wherein the fundamental wave corresponds to the waveform of the power supply output by the power supply equipment, the harmonic wave is generated by oscillation, and the frequency of the harmonic wave is generally greater than that of the fundamental wave. In order to check the oscillation part in the driving current, the driving current needs to be filtered, and the fundamental wave needs to be filtered, so as to obtain the harmonic component, which is the waveform part of the current waveform with frequency larger than the fundamental wave.
In a specific implementation, the driving current may be input into a filter, resulting in harmonic components. The specific type of the filter can be set according to requirements, such as a high-pass filter or a band-pass filter. In the case of a dc drive motor, an ac component is generated in the drive current due to current oscillation, and therefore the ac component can be directly extracted by a filter to obtain a harmonic component. For an ac drive motor, it is necessary to remove a waveform component corresponding to a power supply frequency in a drive current by a filter to obtain a harmonic component.
Step S30: and determining the oscillation state of the driving current according to the harmonic component.
It should be noted that the concussion state may include light concussion, high concussion, and the like. The waveform corresponding to the harmonic component can represent the oscillation state of the current, so that the parameters of the waveform corresponding to the harmonic component can be extracted, and the oscillation state can be determined based on the reference parameters. The parameters may include peak value, amplitude, frequency, etc.
In a specific implementation, step S30 may include: carrying out waveform analysis on the harmonic component to obtain an amplitude corresponding to the harmonic component; and determining the oscillation state of the driving current according to the amplitude.
In this embodiment, the amplitude corresponding to the harmonic component may be used as a parameter for measuring the current oscillation degree. The amplitude is compared with a preset reference value, and then the oscillation state is determined based on the comparison result. Wherein, the number of the reference values can be one or more. For example, 10% of the rated current of the motor can be used as a reference value, and when the amplitude is greater than or equal to the reference value, the oscillation state of the driving current is judged to be high oscillation; when the amplitude is smaller than the reference value, the oscillation state of the driving current is judged to be slight oscillation.
In this embodiment, to protect the motor, the motor may be further protected according to the oscillation state. Wherein the protection operation may include turning off the driving current to power down the motor; or reducing the power of the motor, etc. The specific content of the protection operation may be according to a demand device, and this embodiment is not limited to this.
In specific implementation, when the amplitude meets the oscillation condition, the motor can be protected. Wherein, the oscillation condition is a judgment condition preset by an operator, and if the amplitude is greater than a reference value; or the amplitude is larger than the reference value for a certain period of time. For example, when the amplitude of the harmonic component exceeds 10% of the rated current of the motor and the duration exceeds 30 seconds, the protection operation is performed on the motor, and an alarm is given.
In the first embodiment, by obtaining the drive current of the motor; then filtering the driving current to obtain a harmonic component in the driving current; thereby determining the oscillation state of the driving current according to the harmonic component. The harmonic waves in the driving current of the motor are extracted and analyzed, and the current oscillation degree is determined, so that the motor current oscillation is identified, and the motor is controlled more reliably.
Referring to fig. 4, fig. 4 is a flowchart illustrating a motor current oscillation identification method according to a second embodiment of the present invention. Based on the first embodiment, a second embodiment of the motor current oscillation identification method of the present invention is provided.
In the second embodiment, step S20 may include:
step S201: and performing coordinate transformation processing on the driving current based on a space vector coordinate system to obtain direct-axis current and quadrature-axis current.
In the present embodiment, a permanent magnet synchronous motor will be described as an example of the motor. Generally, a permanent magnet synchronous motor employs space vector control for adjusting a driving current of the motor. The present embodiment will be described by taking vector control with encoder position feedback as an example. Fig. 5 shows a control logic diagram of the permanent magnet synchronous motor, and fig. 5 shows a control logic diagram of an embodiment of space vector control of the permanent magnet synchronous motor according to the present invention.
It will be appreciated that a permanent magnet synchronous motor space vector control typically comprises a speed loop of the outer loop and a current loop of the inner loop. The encoder feeds back the actual rotating speed of the motor to the speed loop, and the actual rotating speed is compared with the preset rotating speed to obtain the input current of the current loop; the input current is compared with the feedback current to obtain a voltage, and the voltage is subjected to park inverse transformation and then input to the PWM module to generate a corresponding driving signal so as to drive the inverter corresponding to the motor.
In a specific implementation, the process of performing coordinate transformation processing on the driving current mainly includes: the drive current of the motor is subjected to a clark change and a park change. The driving current is any two of three-phase currents. For the specific processes of clark change and park change, mature technologies exist, and the detailed description of the embodiment is omitted here.
Step S202: and filtering the direct-axis current and/or the quadrature-axis current to obtain harmonic components.
In the present embodiment, the harmonic components are preferably extracted. Filtering is carried out based on direct axis (also called D axis) current and/or quadrature axis (also called Q axis) current fed back to a current loop by an original space vector control system, and filtering air volume is obtained. In general, when the driving current does not oscillate, the direct-axis current and the quadrature-axis current are generally direct currents. If current oscillation occurs, the direct-axis current and the quadrature-axis current have alternating current components, and the higher the oscillation frequency is, the higher the frequency of the alternating current components is. Because the operating frequencies of the motor under different working environments and different loads are different, the operating frequency of the motor needs to be considered constantly when the driving current is directly extracted so as to adjust the filtering wave band. The embodiment performs filtering processing on the direct-axis current and/or the quadrature-axis current, has better universality and is suitable for different working environments. Generally, the alternating current component in the direct-axis current and the quadrature-axis current is the same. Therefore, when extracting the harmonic component, the direct current or the quadrature current may be extracted separately or simultaneously.
It should be noted that, when the oscillation frequency is low, the influence on the motor is not great. Therefore, in order to save control resources of the motor, the direct-axis current and/or the quadrature-axis current can be filtered based on the preset frequency, so that harmonic components larger than the preset frequency are obtained.
In a specific implementation, the specific value of the preset frequency can be set as required, such as 5 HZ. Namely, a high-pass filter with the cut-off frequency of 5HZ can be selected to carry out filtering processing on the direct-axis current and/or the quadrature-axis current to obtain the harmonic component.
In the second embodiment, coordinate transformation processing is performed on the driving current based on a space vector coordinate system to obtain direct-axis current and quadrature-axis current; and then filtering the direct-axis current and/or the quadrature-axis current to obtain harmonic components. According to the embodiment, the feedback current in the space vector control system of the motor is filtered, so that the oscillating current is extracted more accurately and is easier to realize.
In addition, an embodiment of the present invention further provides a storage medium, where a motor current oscillation identification program is stored on the storage medium, and the motor current oscillation identification program, when executed by a processor, implements the steps of the motor current oscillation identification method described above. Since the storage medium may adopt the technical solutions of all the embodiments, at least the beneficial effects brought by the technical solutions of the embodiments are achieved, and are not described in detail herein.
In addition, referring to fig. 6, fig. 6 is a block diagram illustrating a structure of a motor current oscillation identification apparatus according to a first embodiment of the present invention. The embodiment of the invention also provides a motor current oscillation identification device.
In this embodiment, the motor current oscillation identification device includes:
and the detection module 100 is used for acquiring the driving current of the motor.
The driving current is a current transmitted to the motor by the power supply device corresponding to the motor. The driving current of the motor can be obtained by arranging the current sensor and other detection equipment at the power input end of the motor. Of course, the driving current may be detected in other manners, and this embodiment is not limited to this.
And the filtering module 200 is configured to perform filtering processing on the driving current to obtain a harmonic component in the driving current.
It will be appreciated that the drive current, when oscillating, causes harmonics in the current waveform. Therefore, the waveform of the detected driving current includes a fundamental wave and a harmonic wave, wherein the fundamental wave corresponds to the waveform of the power supply output by the power supply equipment, the harmonic wave is generated by oscillation, and the frequency of the harmonic wave is generally greater than that of the fundamental wave. In order to check the oscillation part in the driving current, the driving current needs to be filtered, and the fundamental wave needs to be filtered, so as to obtain the harmonic component, which is the waveform part of the current waveform with frequency larger than the fundamental wave.
In a specific implementation, the driving current may be input into a filter, resulting in harmonic components. The specific type of the filter can be set according to requirements, such as a high-pass filter or a band-pass filter. In the case of a dc drive motor, an ac component is generated in the drive current due to current oscillation, and therefore the ac component can be directly extracted by a filter to obtain a harmonic component. For an ac drive motor, it is necessary to remove a waveform component corresponding to a power supply frequency in a drive current by a filter to obtain a harmonic component.
The determining module 300 is configured to determine an oscillation state of the driving current according to the harmonic component.
It should be noted that the concussion state may include light concussion, high concussion, and the like. The waveform corresponding to the harmonic component can represent the oscillation state of the current, so that the parameters of the waveform corresponding to the harmonic component can be extracted, and the oscillation state can be determined based on the reference parameters. The parameters may include peak value, amplitude, frequency, etc.
In a specific implementation, the determining module 300 may be further configured to perform waveform analysis on the harmonic component to obtain an amplitude corresponding to the harmonic component; and determining the oscillation state of the driving current according to the amplitude.
In this embodiment, the amplitude corresponding to the harmonic component may be used as a parameter for measuring the current oscillation degree. The amplitude is compared with a preset reference value, and then the oscillation state is determined based on the comparison result. Wherein, the number of the reference values can be one or more. For example, 10% of the rated current of the motor can be used as a reference value, and when the amplitude is greater than or equal to the reference value, the oscillation state of the driving current is judged to be high oscillation; when the amplitude is smaller than the reference value, the oscillation state of the driving current is judged to be slight oscillation.
In this embodiment, to protect the motor, the determining module 300 may further perform a protection operation on the motor according to the oscillation state. Wherein the protection operation may include turning off the driving current to power down the motor; or reducing the power of the motor, etc. The specific content of the protection operation may be according to a demand device, and this embodiment is not limited to this.
In specific implementation, when the amplitude meets the oscillation condition, the motor can be protected. Wherein, the oscillation condition is a judgment condition preset by an operator, and if the amplitude is greater than a reference value; or the amplitude is larger than the reference value for a certain period of time. For example, when the amplitude of the harmonic component exceeds 10% of the rated current of the motor and the duration exceeds 30 seconds, the protection operation is performed on the motor, and an alarm is given.
In the embodiment, by obtaining the driving current of the motor; then filtering the driving current to obtain a harmonic component in the driving current; thereby determining the oscillation state of the driving current according to the harmonic component. The harmonic waves in the driving current of the motor are extracted and analyzed, and the current oscillation degree is determined, so that the motor current oscillation is identified, and the motor is controlled more reliably.
In an embodiment, the filtering module 200 is further configured to perform coordinate transformation processing on the driving current based on a space vector coordinate system to obtain a direct-axis current and a quadrature-axis current; and filtering the direct-axis current and/or the quadrature-axis current to obtain harmonic components.
In an embodiment, the filtering module 200 is further configured to perform filtering processing on the direct-axis current and/or the quadrature-axis current based on a preset frequency to obtain a harmonic component greater than the preset frequency.
Other embodiments or specific implementation manners of the motor current oscillation identification apparatus according to the present invention may refer to the above method embodiments, so that at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A motor current oscillation identification method is characterized by comprising the following steps:
acquiring a driving current of a motor;
filtering the driving current to obtain a harmonic component in the driving current;
and determining the oscillation state of the driving current according to the harmonic component.
2. The method for identifying motor current oscillation according to claim 1, wherein the filtering the driving current to obtain the harmonic component in the driving current comprises:
performing coordinate transformation processing on the driving current based on a space vector coordinate system to obtain direct-axis current and quadrature-axis current;
and filtering the direct-axis current and/or the quadrature-axis current to obtain harmonic components.
3. The method for identifying motor current oscillation according to claim 2, wherein the filtering the direct-axis current and/or the quadrature-axis current to obtain a harmonic component comprises:
and filtering the direct-axis current and/or the quadrature-axis current based on a preset frequency to obtain a harmonic component greater than the preset frequency.
4. A motor current oscillation identification method as claimed in any one of claims 1 to 3, wherein said determining the oscillation state of the driving current based on the harmonic component comprises:
carrying out waveform analysis on the harmonic component to obtain an amplitude corresponding to the harmonic component;
and determining the oscillation state of the driving current according to the amplitude.
5. The method for identifying motor current oscillations according to claim 4, characterized in that, after said determining the oscillation state of said driving current according to said amplitude, it further comprises:
and when the amplitude meets the oscillation condition, performing protection operation on the motor.
6. The method for identifying motor current oscillation as claimed in claim 5, wherein said performing a protection operation on said motor when said amplitude satisfies an oscillation condition comprises:
and when the amplitude is larger than a preset value and the duration reaches preset time, performing protection operation on the motor.
7. The method as claimed in claim 6, wherein the predetermined value is 10% of the rated current of the motor.
8. An apparatus for recognizing motor current oscillation, comprising:
the detection module is used for acquiring the driving current of the motor;
the filtering module is used for filtering the driving current to obtain a harmonic component in the driving current;
and the judging module is used for determining the oscillation state of the driving current according to the harmonic component.
9. An electric motor current oscillation identification apparatus, characterized in that the electric motor current oscillation identification apparatus comprises: memory, processor and a motor current oscillation identification program stored on the memory and executable on the processor, which when executed by the processor implements the motor current oscillation identification method according to any one of claims 1 to 7.
10. A storage medium, wherein a motor current oscillation identification program is stored on the storage medium, and when being executed by a processor, the motor current oscillation identification program implements the motor current oscillation identification method according to any one of claims 1 to 7.
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