CN116106739A - Motor step-out detection method and system, compressor, fan and air conditioner - Google Patents

Motor step-out detection method and system, compressor, fan and air conditioner Download PDF

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Publication number
CN116106739A
CN116106739A CN202310069186.5A CN202310069186A CN116106739A CN 116106739 A CN116106739 A CN 116106739A CN 202310069186 A CN202310069186 A CN 202310069186A CN 116106739 A CN116106739 A CN 116106739A
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Prior art keywords
motor
current
axis
out detection
axis set
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CN202310069186.5A
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Inventor
贾新旭
武正昭
时斌
邵海柱
耿焱
张锐钢
丛安平
李秀云
司月明
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Qingdao Haier Air Conditioner Gen Corp Ltd
Qingdao Haier Air Conditioning Electric Co Ltd
Haier Smart Home Co Ltd
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Qingdao Haier Air Conditioner Gen Corp Ltd
Qingdao Haier Air Conditioning Electric Co Ltd
Haier Smart Home Co Ltd
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Priority to CN202310069186.5A priority Critical patent/CN116106739A/en
Publication of CN116106739A publication Critical patent/CN116106739A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0805—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 for synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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

Abstract

The invention relates to the technical field of motors, and provides a motor step-out detection method, a motor step-out detection system, a compressor, a fan and an air conditioner. The motor step-out detection method comprises the following steps: controlling a driving motor through the FOC vector; acquiring operation parameters of a motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current; whether the motor is in a step-out state is determined based on at least one of the operating parameters of the motor. The invention detects the motor operation parameters in real time on the basis of FOC vector control operation, and can accurately judge whether the motor is in a step-out state, thereby rapidly responding to fault processing, preventing the motor from being damaged, and having the characteristics of high detection precision, low development cost, high reliability and the like.

Description

Motor step-out detection method and system, compressor, fan and air conditioner
Technical Field
The invention relates to the technical field of motors, in particular to a motor step-out detection method, a motor step-out detection system, a compressor, a fan and an air conditioner.
Background
With the continuous improvement of the modern permanent magnet material technology, the permanent magnet synchronous motor has been widely applied to various industrial products, such as automobiles, air conditioners, factory lathes, industrial robots and the like. Although the permanent magnet synchronous motor has small volume and strong performance, the permanent magnet synchronous motor is a complex nonlinear system and has higher requirements on the driving technology.
In the related art, the step-out phenomenon can occur in the operation process of the permanent magnet synchronous motor, so that the motor is caused to flow excessively, the motor is generally damaged due to larger current impact, the motor is damaged due to the step-out, and the service life of the motor is influenced.
Disclosure of Invention
The invention provides a motor step-out detection method, a system, a compressor, a fan and an air conditioner, which can accurately judge whether a motor is in a step-out state or not by detecting motor operation parameters in real time on the basis of FOC vector control operation, thereby rapidly responding to fault processing, preventing the motor from being damaged and having the characteristics of high detection precision, low development cost, high reliability and the like.
The invention provides a motor step-out detection method, which comprises the following steps:
controlling a driving motor through the FOC vector;
acquiring operation parameters of the motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current;
determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
According to the motor step-out detection method provided by the invention, the step of determining whether the motor is in a step-out state according to the actual rotation speed of the motor comprises the following steps: when the actual rotation speed of the motor meets one of the following judging conditions, determining that the motor is in a step-out state, wherein the judging conditions comprise:
Figure BDA0004063606810000021
wherein W is the actual rotation speed of the motor; wmax is 1-2 times of the difference between the maximum rotation speed and the minimum rotation speed of the motor; wr is the set rotating speed of the motor and is a positive number; wmin is 0.3 to 0.7 times the difference between the maximum rotation speed and the minimum rotation speed of the motor.
According to the motor step-out detection method provided by the invention, whether the motor is in a step-out state or not is determined according to the three-phase current of the motor, and the method specifically comprises the following steps:
in a sine wave driving period, acquiring the total times that the three-phase current of the motor is smaller than the minimum effective value of the set current;
when the total times that the three-phase current of the motor is smaller than the minimum effective value of the set current reaches a first preset target times, determining that the motor is in a step-out state; and/or the number of the groups of groups,
acquiring the total times of the three-phase current of the motor as a negative value in a sine wave driving period;
and when the total times of the three-phase current of the motor with the negative value reach a second preset target times, determining that the motor is in a step-out state.
According to the motor step-out detection method provided by the invention, the second preset target frequency is larger than the negative frequency of the three-phase current in the ideal state in a sine wave driving period.
The motor step-out detection method provided by the invention further comprises the following steps: and determining that the motor is in a step-out state, and controlling the motor to stop.
According to the motor step-out detection method provided by the invention, the step of controlling the driving motor by the FOC vector specifically comprises the following steps:
detecting an actual rotational speed of the motor and a position angle of the motor rotor;
transforming the collected three-phase current of the motor into d-axis feedback current and q-axis feedback current under a rotating coordinate system by adopting the position angle;
comparing the actual rotating speed of the motor with a set rotating speed and performing PI operation to obtain a q-axis set current, and comparing the q-axis set current with the q-axis feedback current and performing PI operation to obtain a q-axis set voltage; comparing the d-axis feedback current with a d-axis set current and performing PI operation to obtain a d-axis set voltage;
inversely transforming the q-axis set voltage and the d-axis set voltage into an alpha-axis set voltage and a beta-axis set voltage in a stationary coordinate system;
the alpha-axis set voltage and the beta-axis set voltage are modulated into three-phase drive voltages to drive the motor.
According to the motor step-out detection method provided by the invention, the d-axis set current is obtained through MTPA control or flux weakening control operation.
The invention also provides a motor step-out detection system, which comprises:
the driving module is used for controlling the driving motor through the FOC vector;
the acquisition module is used for acquiring the operation parameters of the motor in the FOC vector control driving process, and the operation parameters of the motor comprise: actual rotational speed and three-phase current;
and the determining module is used for determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
According to the motor step-out detection system provided by the invention, the motor step-out detection system further comprises: and the control module is used for determining that the motor is in a step-out state and controlling the motor to stop.
According to the motor step-out detection system provided by the invention, the driving module comprises:
the speed position observer is electrically connected with the motor and is used for detecting the actual rotating speed of the motor and the position angle of the motor rotor;
the transformation unit is electrically connected with the motor and the speed position observer and is used for transforming the collected three-phase current of the motor into d-axis feedback current and q-axis feedback current under a rotating coordinate system by adopting the position angle;
the first PI controller is electrically connected with the speed position observer and is used for comparing the actual rotating speed of the motor with the set rotating speed and performing PI operation to obtain q-axis set current;
the second PI controller is electrically connected with the conversion unit and the first PI controller and is used for comparing the q-axis set current with the q-axis feedback current and performing PI operation to obtain a q-axis set voltage;
the third PI controller is electrically connected with the conversion unit and is used for comparing the d-axis feedback current with the d-axis set current and performing PI operation to obtain d-axis set voltage;
an inverse transformation unit electrically connected with the second PI controller and the third PI controller, for inversely transforming the q-axis set voltage and the d-axis set voltage into an α -axis set voltage and a β -axis set voltage in a stationary coordinate system;
and the modulation unit is electrically connected with the motor and the inverse transformation unit and is used for modulating the alpha-axis set voltage and the beta-axis set voltage into three-phase driving voltages so as to drive the motor.
According to the motor step-out detection system provided by the invention, the conversion unit comprises:
the clark conversion module is electrically connected with the motor and is used for converting the collected three-phase current of the motor into alpha-axis feedback current and beta-axis feedback current under a static coordinate system;
and the park conversion module is electrically connected with the speed position observer, the park conversion module, the second PI controller and the third PI controller, and is used for converting the alpha-axis feedback current and the beta-axis feedback current into the d-axis feedback current and the q-axis feedback current by adopting the position angle and correspondingly transmitting the d-axis feedback current and the q-axis feedback current to the second PI controller and the third PI controller respectively.
According to the motor step-out detection system provided by the invention, the inverse transformation unit is an inverse park transformation unit, and the modulation unit is an SVPWM modulation unit.
The present invention also provides a compressor comprising: the motor step-out detection system or the motor step-out detection method is adopted when step-out detection is carried out.
The invention also provides a fan, comprising: the motor step-out detection system or the motor step-out detection method is adopted when step-out detection is carried out.
The present invention also provides an air conditioner, comprising: the compressor described above and/or the fan described above.
According to the motor step-out detection method, the motor step-out detection system, the compressor, the fan and the air conditioner, the motor is driven through FOC vector control, and the operation parameters of the motor in the FOC vector control driving process are obtained, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current; based on at least one of the operating parameters of the motor, it may be determined whether the motor is in a step-out state. Therefore, the present invention mainly determines the state of the present motor through the present rotation speed and the present current. The mode can accurately detect whether the motor is out of step or is in a normal state, and through judging the state of the motor, the motor can be effectively protected from being damaged in an abnormal state, and meanwhile, the normal action of the driving module can be ensured to the greatest extent, so that the damage is avoided. The invention detects the motor operation parameters in real time on the basis of FOC vector control operation, and can accurately judge whether the motor is in a step-out state, thereby rapidly responding to fault processing, preventing the motor from being damaged, and having the characteristics of high detection precision, low development cost, high reliability and the like.
Drawings
In order to more clearly illustrate the invention or the technical solutions in the related art, the drawings that are required to be used in the description of the embodiments or the related art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a motor step-out detection method provided by the invention;
fig. 2 is a schematic structural diagram of a motor step-out detection system provided by the invention;
FIG. 3 is a schematic diagram of a driving module according to the present invention;
FIG. 4 is a schematic diagram of the working principle of the FOC vector control driving motor provided by the invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
1: a motor;
2: a driving module; 201: a speed position observer; 202: a conversion unit;
2021: a clark conversion module; 2022: a park transformation module;
203: a first PI controller; 204: a second PI controller;
205: a third PI controller; 206: an inverse transform unit; 207: a modulation unit;
208: d-axis setting current operation unit;
3: an acquisition module; 4: a determining module; 5: a control module;
6: a processor; 7: a communication interface; 8: a memory; 9: a communication bus.
Detailed Description
For the purpose of making 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 accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing embodiments of the present invention, it should be noted that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The motor step-out detection method, system, compressor, fan and air conditioner of the present invention are described below with reference to fig. 1 to 5.
According to an embodiment of the first aspect of the present invention, referring to fig. 1, the method for detecting motor step-out mainly includes:
s100, controlling the driving motor 1 through the FOC vector.
S200, acquiring operation parameters of the motor 1 in the FOC vector control driving process, wherein the operation parameters of the motor 1 comprise: actual rotational speed and three-phase current.
S300, determining whether the motor 1 is in a step-out state according to at least one of operation parameters of the motor 1.
Because the motor 1 mainly comprises two reactions when in step-out, one is that the motor 1 stalls, namely the rotation speed of the motor 1 greatly fluctuates between two carrier periods; the other is represented by an abnormal output current of the motor 1, and by comparing the rotational speed of the motor 1 with the output current of three phases, it is possible to confirm whether the motor 1 is operating in a normal state. Therefore, the invention mainly detects the running state of the motor 1 in real time by analyzing the two modes of the rotating speed of the motor 1 and the driving current of the motor 1, can accurately judge whether the motor 1 is in a step-out state, and prevents the motor 1 from overflowing or being worn and damaged due to the step-out of the motor 1, thereby rapidly responding to fault processing and protecting the motor 1.
It can be understood that when the invention acquires the actual rotation speed and the three-phase current operation parameters at the same time and performs synchronous detection, the out-of-step detection precision can be effectively improved, and the misjudgment of single detection can be prevented.
The FOC vector control can realize motor drive at any rotating speed, and has the characteristics of high control precision, quick dynamic response and the like, so that the motor out-of-step detection method provided by the embodiment of the invention detects the current rotating speed and the current to determine the state of the current motor 1 on the basis of FOC vector control operation, can accurately detect the out-of-step state of the motor 1 at any rotating speed by the combination mode, can effectively protect the motor 1 from being damaged in an abnormal state by judging the state of the motor 1, and can also furthest ensure the normal action of a driving module and avoid damage. Therefore, compared with the prior art, the invention can realize the out-of-step detection of the full-speed section of the motor, and has the characteristics of higher detection precision, low development cost, high reliability and the like.
According to one embodiment of the present invention, the step of determining whether the motor 1 is in the out-of-step state according to the actual rotation speed of the motor 1 specifically includes: when the actual rotation speed of the motor 1 satisfies one of the following judgment conditions, the motor 1 is determined to be in the out-of-step state, and the judgment conditions include:
Figure BDA0004063606810000071
wherein W is the actual rotation speed of the motor 1; wmax is 1 to 2 times of the difference between the maximum rotation speed and the minimum rotation speed of the motor 1; wr is the set rotation speed of the motor 1 and is a positive number; wmin is 0.3 to 0.7 times the difference between the maximum rotation speed and the minimum rotation speed of the motor 1.
Specifically, when the set rotational speed Wr of the motor 1 is greater than 0, it is determined whether the motor 1 is in the out-of-step state based on the actual rotational speed W fed back by the speed position observer 201, and when the current actual rotational speed of the motor 1 satisfies one of the above conditions, it is determined that the motor 1 is in the stall state, and the out-of-step fault occurs in the motor 1. In this example, wmax is 1.5 times the difference between the maximum rotation speed and the minimum rotation speed of the motor 1, and Wmin is 0.6 times the difference between the maximum rotation speed and the minimum rotation speed of the motor 1.
According to one embodiment of the present invention, the step of determining whether the motor 1 is in an out-of-step state according to the three-phase current of the motor 1 specifically includes:
in one sine wave driving period, acquiring the total times that the three-phase current of the motor 1 is smaller than the minimum effective value of the set current; when the total times that the three-phase current of the motor 1 is smaller than the minimum effective value of the set current reaches the first preset target times, determining that the motor 1 is in a step-out state; and/or the number of the groups of groups,
in one sine wave driving period, acquiring the total times of the three-phase current of the motor 1 as a negative value; when the total number of times that the three-phase current of the motor 1 is negative reaches the second preset target number of times, it is determined that the motor 1 is in the step-out state.
The main idea of the embodiment of the invention for judging the step-out of the motor 1 by the current is based on that when the motor 1 rotates, a sinusoidal current is necessarily applied. If the current between the motors 1 is not sinusoidal or the motor 1 phase current is very small, this indicates that the motor 1 is out of step.
In a specific example, the three-phase current I of the motor 1 is based on samples u 、I v 、I w The judgment is carried out in a sine wave driving period, if the three-phase current I is in a sine wave driving period u 、I v 、I w And if 80 times of the current is smaller than the set current minimum effective value, namely the total number of times that three currents are smaller than the current minimum effective value reaches 80 times, judging that the current motor 1 is in the step-out state. The setting of the minimum effective value of the current can be determined according to the specific type of the motor 1, for example, the motor 1 of the compressor has larger power and larger driving current, the minimum effective value of the current can be set to be 1A, the motor 1 of the fan has smaller current, and the minimum effective value of the current can be set to be 20mA; at the same time, three-phase current I can be judged u 、I v 、I w And when the total number of times that the three-phase current of the motor 1 is negative reaches 30 times, judging that the current motor 1 is in a step-out state.
According to the embodiment of the invention, whether the motor 1 is in the out-of-step state currently can be judged by detecting the total times that the three-phase current of the motor 1 is smaller than the minimum effective value of the set current or the total times that the three-phase current of the motor 1 is negative, and when the two data are simultaneously utilized for collaborative detection, the precision of the out-of-step detection can be effectively improved, and erroneous judgment is prevented.
According to one embodiment of the present invention, the second preset target number is greater than a negative number in an ideal state of the three-phase current in one sine wave driving period. By such a design, erroneous judgment can be prevented, and the detection accuracy can be further improved.
For example, in a normal state, in a sine wave driving period, the current is positive and negative 50 times in an ideal state, and in order to prevent false triggering, the number of times of detecting negative current can be set to 80, and the motor 1 is judged to be out of step.
Therefore, compared with the prior art, the embodiment of the invention can accurately detect the current running state of the motor 1 only through the current detection information without additionally adding a detection circuit, and can effectively reduce the development cost.
In addition, by considering the two aspects of the rotating speed of the motor 1 and the current of the motor 1, the running state of the motor 1 is accurately detected, the damage of the motor 1 caused by the out-of-step motor 1 is effectively avoided, and meanwhile, the out-of-step motor 1 is generally accompanied with large current impact, and the damage of a driving module caused by the large current impact can be avoided; the invention uses a software detection mode to minimize the loss of the motor 1 when the abnormal state occurs.
According to an embodiment of the present invention, the motor 1 step-out detection method further includes the steps of: and determining that the motor 1 is in a step-out state, and controlling the motor 1 to stop.
Specifically, through the two modes of rotation speed and current detection, the running state of the motor 1 can be accurately detected, and whether the motor 1 is out of step or not can be judged. When the motor 1 is detected to be out of step, in order to prevent the motor 1 from being damaged or a driving module from being damaged, the motor 1 should immediately enter a stop state, and the current out-of-step state of the motor 1 is fed back to a main control board of a compressor, a fan or other devices, and after the main control board controls the motor 1 to stop for 5 seconds, the motor 1 waits for an instruction of the main control board to perform the next action.
The FOC vector control is roughly described below, and FOC (Field Oriented Control) magnetic field directional control is also called vector control, and the method is that the control of three-phase alternating current is converted into the control of q-axis current for generating torque and d-axis current for generating magnetic field through coordinate transformation, so that independent control of torque and excitation is realized; and the stator field vector is decomposed into two orthogonal vectors, one along the direction of the reference vector called the Direct axis (d-axis), generally denoted d-axis, and the other perpendicular to the reference vector called the Quadrature axis (q-axis), generally denoted q-axis.
According to an embodiment of the present invention, referring to fig. 3 and 4, the FOC vector control step of the driving motor 1 specifically includes:
(1) The actual rotational speed of the motor 1 and the position angle of the rotor of the motor 1 are detected.
Specifically, the actual rotation speed W of the motor 1 and the position angle θ of the rotor of the motor 1 can be detected in real time by the speed position observer 201. The position angle theta of the rotor is an included angle between the d axis and the power supply a.
(2) The collected three-phase current of the motor 1 is converted into a d-axis feedback current and a q-axis feedback current in a rotating coordinate system by adopting a position angle.
In particular, the sampled three-phase current I of the motor 1 can be converted by a clark transformation u 、I v 、I w Transforming into alpha-axis feedback current I under static coordinate system α And beta-axis feedback current I β The method comprises the steps of carrying out a first treatment on the surface of the Then the alpha-axis feedback current I is converted by park and the position angle theta is adopted α And beta-axis feedback current I β Transformed into d-axis feedback current I under a rotating coordinate system d And q-axis feedback current I q . Wherein, the AD sampling module can be used for collecting the three-phase current output by the motor.
It can be appreciated that, since the PI controller tracks the dc reference signal better,
therefore, it is necessary to convert the α - β stationary coordinate system to the d-q rotating coordinate system after the clark transformation, i.e., the park transformation.
(3) Comparing the actual rotation speed of the motor 1 with a set rotation speed, performing PI operation to obtain a q-axis set current, comparing the q-axis set current with a q-axis feedback current, and performing PI operation to obtain a q-axis set voltage; and comparing the d-axis feedback current with the d-axis set current and performing PI operation to obtain a d-axis set voltage.
Specifically, according to the difference between the set rotational speed Wr and the actual rotational speed W of the motor 1, the q-axis set current iqr can be obtained by PI operation by the first PI controller, and then the q-axis set current iqr and the actual q-axis feedback current I can be obtained by the q-axis set current iqr q The difference is made, PI operation is carried out by a second PI controller, and q-axis set voltage V can be obtained q The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the current idr is set according to the d-axis and the current I is fed back according to the d-axis d The difference value of the voltage is subjected to PI operation through a third PI controller, and the d-axis set voltage V can be obtained d 。
(4) The q-axis set voltage and the d-axis set voltage are inversely transformed into an α -axis set voltage and a β -axis set voltage in a stationary coordinate system.
Specifically, the q-axis set voltage V in the rotation coordinate system can be set by inverse park transformation q And d-axis set voltage V d Inverse transformation to alpha-axis set voltage V in stationary coordinate system α And beta axis set voltage V β 。
(5) The alpha-axis set voltage and the beta-axis set voltage are modulated into three-phase drive voltages to drive the motor.
Specifically, the voltage V can be set for the α -axis in the stationary coordinate system by SVPWM α And beta axis set voltage V β Modulating the signal to obtain three-phase driving voltage V u 、V v 、V w Thereby realizing motor driving, in this example, the motor 1 is a permanent magnet synchronous motor, abbreviated as PMSM.
It will be appreciated that the SVPWM algorithm is implemented using an α - β stationary coordinate system, thus yielding a q-axis set voltage V in the d-q rotating coordinate system q And d-axis set voltage V d After that, a Park inverse transformation is required to reconvert to the α - β coordinate system.
According to one embodiment of the invention, the d-axis set current idr is obtained through MTPA control or flux weakening control operation. The MTPA control is maximum torque current ratio control, and the specific operation process is well known in the art, and will not be described herein.
It can be understood that the FOC vector control driving motor 1 is in closed-loop control, and the detection precision and the response time can be effectively improved by detecting the motor operation parameters in the closed-loop control mode, and the FOC vector control driving motor has the characteristics of high detection precision, high stability and the like.
The motor step-out detection system provided by the invention is described below, and the motor step-out detection system described below and the motor step-out detection method described above can be referred to correspondingly.
According to an embodiment of the second aspect of the present invention, referring to fig. 2, the present invention further provides a motor step-out detection system, which mainly includes: a driving module 2, an acquisition module 3 and a determination module 4. Wherein the driving module 2 is used for controlling the driving motor 1 through the FOC vector; the obtaining module 3 is configured to obtain operation parameters of the motor 1 in the FOC vector control driving process, where the operation parameters of the motor 1 include: actual rotational speed and three-phase current; the determination module 4 is used for determining whether the motor 1 is in an out-of-step state according to at least one of the operating parameters of the motor 1.
The motor step-out detection system provided by the embodiment of the invention determines the step-out state of the current motor 1 by detecting the current rotating speed and the current under FOC vector control. The detection mode can accurately detect whether the motor 1 is out of step or is in a normal state, and can effectively protect the motor 1 from being damaged in an abnormal state by judging the state of the motor 1, and meanwhile, the normal action of the driving module can be guaranteed to the greatest extent, and damage is avoided.
According to an embodiment of the present invention, referring to fig. 2, the motor step-out detection system of the present invention further includes: the control module 5, the control module 5 is used for controlling the motor 1 to stop when the determining module 4 determines that the motor 1 is in the out-of-step state.
When the motor 1 is detected to be in a step-out state, the invention can control the motor 1 to stop in time and quickly respond to fault processing, thereby preventing the damage to the driving module and the motor 1.
According to one embodiment of the present invention, referring to fig. 3 and 4, the driving module 2 includes: a speed position observer 201, a transformation unit 202, a first PI controller 203, a second PI controller 204, a third PI controller 205, an inverse transformation unit 206, a modulation unit 207, and the like.
The speed position observer 201 is electrically connected to the motor 1, and detects an actual rotation speed W of the motor 1 and a position angle θ of a rotor of the motor 1.
The transformation unit 202 is electrically connected with the motor 1 and the speed position observer 201, and is used for transforming the collected three-phase current of the motor 1 into d-axis feedback current I under a rotating coordinate system by adopting a position angle d And q-axis feedback current I q 。
The first PI controller 203 is electrically connected to the speed position observer 201, and is configured to compare the actual rotation speed of the motor 1 with a set rotation speed and perform PI operation to obtain a q-axis set current. Specifically, the q-axis set current iqr can be output by PI operation by the first PI controller 203 based on the difference between the set rotational speed Wr and the actual rotational speed W of the motor 1.
The second PI controller 204 is electrically connected to the conversion unit 202 and the first PI controller 203, and is configured to compare the q-axis set current with the q-axis feedback current and perform PI operation to obtain a q-axis set voltage. Specifically, the current iqr is set by the q-axis and the actual q-axis feedback current I q By performing PI operation with the second PI controller 204, the q-axis set voltage V can be output q 。
The third PI controller 205 is electrically connected to the conversion unit 202, and is configured to compare the d-axis feedback current with the d-axis set current and perform PI operation to obtain a d-axis set voltage. Specifically, the current idr is set according to the d-axis and the d-axis feedback current I d The difference of (2) is PI-operated by the third PI controller 205 to output the d-axis set voltage V d 。
The inverse transformation unit 206 is electrically connected to the second PI controller 204 and the third PI controller 205 for setting the q-axis voltage V q And d-axis set voltage V d Inverse transformation to alpha-axis set voltage V in stationary coordinate system α And beta axis set voltage V β 。
The modulation unit 207 is electrically connected to the motor 1 and the inverse transformation unit 206 for setting the alpha-axis voltage V α And beta axis set voltage V β Modulated into three-phase driving voltage V u 、V v 、V w To drive the motor 1.
According to one embodiment of the present invention, referring to fig. 3, the driving module 2 of the present invention further includes: the d-axis setting current operation unit 208, the d-axis setting current operation unit 208 is electrically connected to the third PI controller 205, and is configured to obtain a d-axis setting current through MTPA control or field weakening control operation.
According to one embodiment of the present invention, referring to fig. 3, the transformation unit 202 includes: a clark conversion module 2021 and a park conversion module 2022.
Wherein the clark conversion module 2021 is electrically connected with the motor 1 and is used for collecting three-phase power of the motor 1Stream I u 、I v 、I w Transformed into alpha-axis feedback current I in static coordinate system α And beta-axis feedback current I β 。
The park transformation module 2022 is electrically connected to the speed position observer 201, the park transformation module 2021, the second PI controller 204, and the third PI controller 205 for feeding back an α -axis feedback current I using the position angle θ α And beta-axis feedback current I β Transformed into d-axis feedback current I under a rotating coordinate system d And q-axis feedback current I q And is correspondingly transmitted to the second PI controller 204 and the third PI controller 205, namely q-axis feedback current I q To the second PI controller 204, d-axis feedback current I d To the third PI controller 205.
According to one embodiment of the invention, the inverse transform unit 206 is an inverse park transform unit and the modulation unit 207 is a SVPWM modulation unit.
According to an embodiment of the third aspect of the present invention, the present invention also provides a compressor comprising: the motor step-out detection system according to any one of the above embodiments, or the motor step-out detection method according to any one of the above embodiments, is used when step-out detection is performed.
The compressor provided by the embodiment of the invention can realize the motor out-of-step detection of the compressor by the out-of-step detection mode, prevent the motor of the compressor from being damaged, and has the characteristics of high detection precision, high reliability and the like.
According to an embodiment of the fourth aspect of the present invention, there is also provided a fan including: the motor step-out detection system according to any one of the above embodiments, or the motor step-out detection method according to any one of the above embodiments, is used when step-out detection is performed.
The fan provided by the embodiment of the invention can realize the motor out-of-step detection of the fan by the out-of-step detection mode, prevent the motor of the fan from being damaged, and has the characteristics of high detection precision, high reliability and the like.
According to an embodiment of the fifth aspect of the present invention, there is also provided an air conditioner including: the compressor of any one of the above embodiments and/or the blower of any one of the above embodiments.
Because the air conditioner according to the embodiment of the invention includes the compressor and the fan according to the above embodiment, the air conditioner has all the technical effects of the compressor and the fan, and the description thereof is omitted herein.
In summary, the invention can accurately detect the running state of the motor by the FOC vector control operation and by analyzing the motor rotating speed and the motor driving current, prevent the motor from overcurrent or abrasion damage caused by the motor out-of-step, and effectively protect the motor.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor (processor) 6, communication interface (Communications Interface) 7, memory (memory) 8 and communication bus 9, wherein processor 6, communication interface 7, memory 8 accomplish the communication each other through communication bus 9. The processor 6 may invoke logic instructions in the memory 8 to perform a motor step out detection method comprising: controlling a driving motor through the FOC vector; acquiring operation parameters of the motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current; determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
Further, the logic instructions in the memory 8 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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 removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, where the computer program, when executed by a processor, can perform a motor step-out detection method provided by the above methods, and the method includes: controlling a driving motor through the FOC vector; acquiring operation parameters of the motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current; determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the motor step out detection method provided by the above methods, the method comprising: controlling a driving motor through the FOC vector; acquiring operation parameters of the motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current; determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (15)

1. The motor step-out detection method is characterized by comprising the following steps of:
controlling a driving motor through the FOC vector;
acquiring operation parameters of the motor in the FOC vector control driving process, wherein the operation parameters of the motor comprise: actual rotational speed and three-phase current;
determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
2. The motor step-out detection method according to claim 1, wherein the step of determining whether the motor is in a step-out state according to an actual rotational speed of the motor comprises: when the actual rotation speed of the motor meets one of the following judging conditions, determining that the motor is in a step-out state, wherein the judging conditions comprise:
Figure FDA0004063606790000011
wherein W is the actual rotation speed of the motor; wmax is 1-2 times of the difference between the maximum rotation speed and the minimum rotation speed of the motor; wr is the set rotating speed of the motor and is a positive number; wmin is 0.3 to 0.7 times the difference between the maximum rotation speed and the minimum rotation speed of the motor.
3. The motor step-out detection method according to claim 1, wherein the step of determining whether the motor is in a step-out state according to three-phase currents of the motor specifically comprises:
in a sine wave driving period, acquiring the total times that the three-phase current of the motor is smaller than the minimum effective value of the set current;
when the total times that the three-phase current of the motor is smaller than the minimum effective value of the set current reaches a first preset target times, determining that the motor is in a step-out state; and/or the number of the groups of groups,
acquiring the total times of the three-phase current of the motor as a negative value in a sine wave driving period;
and when the total times of the three-phase current of the motor with the negative value reach a second preset target times, determining that the motor is in a step-out state.
4. The motor step-out detection method according to claim 3, wherein the second preset target number is greater than a negative number in an ideal state of three-phase current in one sine wave driving period.
5. The motor step-out detection method according to any one of claims 1 to 4, characterized by further comprising the step of: and determining that the motor is in a step-out state, and controlling the motor to stop.
6. The motor step-out detection method according to any one of claims 1 to 4, characterized in that the FOC vector control driving motor step specifically includes:
detecting an actual rotational speed of the motor and a position angle of the motor rotor;
transforming the collected three-phase current of the motor into d-axis feedback current and q-axis feedback current under a rotating coordinate system by adopting the position angle;
comparing the actual rotating speed of the motor with a set rotating speed and performing PI operation to obtain a q-axis set current, and comparing the q-axis set current with the q-axis feedback current and performing PI operation to obtain a q-axis set voltage; comparing the d-axis feedback current with a d-axis set current and performing PI operation to obtain a d-axis set voltage;
inversely transforming the q-axis set voltage and the d-axis set voltage into an alpha-axis set voltage and a beta-axis set voltage in a stationary coordinate system;
the alpha-axis set voltage and the beta-axis set voltage are modulated into three-phase drive voltages to drive the motor.
7. The motor step-out detection method according to claim 6, wherein the d-axis set current is obtained by MTPA control or flux weakening control operation.
8. A motor step-out detection system, comprising:
the driving module is used for controlling the driving motor through the FOC vector;
the acquisition module is used for acquiring the operation parameters of the motor in the FOC vector control driving process, and the operation parameters of the motor comprise: actual rotational speed and three-phase current;
and the determining module is used for determining whether the motor is in a step-out state according to at least one of the operation parameters of the motor.
9. The motor step-out detection system according to claim 8, further comprising: and the control module is used for determining that the motor is in a step-out state and controlling the motor to stop.
10. The motor step-out detection system according to claim 8 or 9, wherein the driving module includes:
the speed position observer is electrically connected with the motor and is used for detecting the actual rotating speed of the motor and the position angle of the motor rotor;
the transformation unit is electrically connected with the motor and the speed position observer and is used for transforming the collected three-phase current of the motor into d-axis feedback current and q-axis feedback current under a rotating coordinate system by adopting the position angle;
the first PI controller is electrically connected with the speed position observer and is used for comparing the actual rotating speed of the motor with the set rotating speed and performing PI operation to obtain q-axis set current;
the second PI controller is electrically connected with the conversion unit and the first PI controller and is used for comparing the q-axis set current with the q-axis feedback current and performing PI operation to obtain a q-axis set voltage;
the third PI controller is electrically connected with the conversion unit and is used for comparing the d-axis feedback current with the d-axis set current and performing PI operation to obtain d-axis set voltage;
an inverse transformation unit electrically connected with the second PI controller and the third PI controller, for inversely transforming the q-axis set voltage and the d-axis set voltage into an α -axis set voltage and a β -axis set voltage in a stationary coordinate system;
and the modulation unit is electrically connected with the motor and the inverse transformation unit and is used for modulating the alpha-axis set voltage and the beta-axis set voltage into three-phase driving voltages so as to drive the motor.
11. The motor step-out detection system according to claim 10, wherein the conversion unit includes:
the clark conversion module is electrically connected with the motor and is used for converting the collected three-phase current of the motor into alpha-axis feedback current and beta-axis feedback current under a static coordinate system;
and the park conversion module is electrically connected with the speed position observer, the park conversion module, the second PI controller and the third PI controller, and is used for converting the alpha-axis feedback current and the beta-axis feedback current into the d-axis feedback current and the q-axis feedback current by adopting the position angle and correspondingly transmitting the d-axis feedback current and the q-axis feedback current to the second PI controller and the third PI controller respectively.
12. The motor step-out detection system according to claim 10, wherein the inverse transformation unit is an inverse park transformation unit, and the modulation unit is a SVPWM modulation unit.
13. A compressor, comprising: the motor step-out detection system according to any one of claims 8 to 12, or the motor step-out detection method according to any one of claims 1 to 7 is employed when step-out detection is performed.
14. A blower, comprising: the motor step-out detection system according to any one of claims 8 to 12, or the motor step-out detection method according to any one of claims 1 to 7 is employed when step-out detection is performed.
15. An air conditioner, comprising: the compressor of claim 13 and/or the fan of claim 14.
CN202310069186.5A 2023-01-17 2023-01-17 Motor step-out detection method and system, compressor, fan and air conditioner Pending CN116106739A (en)

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