CN117013924B - Temperature protection method and device for power device of underwater propulsion motor controller - Google Patents

Temperature protection method and device for power device of underwater propulsion motor controller Download PDF

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Publication number
CN117013924B
CN117013924B CN202310750170.0A CN202310750170A CN117013924B CN 117013924 B CN117013924 B CN 117013924B CN 202310750170 A CN202310750170 A CN 202310750170A CN 117013924 B CN117013924 B CN 117013924B
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temperature
power device
current
control unit
calculating
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CN117013924A (en
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黄敬军
陶凯
汤浩
张安东
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Kunshan Hiimotor Technology Co ltd
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Kunshan Hiimotor Technology Co ltd
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    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • 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
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
    • 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)
  • Control Of Ac Motors In General (AREA)
  • Protection Of Generators And Motors (AREA)

Abstract

The invention provides a temperature protection method and a device for a power device of an underwater propulsion motor controller, comprising the following steps: and obtaining the temperature coarse value of the current power device, and calculating the temperature filtering value of the current power device in real time. And obtaining the current three-phase current of the motor, and calculating the effective value of the motor current. A current temperature limit is calculated. The real-time computing system allows the pwm carrier frequency to be fed back to the pwm control unit. And calculating a system derating coefficient in real time, and feeding back the system derating coefficient to the torque control unit. The maximum output power of the underwater propulsion motor is adjusted in real time by using the pulse width modulation control unit, and the torque of the underwater propulsion motor is adjusted in real time by using the torque control unit. The invention can realize on-line intelligent adjustment of the over-temperature threshold of the power device and increase the over-temperature output power capacity of the power device of the controller. The action taken on the over-temperature can be smoothly self-recovered, so that the power output is stable.

Description

Temperature protection method and device for power device of underwater propulsion motor controller
Technical Field
The invention relates to the technical field of underwater propulsion motor controllers for electric propulsion, in particular to a temperature protection method and device for a power device of an underwater propulsion motor controller.
Background
With the high-speed development of power electronics technology, motor technology and control technology, the underwater power assembly equipment is more and more prone to adopting an all-electric power propulsion system, especially the application of high-performance control of a permanent magnet synchronous motor, so that the light weight, miniaturization and microminiaturization development of the underwater equipment are promoted.
In order to improve the power density of the system, the underwater motor controller is designed by adopting a propulsion motor and a controller integrated machine, the volume and the installation space are smaller, the electromagnetic interference is stronger, the heat dissipation environment is poorer, and therefore, the problem that a power device is easy to damage can possibly occur.
In the special application field, the underwater propulsion system puts more severe requirements on the reliability requirements of the propulsion motor and the controller.
The traditional motor controller adopts a power device over-temperature protection strategy and has the following defects:
(1) the set temperature thresholds are irrelevant to the working conditions, and cannot be intelligently adjusted on line along with the actual application working conditions.
(2) Once the motor controller operating environment is abnormal causing an over temperature, if the system chooses to shut down directly, it can be a fatal problem, or even unacceptable, for high reliability and long time "on-duty" operating systems, such as special underwater propulsion systems.
(3) The result of fault protection of the literature, namely a power device over-temperature protection method based on temperature curve slope control, is still that Pwm is blocked and the system is stopped. In the traditional fan control field, the related requirements can be met, but in the underwater propulsion field, after the system is over-temperature, certain power output capacity cannot be maintained, and 100% of power is lost.
Disclosure of Invention
The invention aims to: a temperature protection method and a temperature protection device for a power device of an underwater propulsion motor controller are provided, so as to solve the problems in the prior art.
In a first aspect, a temperature protection method for a power device of an underwater propulsion motor controller is provided, which comprises the following steps:
s1, obtaining a temperature coarse value of a current power deviceCalculating the temperature filtering value of the current power device in real time>；
S2, obtaining three-phase current of the current motor，/>，/>Calculating the effective value of the motor current>；
S3, calculating the current temperature limit value on the basis of S1 and S2；
S4, on the basis of S3, allowing the pulse width modulation carrier frequency to be calculated by the real-time computing systemThe system is enabled to allow a pulse width modulated carrier frequency +.>Feeding back to the pulse width modulation control unit;
s5, calculating the derating coefficient of the system in real time on the basis of S3Derating the system by a factor +.>Feedback to the torque control unit;
s6, utilizing the pulse width modulation control unit to adjust the maximum output power of the underwater propulsion motor in real time, and utilizing the torque control unit to adjust the torque of the underwater propulsion motor in real time; and (5) circulating the steps S1 to S5 in the whole starting process of the equipment.
In a further embodiment of the first aspect, step S1 comprises for coarse valuesPerforming first-order inertial filtering:
in the method, in the process of the invention,is->The temperature value of the power device obtained by secondary operation +.>The unit is degrees Celsius (C);is->Subsampled power device temperature value->The unit is degrees Celsius (C); />Sampling period is given in seconds; />Is the filter cut-off frequency in radians per second (rad/s);
since the temperature is a time-lapse variable,is selected as follows:
in the method, in the process of the invention,is the temperature sensor time constant, in s.
In a further embodiment of the first aspect, the motor current effective value in step S2The calculation formula of (2) is as follows:
in the method, in the process of the invention,、/>、/>representing the three-phase current of the motor respectively.
In a further embodiment of the first aspect, step S3 includes:
s3-1, calculating the current temperature limit value according to the parabolic curve of the decreasing interval：
In the method, in the process of the invention,a permissible temperature limit value for the power device, wherein the unit is degrees celsius (DEG C); />When the power device is in idle load, a temperature limit value is allowed, and the unit is the temperature (DEG C); />The maximum working current of the power device is expressed as ampere (A);limited to 0->Between, i.e.)>；
S3-2, current temperature limit valueAnd (5) amplitude limitation:
if it isThen->；
If it isThen->。
In a further embodiment of the first aspect, step S4 further includes:
real-time computing system allows Pwm carrier frequency：
If it is，/>；
If it is，/>；
In the method, in the process of the invention,nominal switching frequency lower limit for the controller in hertz (Hz); />Nominal switching frequency for controller, unitIs hertz (Hz); />Representing the current power device temperature filtered value.
In a further embodiment of the first aspect, step S5 further includes:
s5-1, calculating derating coefficient of system：
S5-2, para-coefficientClipping:
if it is，/>；
If it is，/>；
In the method, in the process of the invention,the minimum allowable value of derating of the system is defined as the capability of keeping the minimum output power under the condition of considering the safety of the power device when the system operates in a higher temperature interval.
In a second aspect, a temperature protection device for a power device of an underwater propulsion motor controller is provided, the device comprising:
the data real-time calculation and analysis unit is used for calculating various data indexes in real time when the underwater propulsion motor is started, and reporting the data indexes to the pulse width modulation control unit and the torque control unit;
the rotating speed control unit is electrically connected with the torque control unit;
the current controller is electrically connected with the torque control unit;
the rotating speed control unit is electrically connected with the torque control unit;
the current controller is electrically connected with the torque control unit;
the driving module is electrically connected with the torque control unit and the pulse width modulation control unit; the driving module executes the temperature protection method of the power device of the underwater propulsion motor controller according to the first aspect.
Wherein the data real-time computing and analyzing unit further comprises:
a first calculation unit for obtaining the temperature coarse value of the current power deviceCalculating the temperature filtering value of the current power device in real time>；
A second calculation unit for obtaining three-phase current of the present motor，/>，/>Calculating the effective value of the motor current>；
A third calculation unit for receiving the calculation results from the first and second calculation units, and calculating the current temperature limit value using the results；
A fourth calculation unit for receiving the calculation result from the third calculation unit, the real-time calculation system allowing the pulse width modulation carrier frequencyThe system is enabled to allow a pulse width modulated carrier frequency +.>Feeding back to the pulse width modulation control unit;
a fifth calculation unit for receiving the calculation result from the third calculation unit and calculating the derating coefficient of the system in real timeDerating the system by a factor +.>And feeding back to the torque control unit.
In a third aspect, a computer readable storage medium is provided, where at least one executable instruction is stored, where the executable instruction, when executed on an electronic device, causes the electronic device to perform the operation of the method for protecting the temperature of a power device of an underwater propulsion motor controller according to the first aspect.
The invention has the following beneficial effects:
(1) The power device is free from over-temperature faults, and the controller is supported to operate with faults to the greatest extent.
(2) The over-temperature threshold of the power device is intelligently adjusted on line, so that the over-temperature power output capacity of the power device of the controller is improved.
(3) The action taken on the over-temperature can be smoothly self-recovered, so that the power output is stable.
(4) When the system is operated at a higher temperature, the system still has a certain power output capacity.
Drawings
Fig. 1 is a schematic diagram of a conventional scheme temperature protection strategy.
Fig. 2 is a schematic diagram of a control system of a power device temperature protection device of a submersible propulsion motor controller in accordance with one embodiment of the invention.
Fig. 3 is a block diagram illustrating the implementation of a method for protecting the temperature of a power device of a submersible propulsion motor controller in accordance with one embodiment of the invention.
Fig. 4 is a parabolic temperature current derating graph employing a decreasing interval design.
Description of the embodiments
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
The applicant researches find that the traditional motor controller adopts a power device over-temperature protection strategy as shown in fig. 1, the scheme shown in fig. 1 respectively collects the temperature resistance values of the external NTC of the power device installation cooling surface and the internal NTC of the power device, converts the temperature resistance values into the temperatures of the respective areas, and directly stops the system if the current temperature exceeds the temperature point according to the prefabricated protection point. And acquiring an NTC temperature value in the power device, and converting the NTC temperature value into a temperature value. If the current temperature is greater than the preset temperature threshold, the system power adopts linear derating or direct shutdown operation.
In order to overcome the defects in the background art, the invention provides a temperature protection strategy for the power device of the underwater propulsion motor controller, a system control block diagram is shown in fig. 2, the given strategy expands the working temperature interval of the power device of the underwater propulsion motor controller to a certain extent, and the power device has better 'accident' operation capability. The control system shown in fig. 2 includes a rotational speed control unit, a torque control unit, a current controller, a pulse width modulation control unit, and a driving module. The driving module comprises five computing units, including a first computing unit, a second computing unit, a third computing unit, a fourth computing unit and a fifth computing unit.
The first calculation unit is used for obtaining the temperature coarse value of the current power deviceCalculating the temperature filtering value of the current power device in real time>. The second calculating unit is used for acquiring three-phase current of the present motor +.>，/>，/>Calculating the effective value of the motor current>. The third calculation unit is used for receiving the calculation results from the first calculation unit and the second calculation unit, and calculating the current temperature limit value +.>. The fourth calculation unit is used for receiving the calculation result from the third calculation unit, and the real-time calculation system allows the pulse width modulation carrier frequency +.>The system is enabled to allow a pulse width modulated carrier frequency +.>And feeding back to the pulse width modulation control unit. The fifth calculation unit is used for receiving the calculation result from the third calculation unit and calculating the derating coefficient of the system in real time>Derating the system by a factor +.>And feeding back to the torque control unit.
The embodiment provides a temperature protection strategy for a power device of an underwater propulsion motor controller, as shown in fig. 3, comprising the following steps:
s1, obtaining a temperature coarse value of a current power deviceCalculating the temperature filtering value of the current power device in real time>；
S2, obtaining three-phase current of the current motor，/>，/>Calculating the effective value of the motor current>。
S2, obtaining a temperature coarse value of the current power deviceCalculating the temperature filtering value of the current power device in real time>Characterized by the fact that for coarse values->First-order inertial filtering is performed, specifically as follows:
in the above formula:
is->The temperature value of the power device obtained by secondary operation +.>The unit is degrees Celsius (C);
is->Subsampled power device temperature value->The unit is degrees Celsius (C);
sampling period is given in seconds;
is the filter cut-off frequency in radians per second (rad/s);
since the temperature is a time-lapse variable,is selected as follows:
in the above-mentioned method, the step of,the temperature sensor time constant, which can be obtained from a manual of selected temperature sensor devices, is given in s.
S2, obtaining three-phase current of the current motor，/>，/>Calculating the effective value of the motor current>The formula of (2) is as follows:
s3, calculating the current temperature limit value on the basis of S1 and S2。
S3.1 calculating the current temperature limit according to the parabolic curve of the decreasing interval as shown in FIG. 4；
In the above formula:
a permissible temperature limit value for the power device, wherein the unit is degrees celsius (DEG C);
when the power device is in idle load, a temperature limit value is allowed, and the unit is the temperature (DEG C);
the maximum working current of the power device is expressed as ampere (A);
limited to 0->Between, i.e.)>。
The benefit of using a parabolic curve with decreasing intervals for the restriction is:
(1) when the system operates in a high current range, the temperature limit value is reduced in slope, so that the system derating can not be performed too early, and the allowable current range can be further expanded.
(2) When the system operates in a low current range, the slope of the temperature limit value increases along with the increase of the slope of the current reduction, the effect of the low current with a larger temperature limit value is also generated, and the working current range of the power device is expanded.
S3.2 pairThe amplitude limitation is carried out, specifically as follows:
if it isThen->；
If it isThen->。
S4, on the basis of S3, allowing the pulse width modulation carrier frequency to be calculated by the real-time computing systemThe system is enabled to allow a pulse width modulated carrier frequency +.>And feeding back to the pulse width modulation control unit.
If it is，/>；
If it is，/>；
In the above formula:
nominal switching frequency lower limit for the controller in hertz (Hz);
for the nominal switching frequency of the controller, the unit is hertz (Hz).
S5, calculating the derating coefficient of the system in real time on the basis of S3Derating the system by a factor +.>And feeding back to the torque control unit.
S5.1 calculating derating coefficient of the SystemThe method is characterized by comprising the following steps:
s5.2 pair coefficientsClipping, specifically, the following:
if it is，/>；
If it is，/>；
In the above formula:
the system derate minimum allowable value. The value is defined as the capability of keeping the minimum output power under the condition of considering the safety of the power device when the system operates in a higher temperature interval.
S6, circularly S1 to S5, utilizing the pulse width modulation control unit to adjust the maximum output power of the underwater propulsion motor in real time, and utilizing the torque control unit to adjust the torque of the underwater propulsion motor in real time.
In one embodiment, a computer readable storage medium is provided, in which at least one executable instruction is stored, which when executed on an electronic device, causes the electronic device to perform the operation of the underwater propulsion motor controller power device temperature protection method according to the first aspect.
The computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories. The computer may be a variety of computing devices including smart terminals and servers.
The executable instructions may be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
As an example, the executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or, alternatively, distributed across multiple sites and interconnected by a communication network.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. The temperature protection method for the power device of the underwater propulsion motor controller is characterized by comprising the following steps of:
s1, obtaining a temperature coarse value of a current power deviceCalculating the temperature filtering value of the current power device in real time>；
S2, obtaining three-phase current of the current motor，/>，/>Calculating the effective value of the motor current>；
S3, calculating the current temperature limit value on the basis of S1 and S2：
S3-1, calculating the current temperature limit value according to the parabolic curve of the decreasing interval：
；
In the method, in the process of the invention,a permissible temperature limit value for the power device, wherein the unit is degrees celsius (DEG C); />When the power device is in idle load, a temperature limit value is allowed, and the unit is the temperature (DEG C); />The maximum working current of the power device is expressed as ampere (A); />Limited to 0->Between, i.e.)>；
S3-2, current temperature limit valueAnd (5) amplitude limitation:
if it isThen->；
If it isThen->；
S4, on the basis of S3, allowing the pulse width modulation carrier frequency to be calculated by the real-time computing systemThe system is enabled to allow a pulse width modulated carrier frequency +.>Feedback to the pwm control unit:
real-time computing system allows Pwm carrier frequency：
If it is，/>；
If it is，/>；
In the method, in the process of the invention,nominal switching frequency lower limit for the controller in hertz (Hz); />Nominal switching frequency in hertz (Hz) for the controller; />Representing the current temperature filtering value of the power device;
s5, calculating the derating coefficient of the system in real time on the basis of S3Derating the system by a factor +.>Feedback to the torque control unit:
s5-1, calculating derating coefficient of system：
；
S5-2, para-coefficientClipping:
if it is，/>；
If it is，/>；
In the method, in the process of the invention,allowing a temperature limit for the power device; />Is the current temperature limit value; />The value is defined as the minimum allowable value of derating of the system, and when the system operates in a higher temperature interval, the minimum power output capacity is still maintained under the condition of taking the safety of the power device into consideration;
s6, utilizing the pulse width modulation control unit to adjust the maximum output power of the underwater propulsion motor in real time, and utilizing the torque control unit to adjust the torque of the underwater propulsion motor in real time; and (5) circulating the steps S1 to S5 in the whole starting process of the equipment.
2. The method for protecting the temperature of a power device of an underwater propulsion motor controller according to claim 1, wherein the step S1 comprises the steps ofPerforming first-order inertial filtering:
；
in the method, in the process of the invention,is->The temperature value of the power device obtained by secondary operation +.>The unit is degrees Celsius (C); />Is thatSubsampled power device temperature value->The unit is degrees Celsius (C); />Sampling period is given in seconds; />Is the filter cut-off frequency in radians per second (rad/s);
since the temperature is a time-lapse variable,is selected as follows:
；
in the method, in the process of the invention,is the temperature sensor time constant, in s.
3. The method for protecting the temperature of a power device of an underwater propulsion motor controller according to claim 1, wherein the effective value of the motor current in step S2The calculation formula of (2) is as follows:
；
in the method, in the process of the invention,、/>、/>representing the three-phase current of the motor respectively.
4. An underwater propulsion motor controller power device temperature protection device, comprising:
the data real-time calculation and analysis unit is used for calculating various data indexes in real time when the underwater propulsion motor is started, and reporting the data indexes to the pulse width modulation control unit and the torque control unit;
the rotating speed control unit is electrically connected with the torque control unit;
the current controller is electrically connected with the torque control unit;
the driving module is electrically connected with the torque control unit and the pulse width modulation control unit; the drive module performs the underwater propulsion motor controller power device temperature protection method of any one of claims 1 to 3.
5. The underwater propulsion motor controller power device temperature protection apparatus of claim 4, wherein the data real-time calculation analysis unit further comprises:
a first calculation unit for obtaining the temperature coarse value of the current power deviceCalculating the temperature filtering value of the current power device in real time>；
A second calculation unit for obtaining three-phase current of the present motor，/>，/>Calculating the effective value of the motor current>；
A third calculation unit for receiving the calculation results from the first and second calculation units, and calculating the current temperature limit value using the results；
A fourth calculation unit for receiving the calculation result from the third calculation unit, the real-time calculation system allowing the pulse width modulation carrier frequencyThe system is enabled to allow a pulse width modulated carrier frequency +.>Feeding back to the pulse width modulation control unit;
a fifth calculation unit for receiving the calculation result from the third calculation unit and calculating the derating coefficient of the system in real timeDerating the system by a factor +.>And feeding back to the torque control unit.
6. A computer readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, which executable instruction, when run on an electronic device, causes the electronic device to perform the operation of the underwater propulsion motor controller power device temperature protection method as claimed in any of claims 1 to 3.
CN202310750170.0A 2023-06-25 2023-06-25 Temperature protection method and device for power device of underwater propulsion motor controller Active CN117013924B (en)

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