WO2021227343A1 - 一种堵转和缺相保护永磁同步电机及其保护方法 - Google Patents

一种堵转和缺相保护永磁同步电机及其保护方法 Download PDF

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Publication number
WO2021227343A1
WO2021227343A1 PCT/CN2020/119461 CN2020119461W WO2021227343A1 WO 2021227343 A1 WO2021227343 A1 WO 2021227343A1 CN 2020119461 W CN2020119461 W CN 2020119461W WO 2021227343 A1 WO2021227343 A1 WO 2021227343A1
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current
phase
unit
protection
motor
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PCT/CN2020/119461
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English (en)
French (fr)
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姜泽
魏君燕
俞益锋
杜荣法
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卧龙电气驱动集团股份有限公司
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Priority to DE112020002235.8T priority Critical patent/DE112020002235T5/de
Priority to JP2021573276A priority patent/JP2022538524A/ja
Publication of WO2021227343A1 publication Critical patent/WO2021227343A1/zh

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    • 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
    • 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
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • 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
    • H02H7/09—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
    • 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
    • H02H7/093—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 increase beyond, or decrease below, a predetermined level of rotational speed

Definitions

  • the invention relates to the field of motors, in particular to a permanent magnet synchronous motor with locked rotor and phase loss protection and a protection method thereof.
  • ECM motor control system In the HVAC industry, the system that realizes BLDC brushless DC motor control or permanent magnet synchronous motor PMSM control through electronic commutation is generally called ECM motor control system. ECM motor control systems are mostly used in ventilation, wall-hung boilers and other systems, according to the safety requirements of customers at home and abroad
  • thermal protectors will increase the cost; using the traditional observer method, there is a situation that the observer is not protected in time when the motor parameters are abnormal. Even multiple protections are needed to ensure absolute safety.
  • the technical problem to be solved and the technical task proposed by the present invention are to perfect and improve the existing technical solutions, provide a locked-rotor and phase loss protection permanent magnet synchronous motor and its protection method, and perform motor locked-rotor and phase loss in a timely manner
  • the purpose is to protect and improve the safety of the motor.
  • the present invention adopts the following technical solutions.
  • a permanent magnet synchronous motor with locked rotor and phase loss protection including a motor part and a control system part.
  • the motor part includes a shaft end cover, a rotor and a stator.
  • the control system part includes a controller, a controller end cover, Outlet terminal and wiring cover, the controller (4) includes a drive board (8), a CPU board (9), a bus capacitor (10), a bus inductor (11) and a power drive module (12).
  • the drive The board (8) and/or the CPU board (9) are equipped with a main control unit, a coordinate transformation unit, an SVM modulation inverter unit, a current sampling unit, a current processing unit, a locked rotor and phase loss protection unit, and an alarm shutdown unit.
  • the main control unit is connected to the coordinate conversion unit, the coordinate conversion unit is connected to the SVM modulation inverter unit, the current processing unit, and the stall and phase loss protection unit.
  • the SVM modulation inverter unit is connected to the main control unit and The motor is connected in three phases, the input end of the current sampling unit is connected to the three phases of the motor, the output end of the current sampling unit is connected to the current processing unit, the locked rotor and phase loss protection unit is connected to the alarm shutdown unit, the The locked rotor and phase loss protection unit is based on both speed and voltage vector observation combined protection and two protection combinations based on the threshold protection of the three-phase current two-two unbalance degree.
  • the three-phase current and rotor speed are sampled in real time by the main control unit and the current sampling unit, the motor voltage and current signals are collected and processed, and the locked-rotor and phase loss protection unit adopts the protection execution of two protection combinations.
  • the motor's phase loss protection is realized within one electric cycle.
  • the alarm shutdown unit can realize shutdown alarm, which can promptly and quickly protect the motor from locked rotor and phase loss, forming a highly reliable self-integration
  • the safety code system improves the safety of the motor.
  • the main control unit includes a speed loop, a current flux controller that realizes V ⁇ calculation through the control of d-axis flux linkage and q-axis current, and an observer that realizes control parameter estimation through V ⁇ motor model equations
  • the speed loop and the current flux controller are connected to the current flux controller, and the current flux controller is connected to the coordinate transformation unit.
  • Current flux control is achieved by controlling the d-axis flux and the q-axis current calculating V ⁇ , the observer is implemented by the motor control parameter estimation model equation V ⁇ , the data speed can be easily realized, and the control parameters calculated V ⁇ Estimate.
  • the coordinate transformation unit includes an inverse coordinate transformation module that transforms from ⁇ to abc 2/3 coordinates and a forward coordinate transformation module that transforms from abc to ⁇ 3/2 coordinates.
  • the reverse coordinate The input terminal of the transformation module is connected to the current flux controller, the output terminal of the reverse coordinate transformation module is connected to the SVM modulation inverter unit, and the input terminal of the forward coordinate transformation module is connected to the current processing unit.
  • the output end of the coordinate transformation module is connected with the observer, the current flux controller and the stall and phase loss protection unit, and the coordinate transformation adopts equal power or equal amplitude transformation. It can easily realize reverse coordinate transformation and forward coordinate transformation.
  • the SVM modulation inverter unit includes an SVM modulation module and an inverter module, the SVM modulation module is connected to the inverter module, and the SVM modulation module is connected to the observer through the voltage reconstruction module.
  • the module is connected with the current flux controller and the motor in three phases.
  • SVM is a voltage vector that generates a spatially rotating magnetic field vector through pulse width modulation, so that the motor obtains an ideal circular rotating magnetic field, and reduces the motor torque ripple.
  • the use of SVM modulation makes the DC bus voltage utilization rate more efficient.
  • the inverter unit completes the function of converting direct current to alternating current.
  • the direct current is transformed into sinusoidal alternating current through SVM modulation technology, which facilitates the realization of modulation and DC-to-AC inversion.
  • the current sampling unit uses three resistors for three-phase current sampling, and the current sampling unit samples the motor three-phase currents I a , I b , I c in the three-phase middle or lower bridge arms, Three-phase synchronous sampling, and a low-pass filter is provided in the current sampling unit.
  • the current sampling unit samples the motor three-phase currents I a , I b , I c in the three-phase middle or lower bridge arms.
  • Three-phase synchronous sampling and a low-pass filter is provided in the current sampling unit.
  • the current processing unit includes a current adaptation module and a current reconstruction module, and the input end of the current adaptation module is connected with the current sampling unit to obtain a three-phase sampling current and perform automatic gain calibration,
  • the input terminal of the current reconstruction module is connected with the current sampling unit to reconstruct the phase current when the duty cycle is too large to be accurately sampled.
  • the current reconstruction module can be easily implemented
  • the reconstruction processing of the lack of phase current is realized, and the current sampling and monitoring is realized during the entire motor operation process, which solves the current bias problem caused by the difference of the three-phase current sampling device during the operation process, and the three-phase current is obtained.
  • the reliability of the current is higher.
  • the current reconstruction module adopts a three-phase current sum equal to zero method to reconstruct one of the phase currents that is not accurately sampled. Can easily realize the lack of phase current reconstruction.
  • a protection method for locked-rotor and phase-loss protection of permanent magnet synchronous motors includes the following steps:
  • the current sampling unit samples the three-phase currents I a , I b , and I c and performs low-pass filter processing
  • the current processing unit processes the filtered sampled current, and then executes steps 3) and 4) at the same time;
  • the locked rotor and phase loss protection unit implements a fast protection method that uses a threshold protection of three-phase current and two-two unbalance degree, and then executes step 5);
  • the locked rotor and phase loss protection unit implements the slow protection method using the combination of speed and voltage vector observation, and then executes step 6);
  • step 7 When the motor is blocked or phase loss occurs, execute step 7), otherwise return to step 1);
  • Locked rotor and phase loss protection unit performs slow protection judgment. When the motor is blocked but not blocked, perform step 7), otherwise return to step 1);
  • This method conveniently realizes the lock-rotor and phase loss protection.
  • the safety of the motor can be effectively improved.
  • Locked rotor and phase loss protection during operation can be easily applied to surface-mount permanent magnet synchronous motors and embedded permanent magnet synchronous motors, forming a highly reliable self-integrated safety code system, which is perfect for products and complete machines.
  • the safety certification provides convenience.
  • step 1) the current sampling unit samples and filters the three-phase currents to obtain the three-phase sampling currents I a1 , I b1 , and I c1 under each direct current, and then compare I a1 , I b1 , and I c1 Perform offset calibration processing to make the current ratios K 1 and K 2 approximately equal to 1. Then, during operation, the current sampling unit samples and filters the currents I a , I b and I c to obtain the currents I a, I b, and I c and then sends them to the current processing unit; step 2) When the duty cycle Duty does not reach the critical value, compare K 1 and K 2 with the preset comparison value K COMP .
  • the rapid protection method includes the following steps:
  • the threshold protection of the three-phase current two-two unbalance degree By adopting the threshold protection of the three-phase current two-two unbalance degree, it has the motor phase loss protection function, which can realize the motor's lack of phase protection within a few electric cycles. If the three-phase current two-two unbalance degree is established, and within the specified time If a certain percentage is reached, the lack of phase protection is considered to be established, and the motor will stop immediately.
  • the slow protection method includes the following steps:
  • the drive board and the CPU board are perpendicular to each other. It can fully save the space of the controller, reduce the size of the controller end cover, and reduce the cost.
  • the bus inductance is arranged in the inner groove of the controller end cover, the bus inductance is attached to the inner end surface of the controller end cover at the bottom of the inner groove through silica gel, and the power drive module is connected to the controller end.
  • the smooth planes of the inner end surfaces of the cover are attached to each other, and the outer surface of the controller end cover is arranged with heat dissipation ribs.
  • the outlet terminal includes three types of power cord, signal wire and communication line, and each outlet is independent. By separating the three types of cables, signal interference between different types of wiring harnesses can be effectively avoided.
  • Figure 1 is a schematic diagram of the 3D blasting structure of the present invention.
  • FIG. 2 is a schematic diagram of the module connection of the present invention.
  • Fig. 3 is a schematic diagram of the PCBA board of the present invention.
  • Fig. 4 is a schematic flow chart of the locked rotor and defect protection method of the present invention.
  • Fig. 5 is a schematic diagram of the fast protection method of the present invention.
  • Fig. 6 is a schematic diagram of the slow protection method of the present invention.
  • Figure 7 is a schematic diagram of the three-phase motor current waveform under the condition of motor phase loss.
  • Figure 8 is a schematic diagram of the three-phase motor current waveform when the motor is locked.
  • a locked-rotor and phase-loss protection permanent magnet synchronous motor includes a motor part and a control system part.
  • the motor part includes a shaft end cover 1, a rotor 2 and a stator 3, and the control system part includes a controller 4 , Controller end cover 5, outlet terminal 6 and wiring cover 7.
  • Controller 4 includes drive board 8, CPU board 9, bus capacitor 10, bus inductor 11 and power drive module 12, on the drive board 8 and/or CPU board 9.
  • the unit 402 is connected, the coordinate transformation unit 402 is connected with the SVM modulation inverter unit 403, the current processing unit 405, and the stall and phase loss protection unit 406.
  • the SVM modulation inverter unit 403 is connected with the main control unit 401 and the three-phase motor, and current sampling The input end of the unit 404 is connected to the three-phase motor, the output end of the current sampling unit 404 is connected to the current processing unit 405, the locked rotor and phase loss protection unit 406 is connected to the alarm shutdown unit 407, and the locked rotor and phase loss protection unit 406 is based on Speed and voltage vector observation combination protection and two protection combinations based on the threshold protection of the two-two unbalance degree of the three-phase current.
  • the main control unit 401 includes a speed loop 40101, a current flux controller 40102 that realizes V ⁇ calculation through the control of d-axis flux linkage and q-axis current, and a motor through V ⁇
  • the model equation realizes the observer 40103 for controlling parameter estimation, the speed loop 40101 and the current flux controller 40102 are connected to the current flux controller 40102, and the current flux controller 40102 is connected to the coordinate transformation unit 402.
  • the current flux controller 40102 realizes the calculation of V ⁇ through the control of the d-axis flux linkage and the q-axis current, and the observer 40103 realizes the estimation of control parameters through the motor model equation of V ⁇ , which can easily realize the speed data, V ⁇ calculation and calculation. Control parameter estimation.
  • the coordinate transformation unit 402 includes an inverse coordinate transformation module 40201 that transforms from ⁇ to a 2/3 coordinate of abc and a forward coordinate transformation module 40202 that transforms from abc to a 3/2 coordinate of ⁇ ,
  • the input end of the reverse coordinate transformation module 40201 is connected to the current flux controller 40102
  • the output end of the reverse coordinate transformation module 40201 is connected to the SVM modulation inverter unit 403
  • the input end of the forward coordinate transformation module 40202 is connected to the current processing unit 405
  • the output end of the forward coordinate transformation module 40202 is connected with the observer 40103, the current flux controller 40102, and the locked rotor and phase loss protection unit 406. It can easily realize reverse coordinate transformation and forward coordinate transformation.
  • the SVM modulation inverter unit 403 includes an SVM modulation module 40301 and an inverter module 40302.
  • the SVM modulation module 40301 is connected to the inverter module 40302, and the SVM modulation module 40301 is connected through the voltage reconstruction module 408
  • the inverter module 40302 is connected to the current flux controller 40102 and the motor in three phases.
  • SVM is a voltage vector that generates a spatially rotating magnetic field vector through pulse width modulation, so that the motor obtains an ideal circular rotating magnetic field, and reduces the motor torque ripple.
  • the use of SVM modulation makes the DC bus voltage utilization rate more efficient.
  • the inverter unit completes the function of converting direct current to alternating current.
  • the direct current is transformed into sinusoidal alternating current through SVM modulation technology, which facilitates the realization of modulation and DC-to-AC inversion.
  • the current sampling unit 404 uses three resistors for three-phase current sampling.
  • the current sampling unit 404 samples the three-phase currents I a , I b , I c of the motor on the three-phase lower arm, and the three-phase synchronous sampling is performed by the current sampling unit.
  • a low-pass filter is provided in 404.
  • the current processing unit 405 includes a current adaptation module and a current reconstruction module.
  • the input end of the current adaptation module is connected to the current sampling unit 404 to obtain the three-phase sampling current and perform automatic gain calibration.
  • the input terminal of the reconstruction module is connected to the current sampling unit 404 to reconstruct this phase current when the duty cycle is too large to accurately sample.
  • the current reconstruction module uses the three-phase The method that the sum of current is equal to zero obtains the current of this phase, which facilitates the current processing.
  • the current reconstruction module adopts the method of three-phase current and equal to zero to reconstruct one of the phase currents that is not accurately sampled. Can easily realize the lack of phase current reconstruction.
  • a protection method for locked-rotor and phase-loss protection of a permanent magnet synchronous motor includes the following steps:
  • the current sampling unit 404 samples the three-phase currents I a , I b , and I c and performs low-pass filtering processing
  • the current processing unit 405 processes the filtered sampled current, and then performs steps 3 and 4 at the same time;
  • the locked rotor and phase loss protection unit 406 executes a fast protection method using a threshold protection of two-two unbalance degree of three-phase current, and then executes step 5;
  • the locked rotor and phase loss protection unit 406 executes the slow protection method using the combination of speed and voltage vector observation, and then executes step 6;
  • Locked rotor and phase loss protection unit 406 performs fast protection judgment. When the motor is blocked or phase loss occurs, execute step 7; otherwise, return to step 1;
  • the locked rotor and phase loss protection unit 406 performs the slow protection judgment. When the motor is blocked but not blocked, execute step 7; otherwise, return to step 1;
  • Alarm shutdown unit 407 shutdown protection and alarm.
  • step 1 the system is fed with three direct currents I 1 , I 2 , and I 3 , and the current sampling unit 404 samples and filters to obtain the three-phase sampling currents I a1 , I b1 , I c1 , and then perform offset calibration processing on I a1 , I b1 , and I c1 to make the current ratios K 1 and K 2 approximately equal to 1. Then, during operation, the current sampling unit 404 samples and filters the currents I a , I b and I c are then sent to the current processing unit 405.
  • step 2 when the duty cycle Duty does not reach the critical value, this example takes Duty ⁇ 98% as an example, and compares K 1 and K 2 with the preset comparison value K Compared with COMP , this example takes the value of K COMP as 3%. Different values can also be set according to the system accuracy requirements.
  • the fast protection method includes the following steps:
  • the fast protection needs to be executed immediately, and the fast protection Flag flag is set to 1.
  • the threshold protection of the three-phase current two-two unbalance degree By adopting the threshold protection of the three-phase current two-two unbalance degree, it has the motor phase loss protection function, which can realize the motor's lack of phase protection within a few electric cycles. If the three-phase current two-two unbalance degree is established, and within the specified time If a certain percentage is reached, the lack of phase protection is considered to be established, and the motor will stop immediately.
  • the slow protection method includes the following steps:
  • the drive board and the CPU board are perpendicular to each other.
  • the space of the controller 4 can be fully saved, the size of the controller end cover 5 can be reduced, and the cost can be reduced.
  • the bus inductor is arranged in the inner groove of the controller end cover 5.
  • the bus inductor is attached to the inner end surface of the controller end cover 5 at the bottom of the inner groove through silica gel, and the power drive module is connected to the controller end cover 5.
  • the smooth planes of the inner end faces are close to each other, and the outer surface of the end cover 5 of the controller is arranged with heat dissipation ribs.
  • the outlet terminal 6 includes three types of power cords, signal wires, and communication wires, each of which has independent outlets. By separating the three types of cables, signal interference between different types of wiring harnesses can be effectively avoided.
  • Figure 7 shows the current waveform of a three-phase motor under the condition of phase loss.
  • This method conveniently realizes the lock-rotor and phase loss protection.
  • the safety of the motor can be effectively improved.
  • Locked rotor and phase loss protection during operation can be easily applied to surface-mount permanent magnet synchronous motors and embedded permanent magnet synchronous motors, forming a highly reliable self-integrated safety code system, which is perfect for products and complete machines.
  • the safety certification provides convenience.
  • the observer 40103 adopts a flux observer, or a traditional synovial observer, or a reactive observer instead.
  • the current sampling can also use the middle bridge arm instead of the lower bridge arm sampling.

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  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

现有的ECM电机控制系统大多采用热保护器和传统的观测器方式，采用热保护器会带来成本的增加，采用传统的观测器方式，存在观测器在电机参数异常条件下，存在保护不及时的情况。因此提出一种堵转和缺相保护永磁同步电机及其保护方法，涉及电机领域；其中电机的控制器（4）包括主控制单元（401）、坐标变换单元（402）、SVM调制逆变单元（403）、电流采样单元（404）、电流处理单元（405）、堵转和缺相保护单元（406）、报警停机单元（407），通过主控制单元（401）和电流采样单元（404）实时采样三相电流和转子速度，经不同的单元模块处理后，通过堵转和缺相保护单元（406）的快速和慢速两种方法的分析计算，在出现堵转和缺相情况时，使报警停机单元（407）实现停机报警，可以及时进行电机堵转和缺相保护，提高电机的安全性。

Description

一种堵转和缺相保护永磁同步电机及其保护方法 技术领域
本发明涉及电机领域，尤其涉及一种堵转和缺相保护永磁同步电机及其保护方法。
背景技术
随着人民生活水平的不断提高，对家电通风和暖通领域产品如空调等的技术要求如节能环保、智能化、噪音小等也日趋严格，行业竞争激烈，而传统的采用热保护器装置，无法有效及时进行电机堵转和缺相保护，存在失火安全隐患，因此要解决上述问题无疑成为技术关键所在。
在暖通行业内，一般称通过电子换相实现直流无刷电机BLDC或永磁同步电机PMSM控制的系统为ECM电机控制系统。ECM电机控制系统较多地应用于通风、壁挂炉等系统中，根据客户国内外安全需求
采用热保护器会带来成本的增加；采用传统的观测器方式，存在观测器在电机参数异常条件下，存在保护不及时的情况。甚至需要多重保护，才能够保证绝对安全。
因此，设计一种永磁同步电机堵转和缺相新型保护方法和装置是必要的。
发明内容
本发明要解决的技术问题和提出的技术任务是对现有技术方案进行完善与改进，提供一种堵转和缺相保护永磁同步电机及其保护方法，以及时进行电机堵转和缺相保护，提高电机的安全性为目的。为此，本发明采取以下技术方案。
一种堵转和缺相保护永磁同步电机，包括电机部分和控制系统部分，所述的电机部分包括轴端盖、转子和定子，所述的控制系统部分包括控制器、控制器端盖、出线端子和接线盖，所述的控制器(4)包括驱动板(8)、CPU板(9)、母线电容(10)、母线电感(11)和功率驱动模块(12)，所述的驱动板(8)和/或CPU板(9)上设有主控制单元、坐标变换单元、SVM调制逆变单元、电流采样单元、电流处理单元、堵转和缺相保护单元、报警停机单元，所述的主控制单元与坐标变换单元连接，所述的坐标变换单元与SVM调制逆变单元、电流处理单元和堵转和缺相保护单元连接，所述的SVM调制逆变单元与主控制单元和电机三相连接，所述的电流采样单元的输入端与电机三相连接，电流采样单元的输出端与电流处理单元连接，所述的堵转和缺相保护单元与报警停机单元连接，所述的堵转和缺相保护单元同时基于速度和电压矢量观测组合保护及基于三相电流二二不平衡度的阈值保护的两种保护组合。通过主控制单元和电流采样单元实时采样三相电流和转子速度，通过对电机电压和电流信号的采集和处理，再通过堵转和缺相保护单元采用两种保护组合的保护执行，能够在几个电周期内实现电机的缺相保护，在出现堵转和缺相情况时，使报警停机单元实现停机报警，可以及时迅速地进行电机堵转和缺相保护，形成具有高可靠性的自集成安全代码体系，提高电机的安全性。
作为优选技术手段：所述主控制单元包括速度环、通过d轴磁链和q轴电流的控制 实现V αβ计算的电流磁链控制器和通过V αβ的电机模型方程实现控制参数估算的观测器，所述的速度环和电流磁链控制器连接到电流磁链控制器，所述的电流磁链控制器连接到坐标变换单元。电流磁链控制器通过d轴磁链和q轴电流的控制实现V αβ的计算，观测器通过V αβ的电机模型方程实现控制参数的估算，可方便地实现转速数据、V αβ计算和控制参数估算。
作为优选技术手段：所述的坐标变换单元包括由αβ向abc的2/3坐标变换的逆向坐标变换模块和由abc向αβ的3/2坐标变换的正向坐标变换模块，所述的逆向坐标变换模块的输入端与电流磁链控制器连接，逆向坐标变换模块的输出端连接到SVM调制逆变单元，所述的正向坐标变换模块的输入端与电流处理单元连接，所述的正向坐标变换模块的输出端与观测器、电流磁链控制器及堵转和缺相保护单元连接，坐标变换采用等功率或等幅值变换。可方便地实现逆向坐标变换和正向坐标变换。
作为优选技术手段：所述的SVM调制逆变单元包括SVM调制模块和逆变模块，SVM调制模块与逆变模块连接，并且SVM调制模块通过电压重构模块连接到观测器，所述的逆变模块与电流磁链控制器及电机三相连接。SVM是电压矢量通过脉宽调制产生空间旋转的磁场矢量，使电机获得理想圆形旋转磁场，使电机转矩脉动降低，相比普通的PWM脉宽调制，使用SVM调制使直流母线电压利用率有所提升，增加系统效率，逆变单元完成由直流电转换为交流电的功能，直流电通过SVM调制技术变成正弦交流电，方便地实现调制与直流转交流逆变。
作为优选技术手段：所述的电流采样单元采用三电阻进行三相电流采样，所述的电流采样单元在三相中桥臂或下桥臂采样电机三相电流I a、I b、I c，三相同步采样，所述的电流采样单元中设有低通滤波器。当三电阻采样时，可直接通过采样三电流后计算它们之间的比值就可获得三相电流不平衡度，相比于两相或单相采样需要进行电流重构来得出未采样相电流值更直接方便，三相同步采样，采样三相电流I a、I b、I c时需要保证电流的实时性，然后将I a、I b、I c通过低通滤波器进行滤波处理以去除毛刺得到平滑的电流值，可方便实现电流采样，得到平滑的电流值。
作为优选技术手段：所述的电流处理单元包括电流自适应模块和电流重构模块，所述的电流自适应模块的输入端与电流采样单元相连接以得到三相采样电流并进行增益自动校准，所述的电流重构模块的输入端与电流采样单元相连接以在占空比大到无法精确采样时重构出此相电流。将滤波处理后的三相电流I a、I b、I c送至电流自适应模块进行增益自动校准，在占空比大到无法精确采样其中某一相电流时，电流重构模块方便地实现了缺相电流的重构处理，同时在整个电机运行过程中实现了电流采样监视，解决了运行过程中因三相电流采样器件有差异等问题时而产生的电流偏置问题，使得到的三相电流的可靠性更高。
作为优选技术手段：所述的电流重构模块采用三相电流和等于零的方法重构出未精确采样的其中一相电流。可方便地实现缺相电流重构。
一种堵转和缺相保护永磁同步电机的保护方法，包括以下步骤：
1)电流采样单元采样三相电流I a，I b，I c并进行低通滤波处理；
2)电流处理单元对滤波后的采样电流进行处理，然后同时执行步骤3)和4)；
3)堵转和缺相保护单元执行采用三相电流二二不平衡度的阈值保护的快速保护方法，然后执行步骤5)；
4)堵转和缺相保护单元执行采用速度和电压矢量观测组合的慢速保护方法，然后执行步骤6)；
5)堵转和缺相保护单元进行快速保护判断，当电机堵死或发生缺相时，执行步骤7)，否则返回步骤1)；
6)堵转和缺相保护单元进行慢速保护判断，当电机堵住但没有被堵死时，执行步骤7)，否则返回步骤1)；
7)报警停机单元停机保护和报警。
本方法方便地实现了堵转和缺相保护，通过采用两种保护方法的并行组合处理，可有效地提升电机的安全性，不仅适合于启动过程中，出现堵转和缺相保护，也适合于运行过程中出现的堵转和缺相保护，可方便应用于表贴式永磁同步电机和内嵌式永磁同步电机，形成具有高可靠性的自集成安全代码体系，为产品和整机的安全认证提供方便。
作为优选技术手段：步骤1)中，电流采样单元对三相电流采样并滤波，得到每个直流电下的三相采样电流I a1、I b1、I c1，然后对I a1、I b1、I c1进行偏置校准处理，使电流比值K 1、K 2近似等于1，之后在运行过程中，电流采样单元采样并滤波得到电流I a、I b、I c然后送至电流处理单元；步骤2)中，当占空比Duty未达到临界值时，将K 1、K 2与预设的比较值K COMP相比，当K 1、K 2中至少有一个值大于K COMP，确定I b、I c中至少有一相电流值有偏置，使I b *＝I b/K 1、I c *＝I c/K 2，其中I b *、I c *用于电机控制；当占空比大于临界值时，电流采样单元采样的三相电流的某一相会无法精确采样，此时利用三相电流和等于零得出此相电流值。
作为优选技术手段：步骤3)中，所述的快速保护方法包括以下步骤：
3.1)计算三相电流I a，I b，I c两两之间的比值K 11，K 12，K 13；其中，K 11＝I a1/I b1、K 12＝I c1/I b1；K 13＝I a1/I c1；
3.2)判断K 11，K 12，K 13是否有一个值超过预设的比较值K comp，其中，K comp为一常数值，一般地，K COMP选择1.5左右，如果K 11，K 12，K 13有一个值超过比较值K comp，执行下一步，否则返回步骤3.1)；
3.3)开始计时T 1；
3.4)判断计时时间T 1是否超过阈值时间T time1，T time1选取一般根据电机的时常数，T time1＝L/R，L为电机的相电感，R为电机相电阻。如果T 1＞T time1，则执行下一步，否则返回步骤3.1)；
3.5)需立即执行快速保护，快速保护Flag标志置1。
通过采用三相电流二二不平衡度的阈值保护，具有电机缺相保护功能，能够在几个电周期内实现电机的缺相保护，如果三相电流二二不平衡度成立，且在规定时间内达到一定的比例，就认为缺相保护成立，电机会立即停机。
作为优选技术手段：步骤4)中，所述的慢速保护方法包括以下步骤：
4.1)接收处理后的三相采样电流I a，I b，I c，计算三相电压输出V a，V b，V c；
4.2)计算获取的输出电压矢量复制V s；
4.3)通过磁链观测器获取转子速度Wr；
4.4)判断指令速度W com是否大于转子速度Wr，如果(Wr-W com)＜W temp1并且Wr＜W temp2，其中，W temp1和W temp2为常数值，一般选取系统要求的最低速度。则执行下一步，否则返回步骤4.1)；
4.5)判断电压矢量幅值Vs是否满足Vs＜V temp，其中，V temp为常数值，根据欧姆定律，V＝3/2*I*R，V一般选取不超过50；其中I为启动电流，R为电机相电阻；如果满足，则执行下一步，否则返回步骤4.1)；
4.6)开始计时T 2；
4.7)判断计时时间T 2是否超过阈值时间T time2，其中，T time2为常数值，一般选取电机能够承受堵转电流的最短时间。如果T 2＞T time2，则执行下一步，否则返回步骤4.1)；
4.8)需立即执行慢速保护，慢速保护Flag标志置1。
通过采用速度和电压矢量观测的组合保护，即使在电机参数变化较大，观测器获取的速度存在一定误差的条件下，仍能够准确获取电机堵转的信息，进行有效防护。
作为优选技术手段：所述的驱动板和CPU板互相垂直。可以充分节省控制器的空间，减小控制器端盖的尺寸，降低成本。
作为优选技术手段：所述的母线电感设于控制器端盖的内槽中，母线电感通过硅胶与内槽槽底的控制器端盖内端面相贴，所述的功率驱动模块与控制器端盖内端面的光滑平面相贴，所述的控制器端盖的外表布置有散热筋。两大功率型器件均可通过与控制器端盖的面接触实现有效快速散热，散热筋的设置使散热效果更好。
作为优选技术手段：所述的出线端子包括电源线、信号线和通讯线三个类型，且各自独立出线。通过把三种线缆分立，可有效避免不同种类线束之间的信号干扰。
有益效果：在出现堵转和缺相情况时，实现停机报警，可以及时迅速地进行电机堵转和缺相保护，提高电机的安全性，不仅适合于启动过程中，出现堵转和缺相保护，也适合于运行过程中出现的堵转和缺相保护，可方便应用于表贴式永磁同步电机和内嵌式永磁同步电机，形成具有高可靠性的自集成安全代码体系，为产品和整机的安全认证提供方便。
附图说明
图1是本发明3D爆破结构示意图。
图2是本发明模块连接示意图。
图3是本发明PCBA板示意图。
图4是本发明堵转和缺陷保护方法流程示意图。
图5是本发明快速保护方法示意图。
图6是本发明慢速保护方法示意图。
图7是电机缺相条件下的三相电机电流波形示意图。
图8是电机发生堵转时的三相电机电流波形示意图。
图中：1-轴端盖；2-转子；3-定子；4-控制器；5-控制器端盖；6-出线端子；7-接线盖；401-主控制单元；402-坐标变换单元；403-SVM调制逆变单元；404-电流采样单元；405-电流处理单元；406-堵转和缺相保护单元；407-报警停机单元；408-电压重构模块；40101-速度环；40102-电流磁链控制器；40103-观测器；40201-逆向坐标变换模块；40202-正向坐标变换模块；40301-SVM调制模块；40302-逆变模块；8-驱动板；9-CPU板；10-母线电容；11-母线电感；12-功率驱动模块。
具体实施方式
以下结合说明书附图对本发明的技术方案做进一步的详细说明。
如图1-3所示，一种堵转和缺相保护永磁同步电机，包括电机部分和控制系统部分，电机部分包括轴端盖1、转子2和定子3，控制系统部分包括控制器4、控制器端盖5、出线端子6和接线盖7，控制器4包括驱动板8、CPU板9、母线电容10、母线电感11和功率驱动模块12，驱动板8和/或CPU板9上设有主控制单元401、坐标变换单元402、SVM调制逆变单元403、电流采样单元404、电流处理单元405、堵转和缺相保护单元406、报警停机单元407，主控制单元401与坐标变换单元402连接，坐标变换单元402与SVM调制逆变单元403、电流处理单元405和堵转和缺相保护单元406连接，SVM调制逆变单元403与主控制单元401和电机三相连接，电流采样单元404的输入端与电机三相连接，电流采样单元404的输出端与电流处理单元405连接，堵转和缺相保护单元406与报警停机单元407连接，堵转和缺相保护单元406同时基于速度和电压矢量观测组合保护及基于三相电流二二不平衡度的阈值保护的两种保护组合。
为了实现转速数据、V αβ计算和控制参数估算，主控制单元401包括速度环40101、通过d轴磁链和q轴电流的控制实现V αβ计算的电流磁链控制器40102和通过V αβ的电机模型方程实现控制参数估算的观测器40103，速度环40101和电流磁链控制器40102连接到电流磁链控制器40102，电流磁链控制器40102连接到坐标变换单元402。电流磁链控制器40102通过d轴磁链和q轴电流的控制实现V αβ的计算，观测器40103通过V αβ的电机模型方程实现控制参数的估算，可方便地实现转速数据、V αβ计算和控制参数估算。
为了实现逆向坐标变换和正向坐标变换，坐标变换单元402包括由αβ向abc的2/3坐标变换的逆向坐标变换模块40201和由abc向αβ的3/2坐标变换的正向坐标变换模块40202，逆向坐标变换模块40201的输入端与电流磁链控制器40102连接，逆向坐标变换模块40201的输出端连接到SVM调制逆变单元403，正向坐标变换模块40202的输入端与电流处理单元405连接，正向坐标变换模块40202的输出端与观测器40103、电流磁链控制器40102及堵转和缺相保护单元406连接。可方便地实现逆向坐标变换和正向坐标变换。
为了实现调制与直流转交流逆变，SVM调制逆变单元403包括SVM调制模块40301和逆变模块40302，SVM调制模块40301与逆变模块40302连接，并且SVM调制模块40301通过电压重构模块408连接到观测器40103，逆变模块40302与电流磁链控制器40102及电机三相连接。SVM是电压矢量通过脉宽调制产生空间旋转的磁场矢量，使电机获得理想圆形旋转磁场，使电机转矩脉动降低，相比普通的PWM脉宽调制，使用SVM调制使直流母线电压利用率有所提升，增加系统效率，逆变单元完成由直流电转换为交流电的功能，直流电通过SVM调制技术变成正弦交流电，方便地实现调制与直流转交流逆变。
为了有效实现采样，电流采样单元404采用三电阻进行三相电流采样，电流采样单元404在三相下桥臂采样电机三相电流I a、I b、I c，三相同步采样，电流采样单元404中设有低通滤波器。当三电阻采样时，可直接通过采样三电流后计算它们之间的比值就可获得三相电流不平衡度，相比于两相或单相采样需要进行电流重构来得出未采样相电流值更直接方便，三相同步采样，采样三相电流I a、I b、I c时需要保证电流的实时性，然后将I a、I b、I c通过低通滤波器进行滤波处理以去除毛刺得到平滑的电流值，可方便实现电流采样，得到平滑的电流值。
为了方便地实现了电流处理，电流处理单元405包括电流自适应模块和电流重构模块，电流自适应模块的输入端与电流采样单元404相连接以得到三相采样电流并进行增益自动校准，电流重构模块的输入端与电流采样单元404相连接以在占空比大到无法精确采样时重构出此相电流。将滤波处理后的三相电流I a、I b、I c送至电流自适应模块进行增益自动校准，在占空比大到无法精确采样其中某一相电流时，电流重构模块利用三相电流和等于零的方法得出此相电流，方便地实现了电流处理。
为了实现缺相电流重构，电流重构模块采用三相电流和等于零的方法重构出未精确采样的其中一相电流。可方便地实现缺相电流重构。
如图4所示，一种堵转和缺相保护永磁同步电机的保护方法，其过程包括以下步骤：
1、电流采样单元404采样三相电流I a，I b，I c并进行低通滤波处理；
2、电流处理单元405对滤波后的采样电流进行处理，然后同时执行步骤3和4；
3、堵转和缺相保护单元406执行采用三相电流二二不平衡度的阈值保护的快速保护方法，然后执行步骤5；
4、堵转和缺相保护单元406执行采用速度和电压矢量观测组合的慢速保护方法，然后执行步骤6；
5、堵转和缺相保护单元406进行快速保护判断，当电机堵死或发生缺相时，执行步骤7，否则返回步骤1；
6、堵转和缺相保护单元406进行慢速保护判断，当电机堵住但没有被堵死时，执行步骤7，否则返回步骤1；
7、报警停机单元407停机保护和报警。
为了实现电流采样和处理，步骤1中，系统通入三个直流电I 1、I 2、I 3，电流采样单元404采样并滤波，得到每个直流电下的三相采样电流I a1、I b1、I c1，然后对I a1、I b1、I c1进行偏置校准处理，使电流比值K 1、K 2近似等于1，之后在运行过程中，电流采样单元404采样并滤波得到电流I a、I b、I c然后送至电流处理单元405，步骤2中，当占空比Duty未达到临界值时，本实例以Duty＜98％为例，将K 1、K 2与预设的比较值K COMP相比，本实例以设置K COMP的值为3％为例，也可根据系统精度要求设置不同的值，如果K 1、K 2中至少有一个值大于K COMP，则说明I b、I c中至少有一相电流值有偏置，则使I b *＝I b/K 1、I c *＝I c/K 2，其中I b *、I c *用于电机控制；当占空比Duty大于临界值时，以Duty≥98％为例，电流采样单元404采样的三相电流的某一相会无法精确采样，此时利用三相电流和等于零得出此相电流值。可有效实现电流采样和处理。
为了实现快速保护方法，如图5所示，步骤3中，快速保护方法包括以下步骤：
3.1、计算三相电流I a，I b，I c两两之间的比值K 11，K 12，K 13；其中，K 11＝I a1/I b1、K 12＝I c1/I b1；K 13＝I a1/I c1；
3.2、判断K 11，K 12，K 13是否有一个值超过预设的比较值K comp，其中，K comp为一常数值，一般地，K COMP选择1.5左右，如果K 11，K 12，K 13有一个值超过比较值K comp，执行下一步，否则返回步骤3.1；
3.3、开始计时T 1；
3.4、判断计时时间T 1是否超过阈值时间T time1，T time1选取一般根据电机的时常数，T time1＝L/R，L为电机的相电感，R为电机相电阻。如果T 1＞T time1，则执行下一步，否则返回步骤 3.1；
3.5、需立即执行快速保护，快速保护Flag标志置1。
通过采用三相电流二二不平衡度的阈值保护，具有电机缺相保护功能，能够在几个电周期内实现电机的缺相保护，如果三相电流二二不平衡度成立，且在规定时间内达到一定的比例，就认为缺相保护成立，电机会立即停机。
为了实现慢速保护方法，如图6所示，步骤4中，慢速保护方法包括以下步骤：
4.1、接收处理后的三相采样电流I a，I b，I c，计算三相电压输出V a，V b，V c；
4.2、计算获取的输出电压矢量复制V s；
4.3、通过磁链观测器获取转子速度Wr；
4.4、判断指令速度W com是否大于转子速度Wr，如果(Wr-W com)＜W temp1并且Wr＜W temp2，其中，W temp1和W temp2为常数值，一般选取系统要求的最低速度。则执行下一步，否则返回步骤4.1；
4.5、判断电压矢量幅值Vs是否满足Vs＜V temp，其中，Vtemp为常数值，根据欧姆定律，V＝3/2*I*R，(式中，I为启动电流，R为电机相电阻)；一般选取不超过50。如果满足，则执行下一步，否则返回步骤4.1；
4.6、开始计时T 2；
4.7、判断计时时间T 2是否超过阈值时间T time2，其中，T time2为常数值，一般选取电机能够承受堵转电流的最短时间。如果T 2＞T time2，则执行下一步，否则返回步骤4.1；
4.8、需立即执行慢速保护，慢速保护Flag标志置1。
通过采用速度和电压矢量观测的组合保护，即使在电机参数变化较大，观测器获取的速度存在一定误差的条件下，仍能够准确获取电机堵转的信息，进行有效防护。
为了充分节省控制器4的空间，驱动板和CPU板互相垂直。可以充分节省控制器4的空间，减小控制器端盖5的尺寸，降低成本。
为了实现快速有效地散热，母线电感设于控制器端盖5的内槽中，母线电感通过硅胶与内槽槽底的控制器端盖5内端面相贴，功率驱动模块与控制器端盖5内端面的光滑平面相贴，控制器端盖5的外表布置有散热筋。两大功率型器件均可通过与控制器端盖5的面接触实现有效快速散热，散热筋的设置使散热效果更好。
为了避免不同种类线束之间的信号干扰，出线端子6包括电源线、信号线和通讯线三个类型，且各自独立出线。通过把三种线缆分立，可有效避免不同种类线束之间的信号干扰。
如图7所示为缺相条件下的三相电机电流波形，在运行过程中发生电机某一相缺相，电机不会立即停机，缺相绕组电流为0，不缺相电流相对于缺相发生前，电机电流会变大，此时如果不能及时保护，存在一定的失火风险隐患，通过实施采用快速保护方法和慢速保护方法组合的堵转和缺相保护方法，可以有效保护电机缺相故障，实现快速停机保护，在有效的几个电周期，保护停机。
如图8所示，为电机运行过程中，发生堵转时的三相电机电流波形，可以看出在运行过程中发生堵转，通过实施采用快速保护方法和慢速保护方法组合的堵转和缺相保护方法，可以有效保护电机堵转故障，安全可靠，及时有效。
本方法方便地实现了堵转和缺相保护，通过采用两种保护方法的并行组合处理， 可有效地提升电机的安全性，不仅适合于启动过程中，出现堵转和缺相保护，也适合于运行过程中出现的堵转和缺相保护，可方便应用于表贴式永磁同步电机和内嵌式永磁同步电机，形成具有高可靠性的自集成安全代码体系，为产品和整机的安全认证提供方便。
本实例中，观测器40103采用磁链观测器，也可以采用传统滑膜观测器，或者采用无功观测器代替。
本实例中，电流采样也可以采用中桥臂代替下桥臂采样。
以上图1-6所示的一种堵转和缺相保护永磁同步电机及其保护方法是本发明的具体实施例，已经体现出本发明突出的实质性特点和显著进步，可根据实际的使用需要，在本发明的启示下，对其进行形状、结构等方面的等同修改，均在本方案的保护范围之列。

Claims (10)

  1. 一种堵转和缺相保护永磁同步电机，包括电机部分和控制系统部分，所述的电机部分包括轴端盖(1)、转子(2)和定子(3)，所述的控制系统部分包括控制器(4)、控制器端盖(5)、出线端子(6)和接线盖(7)，所述的控制器(4)包括驱动板(8)、CPU板(9)、母线电容(10)、母线电感(11)和功率驱动模块(12)，其特征在于：所述的驱动板(8)和/或CPU板(9)上设有主控制单元(401)、坐标变换单元(402)、SVM调制逆变单元(403)、电流采样单元(404)、电流处理单元(405)、堵转和缺相保护单元(406)、报警停机单元(407)，所述的主控制单元(401)与坐标变换单元(402)连接，所述的坐标变换单元(402)与SVM调制逆变单元(403)、电流处理单元(405)和堵转和缺相保护单元(406)连接，所述的SVM调制逆变单元(403)与主控制单元(401)和电机三相连接，所述的电流采样单元(404)的输入端与电机三相连接，电流采样单元(404)的输出端与电流处理单元(405)连接，所述的堵转和缺相保护单元(406)与报警停机单元(407)连接，所述的堵转和缺相保护单元(406)同时基于速度和电压矢量观测组合保护及基于三相电流二二不平衡度的阈值保护的两种保护组合。
  2. 根据权利要求1所述的一种堵转和缺相保护永磁同步电机，其特征在于：所述主控制单元(401)包括速度环(40101)、通过d轴磁链和q轴电流的控制实现V αβ计算的电流磁链控制器(40102)和通过V αβ的电机模型方程实现控制参数估算的观测器(40103)，所述的速度环(40101)和电流磁链控制器(40102)连接到电流磁链控制器(40102)，所述的电流磁链控制器(40102)连接到坐标变换单元(402)。
  3. 根据权利要求2所述的一种堵转和缺相保护永磁同步电机，其特征在于：所述的坐标变换单元(402)包括由αβ向abc的2/3坐标变换的逆向坐标变换模块(40201)和由abc向αβ的3/2坐标变换的正向坐标变换模块(40202)，所述的逆向坐标变换模块(40201)的输入端与电流磁链控制器(40102)连接，逆向坐标变换模块(40201)的输出端连接到SVM调制逆变单元(403)，所述的正向坐标变换模块(40202)的输入端与电流处理单元(405)连接，所述的正向坐标变换模块(40202)的输出端与观测器(40103)、电流磁链控制器(40102)及堵转和缺相保护单元(406)连接。
  4. 根据权利要求3所述的一种堵转和缺相保护永磁同步电机，其特征在于：所述的SVM调制逆变单元(403)包括SVM调制模块(40301)和逆变模块(40302)，SVM调制模块(40301)与逆变模块(40302)连接，并且SVM调制模块(40301)通过电压重构模块(408)连接到观测器(40103)，所述的逆变模块(40302)与电流磁链控制器(40102)及电机三相连接。
  5. 根据权利要求4所述的一种堵转和缺相保护永磁同步电机，其特征在于：所述的电流采样单元(404)采用三电阻进行三相电流采样，所述的电流采样单元(404)在三相中桥臂或下桥臂采样电机三相电流I a、I b、I c，三相同步采样，所述的电流采样单元(404)中设有低通滤波器。
  6. 根据权利要求5所述的一种堵转和缺相保护永磁同步电机，其特征在于：所述的电流处理单元(405)包括电流自适应模块和电流重构模块，所述的电流自适应模块的输入端与电流采样单元(404)相连接以得到三相采样电流并进行增益自动校准，所述的电流重构模块的输入端与电流采样单元(404)相连接以在占空比大到无法精确采样时重构出此相电流，所述的电流重构模块采用三相电流和等于零的方法重构出未精确采样的其中一相电流。
  7. 采用权利要求1-6所述的一种堵转和缺相保护永磁同步电机的保护方法，其特征在 于包括以下步骤：
    1)电流采样单元(404)采样三相电流I a，I b，I c并进行低通滤波处理；
    2)电流处理单元(405)对滤波后的采样电流进行处理，然后同时执行步骤3)和4)；
    3)堵转和缺相保护单元(406)执行采用三相电流二二不平衡度的阈值保护的快速保护方法，然后执行步骤5)；
    4)堵转和缺相保护单元(406)执行采用速度和电压矢量观测组合的慢速保护方法，然后执行步骤6)；
    5)堵转和缺相保护单元(406)进行快速保护判断，当电机堵死或发生缺相时，执行步骤7)，否则返回步骤1)；
    6)堵转和缺相保护单元(406)进行慢速保护判断，当电机堵住但没有被堵死时，执行步骤7)，否则返回步骤1)；
    7)报警停机单元(407)停机保护和报警。
  8. 根据权利要求7所述的一种堵转和缺相保护永磁同步电机的保护方法，其特征在于：步骤1)中，电流采样单元(404)对三相电流采样并滤波，得到每个直流电下的三相采样电流I a1、I b1、I c1，然后对I a1、I b1、I c1进行偏置校准处理，其中，K 1＝I a1/I b1、K 2＝I c1/I b1为电流比值，使电流比值K 1、K 2为1，之后在运行过程中，电流采样单元(404)采样并滤波得到电流I a、I b、I c然后送至电流处理单元(405)；步骤2)中，当占空比Duty未达到临界值时，将K 1、K 2与预设的比较值K COMP相比，当K 1、K 2中至少有一个值大于K COMP，确定I b、I c中至少有一相电流值有偏置，使I b*＝I b/K 1、I c*＝I c/K 2，其中I b*、I c*用于电机控制；当占空比大于临界值时，电流采样单元(404)采样的三相电流的某一相会无法精确采样，此时利用三相电流和等于零得出此相电流值。
  9. 根据权利要求7所述的一种堵转和缺相保护永磁同步电机的保护方法，其特征在于：
    步骤3)中，所述的快速保护方法包括以下步骤：
    3.1)计算三相电流I a，I b，I c两两之间的比值K 11，K 12，K 13，其中，K 11＝I a1/I b1、K 12＝I c1/I b1；K 13＝I a1/I c1；
    3.2)判断K 11，K 12，K 13是否有一个值超过预设的比较值K comp，其中，K comp为一常数值，如果K 11，K 12，K 13有一个值超过比较值K comp，执行下一步，否则返回步骤3.1)；
    3.3)开始计时T 1；
    3.4)判断计时时间T 1是否超过阈值时间T time1，其中，T time1＝L/R，L为电机的相电感，R为电机相电阻；如果T 1＞T time1，则执行下一步，否则返回步骤3.1)；
    3.5)需立即执行快速保护，快速保护Flag标志置1。
  10. 根据权利要求7所述的一种堵转和缺相保护永磁同步电机的保护方法，其特征在于：
    步骤4)中，所述的慢速保护方法包括以下步骤：
    4.1)接收处理后的三相采样电流I a，I b，I c，计算三相电压输出V a，V b，V c；
    4.2)计算获取的输出电压矢量复制V s；
    4.3)通过磁链观测器获取转子速度Wr；
    4.4)判断指令速度W com是否大于转子速度Wr，如果(Wr-W com)＜W temp1并且Wr＜W temp2，其中，W temp1和W temp2为常数值；则执行下一步，否则返回步骤4.1)；
    4.5)判断电压矢量幅值Vs是否满足Vs＜V temp，如果满足，则执行下一步，否则返回步骤4.1)；其中，V temp为常数值，根据欧姆定律，V＝3/2*I*R；I为启动电流，R为电机相电阻；
    4.6)开始计时T 2；
    4.7)判断计时时间T 2是否超过阈值时间T time2，其中，T time2为常数值，如果T 2＞T time2，则执行下一步，否则返回步骤4.1)；
    4.8)需立即执行慢速保护，慢速保护Flag标志置1。
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