CN115616303A - Motor phase loss judgment method and device, storage medium and motor controller - Google Patents
Motor phase loss judgment method and device, storage medium and motor controller Download PDFInfo
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- CN115616303A CN115616303A CN202211310320.8A CN202211310320A CN115616303A CN 115616303 A CN115616303 A CN 115616303A CN 202211310320 A CN202211310320 A CN 202211310320A CN 115616303 A CN115616303 A CN 115616303A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R31/34—Testing dynamo-electric machines
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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Abstract
The invention provides a motor phase loss judgment method, a motor phase loss judgment device, a storage medium and a motor controller, wherein the method comprises the following steps: collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor; judging whether the motor is in a phase-lacking state or not according to the proportion of the part, in which the absolute value of the current value in each phase current in the three-phase current is lower than or higher than the total average value, of the acquired current value; and if the motor is judged to be in the phase-lacking state and the time of the phase-lacking state reaches a first preset time, controlling the motor to stop. The scheme provided by the invention can reliably identify the phase-lacking state of the non-induction motor.
Description
Technical Field
The invention relates to the field of control, in particular to a motor phase loss judgment method and device, a storage medium and a motor controller.
Background
The motor driving working principle is that the change rule of an electrical angle is used as a control reference, the on-off time sequence of a power switch device is accurately controlled, the direct current bus voltage is chopped, so that three-phase alternating current is synthesized, and then the motor rotor is driven to rotate after the total synthesized magnetic field of the three-phase alternating current in a motor stator interacts with the magnetic field of the motor rotor through an electromagnetic effect.
The control of the three-phase direct current brushless motor and the permanent magnet synchronous motor is divided into inductive control and non-inductive control, the inductive control is a motor with Hall sensor control (hereinafter referred to as inductive), the Hall sensor can capture information such as specific position and rotating speed of a motor rotor, so that the motor with the Hall sensor control is relatively reliable in operation, but the Hall sensor is added in a component, so that the size and the overall cost of the motor are greatly influenced, the requirement of the Hall sensor on circuit wiring is high, the wiring is easily interfered by signals, the overall performance requirement of the motor is also reduced due to interference, and the control by using a Hall-free vector control algorithm (hereinafter referred to as non-inductive) gradually becomes the direction for updating and popularization of a plurality of motor manufacturers.
Noninductive FOC control can effectively avoid there being the control of feeling to receive the big drawback of circuit line interference, samples the electric current through the sampling resistance of motor main control chip to the controller to combine the control model of motor, calculate the rotor position in the motor. However, the control method has a disadvantage that in the operation process, the connection line between the control board and the motor winding joint is loosened, the insulation aging of the winding inside the motor or the winding is broken, and the like, which may cause the motor to enter a phase-lacking state, and when the motor is in single-phase or multi-phase-lacking state, the current of the power device in the controller is increased rapidly, because the phase-lacking causes the synthetic magnetic field to be seriously uneven, the motor enters abnormal vibration, the torque abnormality causes the motor to rotate and the load carrying capacity to be greatly reduced, and the motor is damaged by short circuit in serious cases. Therefore, developing an algorithm for open-phase identification protection aiming at the open-phase working condition of the non-inductive control brushless direct current motor becomes a problem to be solved urgently at present.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the related art, and provides a method and an apparatus for determining a phase loss of a motor, a storage medium, and a motor controller, so as to solve the problem of phase loss determination during non-inductive motor control in the related art.
The invention provides a motor phase loss judgment method on one hand, which comprises the following steps: collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor; judging whether the motor is in a phase-lacking state or not according to the proportion of the part of each collected three-phase current, of which the absolute value of the current value is lower than or higher than the total average value; and if the motor is judged to be in the phase-failure state and the time of the phase-failure state reaches a first preset time, controlling the motor to stop.
Optionally, collecting three-phase current of the motor comprises: and performing 360-degree electrical cycle scanning on each phase of the three-phase current of the motor to acquire each phase of the three-phase current of the motor.
Optionally, the ratio comprises: a first or second ratio; judging whether the motor is in a phase-lacking state or not according to the occupation ratio of the part of which the absolute value of the current value in each phase current in the three-phase current is lower than or higher than the total average value, wherein the step of judging comprises the following steps: judging whether a first ratio of a part of the acquired current value of each phase current in the three-phase current, which is lower than the total average value in absolute value, is smaller than or equal to a first preset ratio value or whether a second ratio of a part of the acquired current value, which is higher than the total average value in absolute value, is larger than a second preset ratio value or not; if the first proportion of the part of the current value of any one or two phases of the three-phase current, the absolute value of which is lower than the total average value, is judged to be less than or equal to a first preset proportion value, or a second proportion of a part of the current value with the absolute value higher than the total average value is larger than a second preset proportion value, determining that the motor is in a phase-lacking state; and if the first proportion of the part of the current value of any one or two phases of the three-phase current, which is lower than the total average value, is larger than a first preset proportion value, or the second proportion of the part of the current value, which is higher than the total average value, is smaller than or equal to a second preset proportion value, determining that the motor is not in the open-phase state.
Optionally, the method further comprises: after the time for controlling the motor to stop reaches second preset time, inputting a voltage signal to the motor, collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor; judging whether the motor is still in a phase-lacking state or not according to the proportion of the part, in which the absolute value of the current value in each phase current in the three-phase current is lower than or higher than the total average value, of the acquired current value; and if the motor is not in the phase-lacking state, controlling the motor to enter a normal running state.
Another aspect of the present invention provides a phase-loss determining apparatus for a motor, including: the acquisition unit is used for acquiring the three-phase current of the motor and determining the total average value of the three-phase current of the motor; the judging unit is used for judging whether the motor is in a phase-lacking state or not according to the proportion of the part, acquired by the acquiring unit, of each phase current, of which the absolute value of the current value in each phase current is lower than or higher than the total average value; and the control unit is used for controlling the motor to stop if the judging unit judges that the motor is in the phase-failure state and the time of the phase-failure state reaches a first preset time.
Optionally, the collecting unit collects a three-phase current of the motor, and includes: and carrying out 360-degree electrical cycle scanning on each phase of the three-phase current of the motor so as to acquire each phase of the three-phase current of the motor.
Optionally, the ratio comprises: a first or second ratio; the judging unit judges whether the motor is in a phase-lacking state according to the proportion of the part, in which the absolute value of the current value in each phase current in the three-phase currents acquired by the acquiring unit is lower than or higher than the total average value, and the judging unit comprises: the judgment subunit is used for judging whether a first ratio of a part of the acquired current value of each phase current in the three-phase current, which is lower than the total average value in absolute value, is smaller than or equal to a first preset ratio value or whether a second ratio of a part of the acquired current value, which is higher than the total average value in absolute value, is larger than a second preset ratio value; the determining subunit is used for determining that the motor is in a phase-lacking state if the judging subunit judges that a first proportion of a part of any phase or two-phase current in the three-phase current, of which the absolute value is lower than the total average value, is less than or equal to a first preset proportion value, or a second proportion of a part of the current value, of which the absolute value is higher than the total average value, is greater than a second preset proportion value; and if the judging subunit judges that a first proportion of a part of the current value of any one or two phases of the three-phase current, which is lower than the total average value, is larger than a first preset proportion value, or a second proportion of a part of the current value, which is higher than the total average value, is smaller than or equal to a second preset proportion value, determining that the motor is not in a phase-lacking state.
Optionally, the method further comprises: the acquisition unit is further configured to: after the control unit controls the motor to stop for a second preset time, inputting a voltage signal to the motor, collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor; the judging unit is further configured to: judging whether the motor is still in a phase-lacking state or not according to the proportion of a part, acquired by the acquisition unit, of each phase current of the three-phase current, of which the absolute value of the current value is lower than or higher than the total average value; the control unit is further configured to: and if the judging unit judges that the motor is not in the phase-lacking state, controlling the motor to enter a normal running state.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In another aspect, the present invention provides a motor controller, including any one of the aforementioned motor phase-loss determining devices.
According to the technical scheme of the invention, the total average value is calculated after the three-phase current is sampled, and whether the motor is in a phase-failure state or not is judged according to the proportion of the part of each phase current value, the absolute value of which is lower than or higher than the total average value. Under the condition of ensuring reliable identification of the open-phase state of the non-inductive motor, the open-phase protection universality of different non-inductive motor controls can be realized; the problem that the judgment threshold fails due to parameter change of the non-inductive motor is solved, the non-inductive motor open-phase protection is efficiently and reliably realized, and the protection universality of different non-inductive motors is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention. In the drawings:
fig. 1 is a schematic method diagram of an embodiment of a phase loss determining method for a motor according to the present invention;
FIG. 2 is a flow chart illustrating one embodiment of the step of determining whether the motor is in a phase-loss condition based on the ratio of the collected portions of each of the three phase currents that are below or above the total average;
FIG. 3 is a diagram showing the effect of three-phase current waveforms when the motor is in normal operation;
FIG. 4 is a diagram showing the proportional waveform effect of the absolute value and the total average value of three-phase current when the motor is in normal operation;
FIG. 5 is a waveform diagram showing the proportional effect of the absolute value of three-phase current and the average value of the phase loss when the motor is in phase loss;
FIG. 6 is a schematic diagram of a method for determining phase loss of a motor according to another embodiment of the present invention;
fig. 7 is a schematic method diagram of an embodiment of a phase loss determining method for a motor according to the present invention;
fig. 8 is a block diagram of a motor phase loss determining apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of a determining unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the open-phase working condition of the non-inductive control direct current brushless motor, the development of an algorithm for open-phase identification protection becomes a problem to be solved urgently. At present, a method for judging by setting a minimum threshold voltage is often used, when the voltages of three-phase power U, V and W are lower than threshold values, open-phase protection shutdown is triggered, the detection method has the difficulty of setting the threshold values, when the threshold values are unqualified, a plurality of problems such as open-phase false triggering or failure in realizing open-phase protection operation and the like easily occur, the reliability of open-phase protection cannot be ensured, and the universality of different motors or load algorithms is low.
The other method is to detect the current sub-vector q-axis and d-axis current phenomena in the rotor coordinate system for judgment, for example, the fluctuation amplitude of the q-axis current iq in the dq axis of the rotor rotation coordinate system is utilized to judge the open-phase state, when the fluctuation of the q-axis current iq is small, the q-axis current iq tends to be a steady direct current component, and the q-axis current iq is regarded as a normal state; when the q-axis current iq fluctuates in a sine state and the fluctuation amplitude is large, the q-axis current iq is regarded as a phase-lacking state. The method is greatly restricted by the operational capability of a chip, and d-axis and q-axis currents in a dq axis of a rotor rotating coordinate system are greatly influenced by external environment, so that the problem of waveform interference exists, the phase loss is frequently triggered by mistake, and the phase loss reliability cannot be ensured.
The invention provides a motor phase loss judgment method. The method may be implemented in a motor controller. The method is mainly used for judging the phase failure of the non-inductive motor.
Fig. 1 is a schematic method diagram of an embodiment of a method for determining a phase loss of a motor according to the present invention.
As shown in fig. 1, according to an embodiment of the present invention, the motor open-phase determining method includes at least steps S110 and S120.
And S110, collecting three-phase currents of the motor, and determining the total average value of the three-phase currents of the motor.
Specifically, each phase of the three-phase current of the motor is subjected to 360-degree electrical cycle scanning, and each phase of the three-phase current of the motor is acquired. The 360-degree electrical cycle scanning can ensure that each cycle can be scanned, and the real-time performance and the accuracy of data acquisition are ensured. The total average value of the three-phase currents is an average value of the total values of the three-phase currents. And (3) taking positive values (namely absolute values, namely positive values obtained after processing) of the acquired current values of each phase, calculating to obtain a real-time total average value P of the three-phase currents of the motor, namely summing the absolute values of the current values of the three phases of U, V and W, and dividing by 3 to obtain the total average value of the three-phase currents. More specifically, three-phase currents are collected firstly, absolute values are then obtained for processing, positive numbers are obtained after processing, the positive numbers in the three phases of the electrical angle of each point are summed, and the sum is divided by 3 (because of 3 phases), so that the average value is a total average value, and the total average value is used as a judgment threshold.
Preferably, N +1 scans (N is an even number ≧ 4, e.g., 20, 60, 1000, 10000, etc.) are performed during at least one electrical cycle, and the open-phase ratio threshold is established by performing a 360 ° full electrical cycle for the number of scans. For example, in an electrical angle period of 360 ° scanning, the positive period and the negative period each occupy half, that is, the electrical angle of the positive period is 0 to 180 °, the electrical angle of the negative period is 180 ° to 360 °, after taking absolute values, the positive period and the negative period become positive, and are represented by two positive arc sine waves, after taking the average value, normally, the area of the part above the average value is larger than the area of the part below the average value, for example, 100 points are taken within 0 to 360 °, the absolute values of three-phase currents at the points are taken respectively, and then the sum is divided by 3 to take the average value as the discrimination threshold, that is, the total average value of the three-phase currents, and of the 100 points, the ratio of the number of points larger than the discrimination threshold to 100 points can be taken, that is a specific ratio, for example, 2/3, while the whole 360 ° electrical angle period/100 is the electrical angle at which each point is taken, and the number of points higher than the discrimination threshold is specific, so that the electrical angle is higher than the corresponding specific angle, and the corresponding electrical angle is referred to be taken as the specific angle corresponding constraint.
And step S120, judging whether the motor is in a phase failure state or not according to the proportion of the part of the collected three-phase current in which the absolute value of the current value of each phase is lower than or higher than the total average value.
Fig. 2 is a flowchart illustrating an embodiment of the step of determining whether the motor is in a phase-loss state according to the ratio of the portion of each of the three-phase currents which is lower or higher than the total average value. In one embodiment, as shown in fig. 2, the ratio comprises: a first or second ratio. Step S120 includes step S121, step S122, and step S123.
Step S121, determining whether a first ratio of a portion of each of the collected three-phase currents in which an absolute value of a current value is lower than the total average value is less than or equal to a first preset ratio value, or a second ratio of a portion of each of the collected three-phase currents in which the absolute value is higher than the total average value is greater than a second preset ratio value.
Step S122, if it is judged that a first proportion of a part of any phase or two phases of current in the three-phase current, of which the absolute value is lower than the total average value, is less than or equal to a first preset proportion value, or a second proportion of a part of the current value, of which the absolute value is higher than the total average value, is greater than a second preset proportion value, it is determined that the motor is in a phase-lacking state.
Step S123, if it is determined that first ratios of portions of each of the three-phase currents where the absolute value of the current value is lower than the total average value are all greater than a first preset ratio value, or second ratios of portions of each of the three-phase currents where the absolute value of the current value is higher than the total average value are all less than or equal to a second preset ratio value, determining that the motor is not in a phase-missing state.
Specifically, whether the motor is in a phase-loss state is judged according to a ratio (namely a first ratio) of the number of current values of which the absolute value of the current value in each collected phase current is lower than the total average value to the total number of the collected current values. That is, the proportion of the number of current values in each phase current, the absolute value of which is lower than the total average value, to the total number of collected current values. For example, the current is collected for N +1 times, N +1 current values are collected, and the ratio of the number of current values of which the absolute value is lower than the total average value to N +1 is determined.
And judging whether the motor is in a phase-lacking state or not according to the proportion (namely a second proportion) of the number of the current values of which the absolute value of the current value in each acquired phase current is higher than the total average value in the total number of the acquired current values. That is, the fraction of each phase current in which the absolute value of the current value is higher than the total average value, i.e., the number of current values whose absolute values of the collected current values are higher than the total average value, is the ratio of the total number of the collected current values. For example, the current is collected for N +1 times, N +1 current values are collected, and the ratio of the number of current values of which the absolute value is higher than the total average value to N +1 is determined.
When the phase loss occurs, at least one phase has no current, namely the current of the phase loss is judged to be 0, the currents of the other phases exist, the absolute values of the three-phase currents are summed and then divided by 3 to average to obtain a judgment threshold, although the average value of the judgment threshold is reduced only by calculating the absolute values of the two-phase currents and summing and dividing by 3, the current value of the phase loss is 0 and is certainly lower than the average value, so that the number of points in a 360-degree electrical angle period is taken, the proportion of the points lower than the judgment threshold is certainly 1, the proportion of the points higher than the judgment threshold is certainly 0, and the phase loss is judged according to the method, so that the generality of the phase loss algorithm can be guaranteed, and the bottleneck problem of the universal judgment of the phase loss is solved.
Fig. 3 shows the effect diagram of three-phase current waveform when the motor is in normal operation. Fig. 4 shows the proportional waveform effect diagram of the absolute value and the total average value of three-phase current when the motor is in normal operation. Fig. 5 shows a proportional waveform effect diagram of absolute values of three-phase currents and an average value of a phase lacking when the motor is in the phase lacking state.
Referring to fig. 4 and 5, taking IU default phase as an example, a proportion K1 of a portion where an absolute value of IU current is lower than a total average value (in fig. 4 and 5, 4 is a total average value of three-phase current when the motor normally operates, and 1, 2, and 3 portions are portions where the absolute value of IU current is lower than the total average value) to a portion of N +1 times of the whole full power cycle should satisfy that K1 is not more than 1/R (a first preset proportion value 1/R is less than 1, R is a constant, and when normal, 1/R is a value less than 1, i.e., a fraction, typical values are 1/3 and 5/12, and when phase loss occurs, 1/R is greater than the typical value, e.g., R is 1, i.e., a default phase state), when it is determined that the motor is not in the default phase state, i.e., in the normal state, a shutdown operation is not triggered, thereby ensuring that the motor normally operates.
Referring to fig. 5, 4 is a total average value of three-phase currents when the motor normally operates, 5 is a total average value of three-phase currents when the motor is out of phase, 1, 2, and 3 are portions where an absolute value of an IU current is lower than the total average value of the three-phase currents, and when the motor is out of phase from one phase to two phases, a proportion of a portion where the absolute value of the IU current is lower than the total average value to a portion where N +1 times of scanning of the whole full power cycle is already 1, that is, K1 > 1/R (although the average value becomes lower after the phase is out, the current is certainly higher than the current that has been out of phase because the current that has been out of phase is 0, the open circuit state), and when it is determined that a portion where the absolute value of the current value of each phase current in the current period is lower than the total average value of the three-phase currents is more than the proportion K1/R of the full power cycle, the open phase state is determined.
As shown in fig. 1, according to another embodiment of the present invention, the method for determining a phase loss of a motor further includes step S130.
And step S130, if the motor is judged to be in the phase-failure state and the time in the phase-failure state reaches a first preset time, controlling the motor to stop.
Specifically, timing is started when the motor is judged to be in a phase-lack state, and the motor is controlled to stop when the timing time t is more than or equal to t1, so that the motor is stopped and protected.
When the motor is in phase loss from one phase to two phases, if three phases of the motor are all broken to cause that three currents are 0 and the total average value of the three phases of the calculated current is also 0, the motor can be automatically stopped because the three phases of the motor are all broken and have no current input.
The open-phase judgment method mainly aims at the open-phase working condition of 1-2 phases, and under special conditions, for example, three UVW lines of the motor are all broken due to human factors (for example, the phase lines are all broken due to foot kicking), signals sent by controllers are not fed back because 3 lines are broken, and the motor is not driven at all and is automatically stopped because the motor does not have an energy loop.
Fig. 6 is a schematic method diagram of another embodiment of the method for determining a phase loss of a motor according to the present invention.
As shown in fig. 6, based on the above embodiment, according to another embodiment of the present invention, the motor open-phase determining method further includes step S140, step S150, and step S160.
And S140, inputting a voltage signal to the motor after the stop time of the motor is controlled to reach a second preset time, collecting three-phase currents of the motor, and determining the total average value of the three-phase currents of the motor.
And S150, judging whether the motor is still in a phase failure state or not according to the proportion of the part of the collected three-phase current in which the absolute value of the current value of each phase is lower than or higher than the total average value.
And step S160, if the motor is not in the open-phase state, controlling the motor to enter a normal running state.
Specifically, when the shutdown duration time is longer than or equal to t2 (t 1 and t2 are not associated with each other), a sinusoidal control waveform is tried to be input to the three-phase current, then the three-phase current is collected, the total average value of the three-phase current of the motor is calculated, and whether the motor is still in the phase-lack state is judged according to the proportion of the part, lower than the total average value, of each collected phase current, namely whether the motor is still in the phase-lack state is judged according to the steps S121 to S123, and if the phase-lack condition is judged to be eliminated, the motor is controlled to enter the normal operation state again. And in the normal operation state, judging whether the motor is in a phase-lacking state again according to the steps, namely acquiring three-phase currents of the motor, determining the total average value of the three-phase currents, judging whether the motor is in the phase-lacking state according to the proportion of the part of each acquired phase current of which the absolute value is lower than the total average value, and circularly acquiring and continuously judging when the phase-lacking condition is not met.
In order to clearly illustrate the technical solution of the present invention, an implementation flow of the motor open-phase determining method provided by the present invention is described below with a specific embodiment.
Fig. 7 is a schematic method diagram of a phase loss determining method for a motor according to an embodiment of the present invention.
The invention can be implemented in a motor controller, and can be realized by a phase current real-time acquisition module, a main control logic module and an execution power switch module during implementation, wherein the main control logic module can be divided into a main control logic module judgment function area, a main control logic module shutdown function area and a main control logic module startup function area.
As shown in fig. 7, the phase current real-time acquisition module acquires three-phase currents, transmits acquired information to the main control logic module discrimination function area in real time, the main control logic module discrimination function area corrects the phase currents and calculates a total average value, and when the main control logic module discrimination function area determines that the proportion K1 of a part of each phase current in the current period, of which the absolute value is lower than the total average value, is less than or equal to 1/R, the current is in a normal state, and the main control logic module stop function area is not triggered to act, so that the normal operation of the motor is ensured. When the main control logic module judging function area judges that the proportion K1 of the part of the current value in each phase current of the current period, which is lower than the total average value, is more than 1/R (namely, the current parameter of each phase is greater than the threshold proportion parameter), namely, the motor is judged to be in a phase-lacking state, the main control logic module judging function area triggers timing accumulation, when the duration time is longer than or equal to t1, the main control logic module is triggered to stop the function area to act, the power switch module is controlled to execute response stop action, and the motor is prompted to stop for protection. When the time that the shutdown duration is longer than or equal to t2 is judged to be met, the main control logic module starts the function area to act, tries to input a sinusoidal control waveform to the three-phase current, then the control phase current real-time acquisition module acquires the three-phase current, and if the phase-lacking condition is judged to be eliminated, the motor is controlled to enter a normal operation state again.
The invention also provides a device for judging the phase lack of the motor. The apparatus may be implemented in a motor controller. The device is mainly used for phase-lack judgment of the non-inductive motor.
Fig. 8 is a block diagram of a motor phase loss determining apparatus according to an embodiment of the present invention. As shown in fig. 8, the motor open-phase determining apparatus 100 includes a collecting unit 110 and a determining unit 120.
The collecting unit 110 is configured to collect three-phase currents of the motor and determine an overall average value of the three-phase currents of the motor.
Specifically, each phase of the three-phase current of the motor is subjected to 360-degree electrical cycle scanning, and each phase of the three-phase current of the motor is acquired. The 360-degree electrical cycle scanning can ensure that each cycle can be scanned, and the real-time performance and the accuracy of data acquisition are ensured. The total average value of the three-phase currents is an average value of the total values of the three-phase currents. And (3) taking the positive value of each phase current value (namely taking the absolute value, namely all positive values obtained after processing), calculating to obtain the real-time total average value P of the three-phase current of the motor, namely summing the absolute values of the U, V and W three-phase current values, and dividing by 3 to obtain the total average value of the three-phase current. More specifically, three-phase currents are collected firstly, absolute values are then obtained for processing, positive numbers are obtained after processing, the positive numbers in the three phases of the electrical angle of each point are summed, and the sum is divided by 3 (because of having 3 phases), so that the average value is the total average value, and the total average value is used as a proportion judgment threshold.
Preferably, N +1 scans (N is an even number greater than or equal to 4, e.g., 20, 60, 1000, 10000, etc.) are performed in at least one electrical cycle, and the open-phase ratio threshold is established by performing a 360 ° full electrical cycle for the number of scans. For example, in an electrical angle period of 360 ° scanning, the positive period and the negative period each occupy half, that is, the electrical angle of the positive period is 0 to 180 °, and the electrical angle of the negative period is 180 ° to 360 °, and when absolute values are obtained, the positive period and the negative period both become positive, and the positive periods and the negative periods are represented as two positive arc-shaped sine waves, and after the average value is obtained, normally, the area of the part above the average value is larger than the area of the part below the average value, for example, when the angular points of scanning are 100, that is, 100 points are obtained within 0 to 360 °, absolute values are respectively obtained for three-phase currents at the points, and then the sum is divided by 3 to obtain the average value as a discrimination threshold, that is, the total average value of three-phase currents, and of the 100 points, the ratio of the number of the points larger than the discrimination threshold to 100 points, that is a specific ratio (hereinafter, a first predetermined ratio value), for example, 2/3, and the entire 360 ° electrical angle period/100 is the electrical angle period of each point where the point is located, and since the number of the part higher than the discrimination threshold is a specific value, the electrical angle, the portion is also referred to a restriction corresponding to the electrical angle of the corresponding to the specific value.
The judging unit 120 is configured to judge whether the motor is in a phase-lacking state according to a proportion of a portion where an absolute value of a current value in each phase current of the three-phase currents acquired by the acquiring unit is lower than or higher than the total average value.
Fig. 9 is a block diagram of a determining unit according to an embodiment of the present invention. As shown in fig. 9, in one embodiment, the ratio includes: a first or second ratio. The judging unit 120 may specifically include a judging subunit 121 and a determining subunit 122.
The judging subunit 121 is configured to judge whether a first ratio of a portion, where an absolute value of a current value in each phase of the acquired three-phase currents is lower than the total average value, is smaller than or equal to a first preset ratio value, or whether a second ratio of a portion, where the absolute value of the current value is higher than the total average value, is greater than a second preset ratio value.
The determining subunit 122 is configured to determine that the motor is in a phase-failure state if the determining subunit determines that a first proportion of a portion, where an absolute value of a current value in any one or two phase currents in the three-phase currents is lower than the total average value, is less than or equal to a first preset proportion value, or a second proportion of a portion, where the absolute value of the current value is higher than the total average value, is greater than a second preset proportion value; and if the judging subunit judges that the first proportion of the part of each phase current in the three-phase current, the absolute value of which is lower than the total average value, is larger than a first preset proportion value, or the second proportion of the part of each phase current, the absolute value of which is higher than the total average value, is smaller than or equal to a second preset proportion value, determining that the motor is not in the open-phase state.
Specifically, whether the motor is in a phase-lacking state or not is judged according to the proportion of the number of current values of which the absolute value of the current value in each collected phase current is lower than the total average value in the total number of the collected current values. That is, the fraction of the total number of collected current values in each phase current in which the absolute value of the current value is lower than the total average value, that is, the number of collected current values in which the absolute value of the current value is lower than the total average value. For example, the current is collected for N +1 times, N +1 current values are collected, and the ratio of the number of current values of which the absolute value is lower than the total average value to N +1 is determined.
And judging whether the motor is in a phase-lacking state or not according to the proportion (namely a second proportion) of the number of the current values of which the absolute value of the current value in each acquired phase current is higher than the total average value in the total number of the acquired current values. That is, the fraction of each phase current in which the absolute value of the current value is higher than the total average value, i.e., the number of current values whose absolute values of the collected current values are higher than the total average value, is the ratio of the total number of the collected current values. For example, the current is collected for N +1 times, N +1 current values are collected, and the ratio of the number of current values of which the absolute value is higher than the total average value to N +1 is determined.
When the phase failure occurs, at least one phase has no current, namely the current of the phase failure is judged to be 0, the currents of the other phases exist, absolute values of three-phase currents are summed and then divided by 3 to obtain an average judgment threshold value, although only two-phase currents are used for obtaining absolute values and summing and divided by 3, namely the average judgment threshold value is reduced, the current value of the phase failure is 0 and is certainly lower than the average value, so that the number of points in a 360-degree electrical angle period is obtained, the proportion of the points lower than the judgment threshold value is certainly 1, the proportion of the points higher than the judgment threshold value is certainly 0, and the phase failure is judged according to the method, so that the universality of a phase failure algorithm can be guaranteed to be solved, and the bottleneck problem of phase failure universal judgment is solved.
Fig. 3 shows the effect diagram of three-phase current waveform when the motor is in normal operation. Fig. 4 shows the proportional waveform effect diagram of the absolute value and the total average value of three-phase current when the motor is in normal operation. Fig. 5 shows a waveform effect diagram of proportion of absolute values of three-phase currents and an average value of a phase lacking when the motor is in the phase lacking state.
Referring to fig. 4 and 5, taking an example of an IU phase loss, a proportion K1 of a portion where an absolute value of an IU current is lower than a total average value (in fig. 4 and 5, 4 is a total average value of three-phase currents when the motor is normally operated, and 1, 2, and 3 portions are portions where an absolute value of an IU current is lower than the total average value) to a portion of N +1 times of scanning of the entire full power cycle should satisfy that K1 is not more than 1/R (a first preset proportion value 1/R is less than 1, R is a constant, which is a fraction when normal, 1/R is a value less than 1, which is a typical value 1/3, 5/12, and 1/R is greater than a typical value such as R is 1 when a phase loss occurs, which is a phase loss state).
Referring to fig. 5, 4 is a total average value of three-phase currents when the motor is in normal operation, 5 is a total average value of three-phase currents when the motor is in phase loss, 1, 2, and 3 are portions where an absolute value of an IU current is lower than the total average value of the three-phase currents, when the motor is in phase loss from one phase to two phases, a proportion of a portion where the absolute value of the IU current is lower than the total average value to a portion where N +1 times of scanning of the whole full power cycle is already 1, that is, K1 > 1/R (although the average value becomes lower after phase loss, it is certainly greater than a current that has lacked a phase because the lacked phase current is 0, a circuit-broken state), and when it is determined that the portion where the absolute value of the current value of each phase current in the current period is lower than the total average value of the three-phase currents is more than the full power cycle proportion K1/R, the phase-lost state is determined.
As shown in fig. 8, the apparatus 100 further comprises a control unit 130 according to another embodiment of the present invention.
The control unit 130 is configured to control the motor to stop if the determining unit 120 determines that the motor is in the phase-failure state and the time of the phase-failure state reaches a first preset time.
Specifically, timing is started when the motor is judged to be in a phase-lack state, and the motor is controlled to stop when the timing time t is more than or equal to t1, so that the motor is stopped and protected.
When the motor is in a phase loss state from one phase to two phases, if three phases of the motor are all broken to cause that three currents are all 0, and the total average value of the three-phase currents is also 0 after operation, but at the moment, because the three-phase currents are all broken, the motor has no current input and can be automatically stopped.
The open-phase judgment method mainly aims at the open-phase working condition of 1-2 phases, and under special conditions, for example, three UVW lines of the motor are all broken due to human factors (for example, the phase lines are all broken due to foot kicking), signals sent by controllers are not fed back because 3 lines are broken, and the motor is not driven at all and is automatically stopped because the motor does not have an energy loop.
Further, based on the above embodiment, according to another embodiment of the present invention, the acquiring unit is further configured to: after the control unit controls the motor to stop for a second preset time, inputting a voltage signal to the motor, collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor; the judging unit is further configured to: judging whether the motor is still in a phase-lacking state or not according to the proportion of a part, acquired by the acquisition unit, of each phase current of the three-phase current, of which the absolute value of the current value is lower than or higher than the total average value; the control unit is further configured to: and if the judging unit judges that the motor is not in the phase-lacking state, controlling the motor to enter a normal running state.
Specifically, when the shutdown duration time is longer than or equal to t2 (t 1 and t2 are not associated with each other), a sinusoidal control waveform is tried to be input to the three-phase current, then the three-phase current is collected, the total average value of the three-phase current of the motor is calculated, whether the motor is still in the phase-lack state is judged according to the proportion of the part, lower than the total average value, of each collected phase current, namely whether the motor is still in the phase-lack state is judged according to the steps S121 to S122, and if the phase-lack condition is judged to be eliminated, the motor is controlled to enter the normal operation state again. And in the normal running state, judging whether the motor is in a phase-lacking state again according to the steps, namely acquiring three-phase currents of the motor, determining the total average value of the three-phase currents, judging whether the motor is in the phase-lacking state according to the proportion of the part of the acquired current value of each phase current in the three-phase currents, which is lower than the total average value, and circularly acquiring and continuously judging when the phase-lacking condition is not met.
The present invention also provides a storage medium corresponding to the motor open-phase judgment method, and a computer program is stored thereon, wherein the program is executed by a processor to realize the steps of any one of the methods.
The invention also provides a motor controller corresponding to the motor open-phase judgment method, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of any one of the methods when executing the program.
The invention also provides a motor controller corresponding to the motor open-phase judgment device, which comprises any one of the motor open-phase judgment devices.
According to the scheme provided by the invention, the overall average value is calculated after the three-phase current is sampled, and whether the motor is in the phase-failure state or not is judged according to the proportion of the part of each phase current value, wherein the absolute value of each phase current value is lower than or higher than the overall average value. And when the value of each phase of the three-phase current in the specific constrained electrical angle is lower than the average value of the total three-phase current, judging the phase-lack state after a certain number of times. Under the condition of ensuring reliable identification of the open-phase state of the non-inductive motor, the open-phase protection universality of different non-inductive motor controls can be realized; the problem that the judgment threshold is invalid due to the parameter change of the non-inductive motor is solved, the non-inductive motor open-phase protection is efficiently and reliably realized, and the protection universality of different non-inductive motors is ensured. .
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (12)
1. A motor phase loss judgment method is characterized by comprising the following steps:
collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor;
and judging whether the motor is in a phase-lacking state or not according to the occupation ratio of the part of which the absolute value of the current value in each phase current in the three-phase current is lower than or higher than the total average value.
2. The method of claim 1, further comprising:
and if the motor is judged to be in the phase-lacking state and the time of the phase-lacking state reaches a first preset time, controlling the motor to stop.
3. The method of claim 1 or 2, wherein collecting three-phase current of the motor comprises:
and carrying out 360-degree electrical cycle scanning on each phase of the three-phase current of the motor so as to acquire each phase of the three-phase current of the motor.
4. The method according to any one of claims 1-3, wherein the scaling comprises: a first or second ratio;
judging whether the motor is in a phase-lacking state or not according to the proportion of the part of each collected three-phase current, of which the absolute value of the current value is lower than or higher than the total average value, wherein the step comprises the following steps:
judging whether a first ratio of a part of the acquired current value of each phase current in the three-phase current, which is lower than the total average value in absolute value, is smaller than or equal to a first preset ratio value or whether a second ratio of a part of the acquired current value, which is higher than the total average value in absolute value, is larger than a second preset ratio value or not;
if the first proportion of the part of the current value of any one or two phases of the three-phase current, which is lower than the total average value in absolute value, is less than or equal to a first preset proportion value, or the second proportion of the part of the current value, which is higher than the total average value in absolute value, is greater than a second preset proportion value, the motor is determined to be in a phase-lacking state;
if the first proportion of the part of the current value of any one or two phases of the three-phase current, the absolute value of which is lower than the total average value, is larger than a first preset proportion value, or the second ratio of the part of the current value with the absolute value higher than the total average value is less than or equal to a second preset ratio value, determining that the motor is not in the open-phase state.
5. The method of any of claims 1-4, further comprising:
after the time for controlling the motor to stop reaches a second preset time, inputting a voltage signal to the motor, collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor;
judging whether the motor is still in a phase-lacking state or not according to the proportion of the part of each collected three-phase current, of which the absolute value of the current value is lower than or higher than the total average value;
and if the motor is not in the phase-lacking state, controlling the motor to enter a normal running state.
6. A motor phase loss judging device is characterized by comprising:
the acquisition unit is used for acquiring the three-phase current of the motor and determining the total average value of the three-phase current of the motor;
and the judging unit is used for judging whether the motor is in a phase-lacking state or not according to the proportion of the part, acquired by the acquisition unit, of the current value of each phase of the three-phase current, of which the absolute value is lower than or higher than the total average value.
7. The apparatus of claim 6, further comprising:
and the control unit is used for controlling the motor to stop if the judging unit judges that the motor is in the phase-lacking state and the time of the phase-lacking state reaches a first preset time.
8. The apparatus according to claim 6 or 7, wherein the collecting unit collects three-phase currents of the motor, and comprises:
and carrying out 360-degree electrical cycle scanning on each phase of the three-phase current of the motor so as to acquire each phase of the three-phase current of the motor.
9. The apparatus according to any one of claims 6-8, wherein the ratio comprises: a first or second ratio;
the judging unit judges whether the motor is in a phase-failure state according to the proportion of the part of each phase current of the three-phase currents acquired by the acquiring unit, wherein the absolute value of the current value of each phase current of the three-phase currents is lower than or higher than the total average value, and the judging unit comprises:
the judging subunit is used for judging whether a first proportion of a part of the acquired three-phase current, of which the absolute value of the current value is lower than the total average value, is less than or equal to a first preset proportion value or whether a second proportion of a part of the acquired three-phase current, of which the absolute value is higher than the total average value, is greater than a second preset proportion value or not;
the determining subunit is used for determining that the motor is in a phase-lacking state if the judging subunit judges that a first proportion of a part of any phase or two-phase current in the three-phase current, of which the absolute value is lower than the total average value, is less than or equal to a first preset proportion value, or a second proportion of a part of the current value, of which the absolute value is higher than the total average value, is greater than a second preset proportion value;
and if the judging subunit judges that a first proportion of a part of the current value of any one or two phases of the three-phase current, which is lower than the total average value, is larger than a first preset proportion value, or a second proportion of a part of the current value, which is higher than the total average value, is smaller than or equal to a second preset proportion value, determining that the motor is not in a phase-lacking state.
10. The apparatus of any one of claims 6-9, further comprising:
the acquisition unit is further configured to: after the control unit controls the motor to stop for a second preset time, inputting a voltage signal to the motor, collecting three-phase currents of the motor, and determining a total average value of the three-phase currents of the motor;
the judging unit is further configured to: judging whether the motor is still in a phase-lacking state or not according to the proportion of a part, acquired by the acquisition unit, of each phase current of the three-phase current, of which the absolute value of the current value is lower than or higher than the total average value;
the control unit is further configured to: and if the judging unit judges that the motor is not in the phase-lacking state, controlling the motor to enter a normal running state.
11. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
12. A motor controller comprising a processor, a memory, and a computer program stored on the memory and operable on the processor, the processor executing the program to perform the steps of the method according to any one of claims 1 to 5, or the motor controller comprising the motor open-phase determining apparatus according to any one of claims 6 to 10.
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| CN202211310320.8A CN115616303A (en) | 2022-10-25 | 2022-10-25 | Motor phase loss judgment method and device, storage medium and motor controller |
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