WO2023040216A1 - 电机堵转保护控制方法、装置、电动铣刨机、设备、介质及程序 - Google Patents

电机堵转保护控制方法、装置、电动铣刨机、设备、介质及程序 Download PDF

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Publication number
WO2023040216A1
WO2023040216A1 PCT/CN2022/080583 CN2022080583W WO2023040216A1 WO 2023040216 A1 WO2023040216 A1 WO 2023040216A1 CN 2022080583 W CN2022080583 W CN 2022080583W WO 2023040216 A1 WO2023040216 A1 WO 2023040216A1
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WIPO (PCT)
Prior art keywords
motor
milling
mode
current
locked
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PCT/CN2022/080583
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English (en)
French (fr)
Inventor
夏一帆
陈日
马健
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湖南三一中益机械有限公司
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Publication of WO2023040216A1 publication Critical patent/WO2023040216A1/zh

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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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • 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
    • 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
    • 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
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • 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

Definitions

  • the present application relates to the technical field of mechanical engineering, and in particular to a motor stall protection control method, a motor stall protection device, an electric milling machine, electronic equipment, a computer-readable storage medium, and a computer program product.
  • the electric milling machine belongs to the asphalt pavement maintenance construction machinery. When the electric milling machine is working, if it encounters high-hardness objects such as manhole covers or steel bars, the milling motor may be blocked, and the motor controller of the milling motor may also be blocked due to The temperature is too high and burnt.
  • the output torque of the milling motor is manually controlled to deal with the stalled fault of the milling motor.
  • the above method relies on manual experience, and the processing efficiency of the stall fault is low, and the effect of the stall protection is poor.
  • the application provides a motor stall protection control method, device, electric milling machine, electronic equipment, computer-readable storage medium and computer program products, which are used to solve or improve the stall protection in related technologies that rely on manual experience and stall faults. Solve the technical problems of low efficiency and poor blocking protection effect.
  • a motor stall protection control method provided in the present application is suitable for electric milling machines, wherein the motor stall protection control method includes:
  • the motor locked-rotor working condition mode When the milling motor is in a locked-rotor state, the motor locked-rotor working condition mode is turned on, and the motor locked-rotor working condition mode includes the first mode of the motor locked-rotor working condition;
  • the first mode of the motor locked-rotor working condition includes:
  • the milling motor in the first mode of the motor locked-rotor working condition, takes the first torque as the current output torque, and takes the first control duration as the current control duration.
  • the motor locked-rotor working condition mode includes the motor locked-rotor working condition second mode, if the milling motor exits the motor locked-rotor working condition first mode after running for the first control period, the motor locked-rotor working condition is turned on second mode;
  • the second mode of the motor locked-rotor working condition includes:
  • the milling motor takes the second torque as the current output torque, and takes the second control duration as the current control duration, the second torque is greater than the first torque, and the second The control duration is shorter than the first control duration, the second switching frequency is lower than the first switching frequency, and the second power supply phase is different from the first power supply phase.
  • the motor locked-rotor working condition mode includes a third motor locked-rotor working condition mode, if the milling motor exits the motor locked-rotor working condition second mode after running for a second control period, the motor locked-rotor working condition is turned on third mode;
  • the third mode of the motor locked-rotor working condition includes:
  • the milling motor takes the third torque as the current output torque, and takes the third control duration as the current control duration, the third torque is greater than the second torque, and the third The control duration is shorter than the second control duration, the third switching frequency is smaller than the second switching frequency, the third power supply phase is different from the second power supply phase, and the third power supply phase is different from the first power supply phase.
  • the output torque of the milling motor is increased in the motor locked-rotor working mode, it includes:
  • determining whether the milling motor of the electric milling machine is in a locked-rotor state includes:
  • the milling motor is in a locked-rotor state.
  • the motor stall mode Before turning on the motor stall mode, it includes:
  • the product of the current output torque of the electric milling machine and the current control duration is equal to the product of the safe output torque and the safe control duration.
  • the current output torque of the electric milling machine is the sum of the output torque at the previous moment and the preset output torque increase value.
  • the present application provides a motor stall protection control device for implementing the motor stall protection control method, including:
  • Control module Milling motor; Hub motor;
  • the milling motor is used for connecting with the milling drum, and the hub motor is used for connecting with the traveling mechanism;
  • the milling motor and the hub motor are respectively connected to the control module.
  • the motor stall protection control device provided according to the present application includes a power battery connected to the control module.
  • the present application provides an electric milling machine, including a milling drum and a traveling mechanism, including the motor stall protection control device, the milling motor is connected to the milling drum, and the hub motor is connected to the traveling mechanism.
  • the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the motor stall protection control is implemented when the processor executes the program method.
  • the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the motor stall protection control method is implemented.
  • the present application provides a computer program product, including a computer program.
  • the computer program is executed by a processor, the motor stall protection control method is realized.
  • the motor stall protection control method, device, electric milling machine, electronic equipment, computer readable storage medium and computer program product provided by the present application if the milling motor is in a stall state, the first mode of the motor stall condition is turned on;
  • the first mode includes increasing the output torque of the milling motor; controlling the milling motor to run at the first torque, and the switch module of the milling motor to run at the first switching frequency and the first power supply phase, during which the current speed of the milling motor is continuously acquired , if the current speed of the milling motor is greater than or equal to the set speed, exit the first mode of the motor locked-rotor working condition; if the current speed of the milling motor is less than the set speed, exit the motor locked-rotor working mode after running for the first control time
  • the first mode of the condition can automatically carry out the motor stall protection control of the milling motor without relying on manual experience, avoiding the risk of damage to the milling motor control system caused by the heating of the switch module, and improving the efficiency of motor stall fault
  • FIG. 1 is a schematic flow chart of a motor stall protection control method provided by the present application
  • Fig. 2 is the electrical control system diagram of the electric milling machine provided by the application;
  • FIG. 3 is one of the flow diagrams of the motor stall protection control strategy provided by the present application.
  • Fig. 4 is the second schematic flow diagram of the motor stall protection control strategy provided by the present application.
  • Fig. 5 is the third schematic flow diagram of the motor stall protection control strategy provided by the present application.
  • Fig. 6 is the fourth schematic flow diagram of the motor stall protection control strategy provided by the present application.
  • FIG. 7 is a schematic structural diagram of a motor stall protection control device provided by the present application.
  • FIG. 8 is a schematic structural diagram of an electronic device provided by the present application.
  • Fig. 1 is a schematic flow chart of the motor stall protection control method provided by the present application. As shown in Fig. 1, the method includes:
  • Step 110 determine whether the milling motor of the electric milling machine is in a blocked state, if the milling motor is in a blocked state, go to the next step;
  • Step 120 start the motor stalled working condition mode
  • the motor stalled working condition mode includes the first motor stalled working condition mode; wherein, the motor locked rotor working condition first mode includes:
  • the milling motor Control the milling motor to run at the first torque, and the switch module of the milling motor to run at the first switching frequency and the first power supply phase, during which the current speed of the milling motor is continuously obtained, if the current speed of the milling motor is greater than or equal to the set Rotating speed, exit the first mode of the motor stalled working condition, if the current rotating speed of the milling motor is less than the set speed, exit the first mode of the motor stalled working condition after running the first control time; wherein, in the motor stalled working condition In the first mode, the milling motor takes the first torque as the current output torque, and takes the first control duration as the current control duration.
  • the motor stall protection method of the present application is applicable to electric milling machines.
  • the electric milling machine uses a power battery as the energy source, and the milling drum is driven by the milling motor to mill the road surface.
  • the driving force and the milling driving force are opposite. If the vehicle cannot be stopped in time when the milling motor is locked, the milling motor may be damaged. When it is detected that the milling motor is blocked, the electric milling machine should stop driving immediately. According to the current value and rotational speed of the milling motor, it is determined whether the working state of the milling motor is in a locked-rotor state.
  • the real-time speed of the milling motor is continuously obtained to monitor the state of the milling motor.
  • the current speed is the real-time speed of the milling motor in the current control process.
  • the set speed is used to judge whether the milling motor is in a stalled state, and the set speed can be set according to the actual situation.
  • the set rotational speed may be 5 revolutions per minute (5r/min).
  • the current speed of the milling motor is greater than or equal to the set speed, it indicates that the milling motor has escaped from the stalled state and can work normally. If the current rotational speed of the milling motor is lower than the set rotational speed, it indicates that the milling motor is still in a locked-rotor state. At this time, it is necessary to perform motor stall protection control on the milling motor. It can be carried out by adopting a plurality of motor locked-rotor operating modes. Wherein, the first mode of the motor locked-rotor working condition includes controlling the milling motor and the switch model of the milling motor.
  • the first torque is the output torque of the milling motor in a locked-rotor state in the first mode of the motor locked-rotor working condition.
  • the first torque cannot exceed the maximum output torque of the milling motor.
  • the first control duration is the length of time that the milling motor in a locked-rotor state lasts when the control output torque is the first torque.
  • the switch module is a switch that controls power conversion in the milling motor control system, and is used to convert the DC power input by the power battery into AC power and then output it to the milling motor, thereby controlling the milling motor.
  • the switch module may be a circuit formed by combining and connecting multiple IGBTs (Insulated Gate Bipolar Transistor, insulated gate bipolar transistor).
  • IGBTs Insulated Gate Bipolar Transistor, insulated gate bipolar transistor.
  • the electric milling machine mills other high-hardness objects except manhole covers or steel bars, it needs to output a large torque to ensure that the vehicle can complete the work normally.
  • Short-term stalling is allowed in the milling motor control system, and the control duration and output torque need to be set reasonably to prevent the heat generated by the switch module from exceeding the capacity of the switch module in a short period of time.
  • the switching frequency of the switch module can be appropriately reduced.
  • the first switching frequency is the switching frequency of the switch module in the first mode.
  • the switch module in the milling motor control system contains multiple IGBTs. In order to reduce the heat loss of a single IGBT, multiple IGBTs can also work alternately.
  • the power supply phases of the switch modules can be switched.
  • the current power supply phase is the power supply phase of the switch module in the current control process.
  • the power supply phases of the switch module include U phase, V phase and W phase. Each phase is connected to redundant IGBTs, and the power supply phase can be switched by controlling the switch module, so that the IGBTs can work alternately.
  • the first power supply phase is the power supply phase of the switch model in the first mode.
  • the milling motor takes the first torque as the current output torque, and takes the first control duration as the current control duration.
  • the specific control process of the first mode of motor stall condition includes:
  • the first mode of the motor stall condition is turned on; the first mode includes increasing the output torque of the milling motor; controlling the milling motor with the first torque running, and the switch module of the milling motor operates at the first switching frequency and the first power supply phase, during which the current speed of the milling motor is continuously obtained.
  • the motor stall protection control can be automatically performed on the milling motor without Relying on manual experience, it avoids the risk of damage to the milling motor control system caused by the heating of the switch module, improves the efficiency of motor stall fault handling, and improves the motor stall protection effect.
  • the motor stall working mode includes the motor stall working condition second mode, if the motor stall working condition first mode is exited after running for the first control period, the motor stall working condition second mode is turned on;
  • the second mode of motor stall condition includes:
  • the milling motor takes the second torque as the current output torque, and takes the second control duration as the current control duration, the second torque is greater than the first torque, and the second control duration is shorter than the first control duration.
  • the second switching frequency is lower than the first switching frequency, and the second power supply phase is different from the first power supply phase.
  • the second mode of the motor locked-rotor condition is turned on.
  • the milling motor takes the second torque as the current output torque, and takes the second control duration as the current control duration.
  • the current output torque can be increased on the basis of the first torque to obtain the second torque.
  • the first control duration can be reduced to obtain the second control duration.
  • the milling motor is controlled to operate with a second torque, and at the same time, the switch module for controlling the milling motor operates with a second switching frequency and a second power supply phase.
  • the second switching frequency is the switching frequency of the switch module in the second mode
  • the second power supply phase is the power supply phase of the switch module in the second mode.
  • the motor stalled working condition mode includes the third motor stalled working condition mode, if the motor stalled working condition second mode is exited after running for the second control period, the motor stalled working condition third mode is turned on;
  • the third mode of motor stall condition includes:
  • the milling motor takes the third torque as the current output torque, and takes the third control duration as the current control duration, the third torque is greater than the second torque, and the third control duration is shorter than the second control duration. duration, the third switching frequency is lower than the second switching frequency, the third power supply phase is different from the second power supply phase, and the third power supply phase is different from the first power supply phase.
  • the third mode of the locked-rotor working condition of the motor is turned on.
  • the milling motor takes the third torque as the current output torque, and takes the third control duration as the current control duration.
  • the current output torque can be appropriately increased on the basis of the second torque to obtain the third torque.
  • the second control duration can be reduced to obtain a third control duration.
  • the milling motor is controlled to operate with a third torque, and at the same time, the switch module for controlling the milling motor operates with a third switching frequency and a third power supply phase.
  • the third switching frequency is the switching frequency of the switch module in the third mode
  • the third power supply phase is the power supply phase of the switch module in the third mode.
  • the cooling water temperature of the milling motor controller and the working temperature of the switch module if the cooling water temperature is lower than the first temperature setting value and the working temperature is lower than the second temperature setting value, perform the step of increasing the output torque of the milling motor, If the cooling water temperature is greater than or equal to the first temperature setting value or the operating temperature is greater than or equal to the second temperature setting value, the heat dissipation cooling mode is turned on until the cooling water temperature is less than the first temperature setting value and the working temperature is less than the second temperature setting value. After setting the value, execute the step of increasing the output torque of the milling motor.
  • the cooling water temperature and the working temperature of the switch module of the milling motor controller can also be detected. If the cooling water temperature and working temperature are too high, it indicates that a large amount of heat has been generated in the milling motor control system, and the heat has not yet dissipated. Components in motor control systems are at risk of burning out.
  • the internal temperature of the milling motor control system is suitable for continuing the motor stall protection control.
  • cooling water temperature is greater than or equal to the first temperature setting value or the operating temperature is greater than or equal to the second temperature setting value, it is considered that the internal temperature of the milling motor control system is too high, and it is not suitable to continue the motor stall protection control, and the heat dissipation is turned on.
  • increase the speed of the cooling fan in the milling motor control system wait for the cooling water temperature and the working temperature of the switch module to drop, until the cooling water temperature is less than the first temperature setting value and the working temperature is less than the second temperature setting value.
  • the first temperature setting value and the second temperature setting value can be set according to actual needs.
  • the first temperature setpoint may be 65°C
  • the second temperature setpoint may be 75°C.
  • the stalled state of the milling motor is determined based on the following steps:
  • the current rotation speed is lower than the set rotation speed and the current output current is greater than or equal to the peak current of the switch module, it is determined that the working state of the milling motor is a stalled state.
  • the milling motor is in a stalled state according to the rotation speed of the milling motor and the output current of the switch module.
  • the current speed of the milling motor is lower than the set speed, and the current output current is greater than or equal to the peak current of the switch module, it indicates that the output torque of the milling motor is too large to rotate smoothly, that is, it is in a stalled state.
  • step 110 includes:
  • the speed of the electric milling machine should be controlled. If the milling motor is in a stalled state, the electric milling machine continues to move forward, which may cause greater damage to the milling motor.
  • the speed of the electric milling machine can be obtained. If the speed of the electric milling machine is zero, the output torque of the milling motor is reduced to zero.
  • the switching frequency of the switching module of the milling motor includes a first switching frequency, a second switching frequency and a third switching frequency
  • the current switching frequency of the switching module is determined based on the preset switching frequency reduction value and the previous switching frequency of the switching module.
  • the preset switching frequency reduction value is a reduction value of the preset switching frequency. If the milling motor is not out of the stalled state in the previous control process, in the current control process, on the basis of the previous switching frequency, subtract the preset switching frequency reduction value to obtain the current switching frequency, thereby appropriately reducing the switch module
  • the switching frequency can reduce the heat loss of the switch module when the rotor is locked to protect the safe operation of the milling motor control system.
  • the power supply phases of the switch module of the milling motor include a first power supply phase, a second power supply phase and a third power supply phase;
  • the current power supply phase of the switch module is determined based on the preset phase switching sequence and the last power supply phase of the switch module.
  • the milling motor is not out of the locked-rotor state in the previous control process
  • in the current control process on the basis of the previous power supply phase, switch the power supply phase of the switch module to the current power supply phase, thereby reducing the heat dissipation of a single IGBT. Loss, but also allow multiple IGBTs to work alternately.
  • the preset phase switching sequence is a preset switching sequence of the power supply phases.
  • the power supply phases include U phase, V phase and W phase.
  • the preset phase switching sequence may be ⁇ U phase, V phase, W phase ⁇ .
  • the product of the current control torque and the current control duration of the electric milling machine is equal to the product of the safe control torque and the safe control duration.
  • the output torque of the milling motor includes a first torque, a second torque and a third torque
  • the control duration includes a first control duration, a second control duration and a third control duration
  • the current control duration of the milling motor is determined according to the current output torque, the safe output torque, and the safety control duration corresponding to the safe output torque;
  • the product of the output torque and the control duration is equal to the product of the safe output torque and the safe control duration.
  • the preset output torque increase value is a preset torque increase value. For example, if the last output torque is N, the preset output torque increase value can be set to 0.1N, and the current output torque can be obtained as 1.1N.
  • the control duration needs to be adjusted.
  • the heat tolerance of IGBT is determined. According to the heat tolerance of the IGBT, the output torque safety output torque N of the milling motor can be set, and the output torque safety output torque N generally does not exceed the maximum output torque of the milling motor.
  • the safety control duration is the continuous working time of the IGBT when the output torque of the milling motor is the output torque safety output torque.
  • the current output torque is N 1
  • the terminal voltage of the IGBT is U 1
  • the current is I 1
  • the current control duration is T 1 .
  • the present application provides a motor stall protection control device for implementing the above motor stall protection control method, including:
  • Control module Milling motor; Hub motor;
  • the milling motor is used to connect with the milling drum, and the hub motor is used to connect with the traveling mechanism;
  • the milling motor and the hub motor are respectively connected to the control module.
  • control module may include a milling motor controller and at least one all-in-one controller.
  • the milling motor controller is used to control the milling motor
  • the all-in-one controller is used to control the hub motor.
  • the device also includes: a power battery connected to the control module.
  • an embodiment of the present application also provides an electric milling machine, including a motor stall protection control device, the milling motor is connected to the milling drum, and the hub motor is connected to the traveling mechanism.
  • FIG. 2 is a diagram of the electric control system of the electric milling machine provided by this application.
  • the electric control system of the electric milling machine mainly includes a power battery, an all-in-one controller, a milling motor controller, a hub motor, Planer motor, traveling mechanism (left front wheel, right front wheel, left rear wheel and right rear wheel), milling drum, etc.
  • the electric milling machine adopts a distributed scheme in which the driving system and the milling drum are driven by separate motors.
  • Fig. 3 is one of the flow diagrams of the motor stall protection control strategy provided by the present application. As shown in Fig. 3, detect the milling motor speed, if the milling motor speed is less than 5r/min, detect the controller output current, if at this time If the current is greater than or equal to the peak value of the output current, it is judged as a locked rotor. That is to say, to determine the occurrence of a stall, it is necessary to meet the requirements that the speed of the milling motor is less than 5r/min and the current is greater than or equal to the peak value of the output current.
  • Fig. 4 is the second schematic flow diagram of the motor stall protection control strategy provided by this application.
  • the stall mode A is turned on to detect whether the water temperature is less than 65°C and the IGBT temperature is less than 75°C. If it is not satisfied, the cooling fan speed should be increased, and wait for the water temperature and IGBT temperature to drop. After meeting the requirements, increase the torque of the milling motor to the output torque safe output torque N and reduce the IGBT frequency from f to 0.5f.
  • the IGBT output phase is U phase. Keep the output torque N, and start timing until the timing is T. During this period, the speed of the milling motor is detected. If the speed of the milling motor is greater than or equal to 5r/min, it means that it is out of the locked-rotor working condition and stops; .
  • Fig. 5 is the third schematic flow diagram of the motor stall protection control strategy provided by this application.
  • the stall mode B is turned on to detect whether the water temperature is less than 65°C and the IGBT temperature is less than 75°C. If it is not satisfied, the cooling fan speed should be increased, and wait for the water temperature and IGBT temperature to drop.
  • the speed of the milling motor is greater than or equal to 5r/min, it means that it is out of the locked-rotor working condition, and stop; if the timing of 0.91T is completed, the speed of the milling and planing motor is less than 5r/min, and the locked-rotor working mode is turned on. c.
  • Fig. 6 is the fourth schematic flow diagram of the motor stall protection control strategy provided by the present application.
  • the stall mode C is turned on to detect whether the water temperature is less than 65°C and the IGBT temperature is less than 75°C. If it is not satisfied, the cooling fan speed should be increased, and wait for the water temperature and IGBT temperature to drop. After meeting the requirements, increase the torque of the milling motor to 1.2N and reduce the IGBT frequency from 0.25f to 0.1f.
  • the IGBT output phase is W phase. Keep the output torque at 1.2N, and start timing until the timing reaches 0.825T. During this period, the speed of the milling motor is detected.
  • the speed of the milling motor is greater than or equal to 5r/min, it means that it has escaped from the locked-rotor condition and stops. If the speed of the milling motor is less than 5r/min after the timing of 0.825T is completed, stop and end.
  • the purpose of reducing the IGBT frequency is to reduce the heat loss of the IGBT when the rotor is locked to protect the safe operation of the system.
  • the commutation operation is to allow multiple IGBTs to work alternately, reduce the heat loss of a single IGBT when the rotor is locked, and protect the safe operation of the system.
  • the three locked-rotor working modes are just examples for convenience.
  • the specific locked-rotor torque N, locked-rotor time T, water temperature and IGBT temperature, switching frequency, and locked-rotor phase switching sequence can be set according to actual conditions.
  • the stall judgment standard, the milling motor speed and current value are only examples and can be adjusted according to the actual situation.
  • FIG. 7 is a schematic structural diagram of a motor stall protection control device provided by the present application. As shown in FIG. 7, the device includes:
  • the determining unit 710 is used to determine whether the milling motor is in a locked-rotor state, and if the milling motor is in a locked-rotor state, go to the next step;
  • the control unit 720 is configured to enable the motor locked-rotor working condition mode, and the motor locked-rotor working condition mode includes the first mode of the motor locked-rotor working condition;
  • the first mode of the motor locked-rotor working condition includes:
  • the milling motor Control the milling motor to run at the first torque, and the switch module of the milling motor to run at the first switching frequency and the first power supply phase, during which the current speed of the milling motor is continuously obtained, if the current speed of the milling motor is greater than or equal to the set Speed, exit the first mode of the motor stall condition, if the current speed of the milling motor is less than the set speed, after running the first control time, exit the first mode of the motor stall condition; wherein, in the motor stall condition In the first working mode, the milling motor takes the first torque as the current control torque, and takes the first control duration as the current control duration.
  • the motor stall protection control device provided by this application, if the milling motor is in a stall state, starts the first mode of the motor stall condition; the first mode includes increasing the output torque of the milling motor; controlling the milling motor with the first torque running, and the switch module of the milling motor operates at the first switching frequency and the first power supply phase, during which the current speed of the milling motor is continuously obtained.
  • the first mode if the current speed of the milling motor is greater than or equal to the set speed, exit the motor stall condition after running the first control period, and can automatically perform motor stall protection control on the milling motor, without Relying on manual experience, it avoids the risk of damage to the milling motor control system caused by the heating of the switch module, improves the efficiency of motor stall fault handling, and improves the motor stall protection effect.
  • the motor locked-rotor working condition mode includes a second motor locked-rotor working condition mode
  • the control unit is also used for:
  • the second mode of motor stall condition includes:
  • the milling motor takes the second torque as the current control torque, and takes the second control duration as the current control duration, the second torque is greater than the first torque, and the second control duration is shorter than the first control duration.
  • the second switching frequency is lower than the first switching frequency, and the second power supply phase is different from the first power supply phase.
  • the motor stall mode includes a third mode of the motor stall condition, and the control unit is also used for:
  • the third mode of motor stall condition includes:
  • the milling motor takes the third torque as the current control torque and the third control duration as the current control duration, the third torque is greater than the second torque, and the third control duration is shorter than the second control duration. duration, the third switching frequency is lower than the second switching frequency, the third power supply phase is different from the second power supply phase, and the third power supply phase is different from the first power supply phase.
  • it also includes:
  • the temperature control unit is used to obtain the cooling water temperature of the milling motor controller and the working temperature of the switch module, and if the cooling water temperature is lower than the first temperature setting value and the working temperature is lower than the second temperature setting value, perform lifting of the milling motor
  • the step of output torque if the cooling water temperature is greater than or equal to the first temperature setting value or the working temperature is greater than or equal to the second temperature setting value, turn on the heat dissipation cooling mode until the cooling water temperature is less than the first temperature setting value and work After the temperature is lower than the second temperature setting value, the step of increasing the output torque of the milling motor is executed.
  • it also includes:
  • the locked-rotor state determination unit is used to obtain the current speed of the milling motor and the current output current of the switch module; if the current speed is less than the set speed and the current output current is greater than or equal to the peak current of the switch module, determine the working state of the milling motor It is in a stalled state.
  • the pre-control unit is used to obtain the speed of the electric milling machine
  • an embodiment of the present application also provides an electric milling machine, including the above motor stall protection control device.
  • Fig. 8 is a schematic structural diagram of the electronic device provided by the present application, as shown in Fig. 8, the electronic device may include: a processor (Processor) 810, a communication interface (Communications Interface) 820, a memory (Memory) 830 and a communication bus (Communications Bus) 840, wherein, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840.
  • the processor 810 can call the logic commands in the memory 830 to execute the motor stall protection control method, for example including:
  • the first mode of the motor stall condition includes: increasing the output torque of the milling motor; controlling the milling motor to run at the first torque, and the switch module of the milling motor to run at the first switching frequency and the first power supply phase, during which the The current speed of the milling motor. If the current speed of the milling motor is greater than or equal to the set speed, exit the first mode of the motor stall condition. Afterwards, exit the first mode of the motor locked-rotor working condition; wherein, in the first mode of the motor locked-rotor working condition, the milling motor takes the first torque as the current control torque, and takes the first control duration as the current control duration.
  • the above logic commands in the memory 830 may be implemented in the form of software function units and when sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several commands are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the processor in the electronic device provided by the embodiment of the present application can call the logic instruction in the memory to implement the above method, and its specific implementation mode is consistent with the above method implementation mode, and can achieve the same beneficial effect, and will not be repeated here.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • the motor stall protection control method provided by the above-mentioned embodiments is implemented, for example, including:
  • the first mode of the motor stall condition includes: increasing the output torque of the milling motor; controlling the milling motor to run at the first torque, and the switch module of the milling motor to run at the first switching frequency and the first power supply phase, during which the The current speed of the milling motor. If the current speed of the milling motor is greater than or equal to the set speed, exit the first mode of the motor stall condition. Afterwards, exit the first mode of the motor locked-rotor working condition; wherein, in the first mode of the motor locked-rotor working condition, the milling motor takes the first torque as the current control torque, and takes the first control duration as the current control duration.
  • the present application also provides a computer program product, including a computer program.
  • a computer program product including a computer program.
  • the computer program is executed by a processor, the motor stall protection control method provided by the above-mentioned embodiments is implemented.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic Disc, CD, etc., including several commands to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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Abstract

提供一种电机堵转保护控制方法、装置、电动铣刨机、电子设备、计算机可读存储介质和计算机程序产品，其中方法包括：确定铣刨电机是否处于堵转状态，若铣刨电机处于堵转状态，转下一步骤；开启电机堵转工况模式，所述电机堵转工况模式包括电机堵转工况第一模式；其中，电机堵转工况第一模式包括：提升所述铣刨电机的输出扭矩；控制所述铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，否则在运行第一控制时长后退出电机堵转工况第一模式。提供的方法、装置、电动铣刨机、电子设备、计算机可读存储介质和计算机程序产品，提高了电机堵转故障处理效率，提高了电机堵转保护效果。

Description

电机堵转保护控制方法、装置、电动铣刨机、设备、介质及程序
本申请要求于2021年9月14日提交的申请号为202111075064.4，申请名称为“电机堵转保护控制方法、装置和电动铣刨机”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及机械工程技术领域，尤其涉及一种电机堵转保护控制方法、电机堵转保护装置、电动铣刨机、电子设备、计算机可读存储介质以及计算机程序产品。
背景技术
电动铣刨机属于沥青路面养护施工机械，在电动铣刨机工作时，如果遇到井盖或者钢筋等高硬度物体，铣刨电机可能会出现堵转，铣刨电机的电机控制器也可能会因为温度过高而烧毁。
相关技术中，通过人工控制铣刨电机的输出扭矩，以处理铣刨电机堵转故障。上述方法依靠人工经验，堵转故障处理效率低，堵转保护效果差。
发明内容
本申请提供一种电机堵转保护控制方法、装置、电动铣刨机、电子设备、计算机可读存储介质以及计算机程序产品，用于解决或者改善相关技术中堵转保护依靠人工经验，堵转故障处理效率低，堵转保护效果差的技术问题。
本申请提供的一种电机堵转保护控制方法，适用于电动铣刨机，其中，所述电机堵转保护控制方法，包括：
确定所述电动铣刨机的铣刨电机是否处于堵转状态；
在所述铣刨电机处于堵转状态时，开启电机堵转工况模式，所述电机堵转工况模式包括电机堵转工况第一模式；
其中，电机堵转工况第一模式包括：
提升所述铣刨电机的输出扭矩；
控制所述铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一 开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式；
其中，在电机堵转工况第一模式，所述铣刨电机以第一扭矩作为当前输出扭矩，以第一控制时长作为当前控制时长。
优选地，所述电机堵转工况模式包括电机堵转工况第二模式，若所述铣刨电机在运行第一控制时长后退出电机堵转工况第一模式，开启电机堵转工况第二模式；
所述电机堵转工况第二模式包括：
提升所述铣刨电机的输出扭矩；
控制所述铣刨电机以第二扭矩运行，以及铣刨电机的开关模块以第二开关频率和第二供电相位运行，期间持续获取铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第二模式，若所述铣刨电机的当前转速小于设定转速，在运行第二控制时长后，退出电机堵转工况第二模式；
其中，在电机堵转工况第二模式，所述铣刨电机以第二扭矩作为当前输出扭矩，以第二控制时长作为当前控制时长，所述第二扭矩大于第一扭矩，所述第二控制时长小于第一控制时长，所述第二开关频率小于第一开关频率，第二供电相位与第一供电相位不同。
优选地，所述电机堵转工况模式包括电机堵转工况第三模式，若所述铣刨电机在运行第二控制时长后退出电机堵转工况第二模式，开启电机堵转工况第三模式；
所述电机堵转工况第三模式包括：
提升所述铣刨电机的输出扭矩；
控制所述铣刨电机以第三扭矩运行，以及铣刨电机的开关模块以第三开关频率和第三供电相位运行，期间持续获取铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第三模式，若所述铣刨电机的当前转速小于设定转速，在运行第三控制时长后，退出电机堵转工况第三模式并结束流程；
其中，在电机堵转工况第三模式，所述铣刨电机以第三扭矩作为当前 输出扭矩，以第三控制时长作为当前控制时长，所述第三扭矩大于第二扭矩，所述第三控制时长小于第二控制时长，所述第三开关频率小于第二开关频率，所述第三供电相位与第二供电相位不同，所述第三供电相位与第一供电相位不同。
优选地，电机堵转工况模式中在提升所述铣刨电机的输出扭矩之前，包括：
获取铣刨电机控制器的冷却水温和所述开关模块的工作温度，若所述冷却水温小于第一温度设定值且所述工作温度小于第二温度设定值，执行提升所述铣刨电机的输出扭矩的步骤，若所述冷却水温大于等于第一温度设定值或所述工作温度大于等于第二温度设定值，开启散热冷却模式，直至所述冷却水温小于第一温度设定值且所述工作温度小于第二温度设定值后执行提升所述铣刨电机的输出扭矩的步骤。
优选地，所述确定所述电动铣刨机的铣刨电机是否处于堵转状态，包括：
获取所述铣刨电机的当前转速，以及所述开关模块的当前输出电流；
若所述当前转速小于设定转速且所述当前输出电流大于等于所述开关模块的峰值电流，确定所述铣刨电机的工作状态为堵转状态。
优选地，所述开启电机堵转工况模式之前，包括：
获取电动铣刨机的车速；
若所述电动铣刨机的车速为零，将所述铣刨电机的输出扭矩降低为零；
若所述电动铣刨机的车速不为零，对所述电动铣刨机进行紧急制动，并将所述电动铣刨机的车速和所述铣刨电机的输出扭矩降低为零。
优选地，所述电动铣刨机的当前输出扭矩和当前控制时长之积等于安全输出扭矩和安全控制时长之积。
优选地，所述电动铣刨机的当前输出扭矩为上一时刻输出扭矩与预设输出扭矩增加值之和。
本申请提供一种用于实施所述的电机堵转保护控制方法的电机堵转保护控制装置，包括：
控制模块；铣刨电机；轮毂电机；
所述铣刨电机用于与铣刨鼓连接，所述轮毂电机用于与行走机构连接；
所述铣刨电机和轮毂电机分别和所述控制模块连接。
根据本申请提供的电机堵转保护控制装置，包括动力电池，所述动力电池与所述控制模块连接。
本申请提供一种电动铣刨机，包括铣刨鼓和行走机构，包括所述的电机堵转保护控制装置，所述铣刨电机与铣刨鼓连接，所述轮毂电机与行走机构连接。
本申请提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现所述电机堵转保护控制方法。
本申请提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述电机堵转保护控制方法。
本申请提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现所述电机堵转保护控制方法。
本申请提供的电机堵转保护控制方法、装置、电动铣刨机、电子设备、计算机可读存储介质以及计算机程序产品，若铣刨电机处于堵转状态，开启电机堵转工况第一模式；第一模式包括提升铣刨电机的输出扭矩；控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后退出电机堵转工况第一模式，能够自动化地对铣刨电机进行电机堵转保护控制，不依赖于人工经验，避免了因开关模块发热造成铣刨电机控制系统损坏的风险，提高了电机堵转故障处理效率及电机堵转保护效果。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的电机堵转保护控制方法的流程示意图；
图2为本申请提供的电动铣刨机电控系统图；
图3为本申请提供的电机堵转保护控制策略的流程示意图之一；
图4为本申请提供的电机堵转保护控制策略的流程示意图之二；
图5为本申请提供的电机堵转保护控制策略的流程示意图之三；
图6为本申请提供的电机堵转保护控制策略的流程示意图之四；
图7为本申请提供的电机堵转保护控制装置的结构示意图；
图8为本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图1为本申请提供的电机堵转保护控制方法的流程示意图，如图1所示，该方法包括：
步骤110，确定电动铣刨机的铣刨电机是否处于堵转状态，若铣刨电机处于堵转状态，转下一步骤；
步骤120，开启电机堵转工况模式，电机堵转工况模式包括电机堵转工况第一模式；其中，电机堵转工况第一模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后退出电机堵转工况第一模式；其中，在电机堵转工况第一模式，铣刨电机以第一扭矩作为当前输出扭矩，以第一控制时长作为当前控制时长。
具体地，本申请的电机堵转保护方法适用于电动铣刨机。电动铣刨机采用动力电池作为能量来源，由铣刨电机驱动铣刨鼓，对路面进行铣刨。电动铣刨机工作时，行驶驱动力和铣刨驱动力是相反的。如果在铣刨电机发生堵转时，不能及时使车辆停下，可能会损坏铣刨电机。当检测到铣刨电机发生堵转时，电动铣刨机应立即停止行驶。根据铣刨电机的电流值和转速，确定铣刨电机的工作状态是否处于堵转状态。
在铣刨电机处于堵转状态时，持续获取铣刨电机的实时转速，对铣刨电机的状态进行监测。当前转速为当前控制过程中铣刨电机的实时转速。设定转速用于判断铣刨电机是否处于堵转状态，设定转速可以根据实际情况进行设置。例如，设定转速可以为5转每分钟(5r/min)。
若铣刨电机的当前转速大于等于设定转速，表明铣刨电机已经脱离堵转状态，可以正常工作。若铣刨电机的当前转速小于设定转速，表明铣刨电机依然处于堵转状态，此时，需要对铣刨电机进行电机堵转保护控制。可以采用多个电机堵转工况模式来进行。其中，电机堵转工况第一模式包括对铣刨电机和铣刨电机的开关模型进行控制。
第一扭矩为处于堵转状态的铣刨电机在电机堵转工况第一模式中的输出扭矩。第一扭矩不能超过铣刨电机的最大输出扭矩。第一控制时长为处于堵转状态的铣刨电机在控制输出扭矩为第一扭矩时所持续的时间长度。
开关模块为铣刨电机控制系统中控制电源转换的开关，用于将动力电池输入的直流电源转换为交流电源后输出至铣刨电机，从而控制铣刨电机。例如，开关模块可以为由多个IGBT(Insulated Gate Bipolar Transistor，绝缘栅双极型晶体管)组合连接而成的电路。当要求铣刨电机输出峰值扭矩时，电机转速低，相应的电流幅值也达到峰值，此时IGBT处于较高的开关频率，损耗很大，IGBT的温度会迅速上升。若长时间处于此种状态，IGBT可能烧毁，由此造成电动铣刨机设备损坏。
电动铣刨机在实际作业中，在铣到除井盖或钢筋外的其他高硬度物体时，需要输出大扭矩以保证车辆能正常完成作业。短时间的堵转在铣刨电机控制系统中是允许的，控制时长和输出扭矩均需要合理设置，以避免开关模块在短时间内的发热量超过开关模块的承受能力。为了减少堵转时开关模块的热损耗以保护铣刨电机控制系统安全运行，可以适当降低开关模块的开关频率。第一开关频率为开关模块在第一模式中的开关频率。
铣刨电机控制系统中开关模块包含多个IGBT。为了减少单个IGBT的热损耗，还可以让多个IGBT交替工作。此时，可以切换开关模块的供电相位。当前供电相位为开关模块在当前控制过程中的供电相位。例如，开关模块的供电相位包括U相、V相和W相。每一相连接冗余设置的IGBT，可以通过控制开关模块切换供电相位，从而实现IGBT交替工作。第一供电相位为开关模型在第一模式中的供电相位。
在电机堵转工况第一模式中，铣刨电机以第一扭矩作为当前输出扭矩，以第一控制时长作为当前控制时长。电机堵转工况第一模式的具体控制过程包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速；
若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式；
若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式。
本申请提供的电机堵转保护控制方法，若铣刨电机处于堵转状态，开启电机堵转工况第一模式；第一模式包括提升铣刨电机的输出扭矩；控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后退出电机堵转工况第一模式，能够自动化地对铣刨电机进行电机堵转保护控制，不依赖人工经验，避免了因开关模块发热造成铣刨电机控制系统损坏的风险，提高了电机堵转故障处理效率，提高了电机堵转保护效果。
此外，电机堵转工况模式包括电机堵转工况第二模式，若在运行第一控制时长后退出电机堵转工况第一模式，开启电机堵转工况第二模式；
电机堵转工况第二模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第二扭矩运行，以及铣刨电机的开关模块以第二开关频率和第二供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第二模式，若所述铣刨电机的当前转速小于设定转速，在运行第二控制时长后，退出电机堵转工况第二模式；
其中，在电机堵转工况第二模式，铣刨电机以第二扭矩作为当前输出扭矩，以第二控制时长作为当前控制时长，第二扭矩大于第一扭矩，第二控制时长小于第一控制时长，第二开关频率小于第一开关频率，第二供电 相位与第一供电相位不同。
具体地，如果电机堵转工况第一模式不能使电机脱离堵转状态，开启电机堵转工况第二模式。在电机堵转工况第二模式中，铣刨电机以第二扭矩作为当前输出扭矩，以第二控制时长作为当前控制时长。
相比于第一模式，在铣刨电机依然处于堵转状态时，在第二模式中，可以在第一扭矩的基础上，增大当前输出扭矩，得到第二扭矩。可以减小第一控制时长，得到第二控制时长。
控制铣刨电机以第二扭矩运行，同时，控制铣刨电机的开关模块以第二开关频率和第二供电相位运行。第二开关频率为开关模块在第二模式中的开关频率，第二供电相位为开关模块在第二模式中的供电相位。
上述控制过程中，增大当前输出扭矩有助于控制铣刨电机脱离堵转状态，减小当前控制时长有助于控制铣刨电机系统中开关模块的发热量。同时，减小当前开关频率有助于降低开关模块的热损耗，切换当前供电相位有助于降低开关模块中单个IGBT的热损耗。
此外，电机堵转工况模式包括电机堵转工况第三模式，若在运行第二控制时长后退出电机堵转工况第二模式，开启电机堵转工况第三模式；
电机堵转工况第三模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第三扭矩运行，以及铣刨电机的开关模块以第三开关频率和第三供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第三模式，若所述铣刨电机的当前转速小于设定转速，在运行第三控制时长后退出电机堵转工况第三模式并结束流程；
其中，在电机堵转工况第三模式，铣刨电机以第三扭矩作为当前输出扭矩，以第三控制时长作为当前控制时长，第三扭矩大于第二扭矩，第三控制时长小于第二控制时长，第三开关频率小于第二开关频率，第三供电相位与第二供电相位不同，第三供电相位与第一供电相位不同。
具体地，如果电机堵转工况第二模式不能使电机脱离堵转状态，开启电机堵转工况第三模式。在电机堵转工况第三模式中，铣刨电机以第三扭矩作为当前输出扭矩，以第三控制时长作为当前控制时长。
相比于第二模式，在铣刨电机依然处于堵转状态时，在第三模式中， 可以在第二扭矩的基础上，适当增大当前输出扭矩，得到第三扭矩。可以减小第二控制时长，得到第三控制时长。
控制铣刨电机以第三扭矩运行，同时，控制铣刨电机的开关模块以第三开关频率和第三供电相位运行。第三开关频率为开关模块在第三模式中的开关频率，第三供电相位为开关模块在第三模式中的供电相位。
上述控制过程中，增大当前输出扭矩有助于控制铣刨电机脱离堵转状态，减小当前控制时长有助于控制铣刨电机系统中开关模块的发热量。同时，减小当前开关频率有助于降低开关模块的热损耗，切换当前供电相位有助于降低开关模块中单个IGBT的热损耗。
此外，电机堵转工况模式中在提升铣刨电机的输出扭矩之前，包括：
获取铣刨电机控制器的冷却水温和开关模块的工作温度，若冷却水温小于第一温度设定值且工作温度小于第二温度设定值，执行提升所述铣刨电机的输出扭矩的步骤，若所述冷却水温大于等于第一温度设定值或所述工作温度大于等于第二温度设定值，开启散热冷却模式，直至冷却水温小于第一温度设定值且工作温度小于第二温度设定值后执行提升所述铣刨电机的输出扭矩的步骤。
具体地，在进行电机堵转保护控制前，还可以对铣刨电机控制器的冷却水温和开关模块的工作温度进行检测。若冷却水温和工作温度过高，表明铣刨电机控制系统内已经产生了大量的热量，且这些热量尚未散发出去，若此时增加扭矩进行电机堵转保护控制，会继续增加热量，使得铣刨电机控制系统中的元件面临烧毁的风险。
若冷却水温小于第一温度设定值且工作温度小于第二温度设定值，认为铣刨电机控制系统内部温度适于继续进行电机堵转保护控制。
若所述冷却水温大于等于第一温度设定值或所述工作温度大于等于第二温度设定值，认为铣刨电机控制系统内部温度过高，不适于继续进行电机堵转保护控制，开启散热冷却模式，增加铣刨电机控制系统中散热风扇的转速，等待冷却水温和开关模块工作温度的下降，直至满足冷却水温小于第一温度设定值且工作温度小于第二温度设定值。
第一温度设定值和第二温度设定值可以根据实际需要进行设置。例如，第一温度设定值可以为65℃，第二温度设定值可以为75℃。
此外，铣刨电机的堵转状态是基于如下步骤确定的：
获取铣刨电机的当前转速，以及开关模块的当前输出电流；
若当前转速小于设定转速且当前输出电流大于等于开关模块的峰值电流，确定铣刨电机的工作状态为堵转状态。
具体地，可以根据铣刨电机的转速和开关模块的输出电流确定铣刨电机是否处于堵转状态。
如果铣刨电机的当前转速小于设定转速，并且当前输出电流大于等于开关模块的峰值电流，表明铣刨电机输出扭矩较大而无法顺利转动，即处于堵转状态。
此时，应对电动铣刨机进行紧急刹车，保证行驶驱动力不损伤铣刨电机。
此外，步骤110之前包括：
获取电动铣刨机的车速；
若电动铣刨机的车速为零，将铣刨电机的输出扭矩降低为零；
若电动铣刨机的车速不为零，对电动铣刨机进行紧急制动，并将电动铣刨机的车速和铣刨电机的输出扭矩降低为零。
具体地，在对铣刨电机进行堵转保护时，应对电动铣刨机的车速进行控制。若铣刨电机处于堵转状态，电动铣刨机继续向前行驶，可能使得铣刨电机受到更大的损坏。
此时，可以获取电动铣刨机的车速，若电动铣刨机的车速为零，将铣刨电机的输出扭矩降低为零。
若电动铣刨机的车速不为零，对电动铣刨机进行紧急制动，将电动铣刨机的车速降低为零，并将铣刨电机的输出扭矩降低为零。
此外，铣刨电机的开关模块的开关频率包括第一开关频率、第二开关频率和第三开关频率；
在确定开关频率时，基于预设开关频率降低值和开关模块的上一开关频率，确定开关模块的当前开关频率。
具体地，预设开关频率降低值为预先设定的开关频率的降低值。若上一控制过程中铣刨电机未脱离堵转状态，在当前控制过程中，在上一开关频率的基础上，减去预设开关频率降低值，得到当前开关频率，从而适当降低开关模块的开关频率，减少堵转时开关模块的热损耗以保护铣刨电机控制系统安全运行。
此外，铣刨电机的开关模块的供电相位包括第一供电相位、第二供电相位和第三供电相位；
在确定供电相位时，基于预设相位切换顺序和开关模块的上一供电相位，确定开关模块的当前供电相位。
具体地，若上一控制过程中铣刨电机未脱离堵转状态，在当前控制过程中，在上一供电相位的基础上，切换开关模块的供电相位至当前供电相位，从而减少单个IGBT的热损耗，还可以让多个IGBT交替工作。
预设相位切换顺序为预先设定的供电相位的切换顺序。例如，供电相位包括U相、V相和W相。预设相位切换顺序可以为{U相、V相、W相}。
此外，电动铣刨机的当前控制扭矩和当前控制时长之积等于安全控制扭矩和安全控制时长之积。
具体地，铣刨电机的输出扭矩包括第一扭矩、第二扭矩和第三扭矩，控制时长包括第一控制时长、第二控制时长和第三控制时长；
在确定控制时长时，根据当前的输出扭矩、安全输出扭矩，以及安全输出扭矩对应的安全控制时长，确定铣刨电机当前的控制时长；
其中，输出扭矩和控制时长之积等于安全输出扭矩和安全控制时长之积。
当铣刨电机处于堵转状态时，可以采用增加输出扭矩的方式，对铣刨鼓接触的高硬度物体进行清除。此时，可以在上一输出扭矩的基础上，按照预设输出扭矩增加值进行增加，得到当前输出扭矩。预设输出扭矩增加值为预先设定的扭矩增加值。例如，若上一输出扭矩为N，预设输出扭矩增加值可以设置为0.1N，可以得到当前输出扭矩为1.1N。
在调整输出扭矩后，需要对控制时长进行调整。在铣刨电机控制系统中，IGBT的热量承受能力是确定的。根据IGBT的热量承受能力，可以设置铣刨电机的输出扭矩安全输出扭矩N，输出扭矩安全输出扭矩N一般不超过铣刨电机的最大输出扭矩。
在输出扭矩安全输出扭矩N下，IGBT的端电压为U，电流为I，安全控制时长为T。此处，安全控制时长为在铣刨电机的输出扭矩为输出扭矩安全输出扭矩时IGBT的可持续工作时间。
在堵转状态下，当前输出扭矩为N 1，IGBT的端电压为U 1，电流为I 1， 当前控制时长为T 1。为了保证堵转状态下IGBT的发热量不超过IGBT的承受能力，存在以下关系：
U*I*T＝U 1*I 1*T 1
一般情况下，IGBT的端电压几乎不变；IGBT电流会随输出扭矩改变，而且正相关。所以上述公式可以简化为：
N*T＝N 1*T 1
实际过程中，根据电流去调整堵转时间更准确，但考虑到电流检测精度和响应时间的问题，采取输出扭矩作为参考量的方式更为简便。
因此，可以根据上述公式求解得到当前控制时长。
此外，本申请提供一种用于实施上述电机堵转保护控制方法的电机堵转保护控制装置，包括：
控制模块；铣刨电机；轮毂电机；
铣刨电机用于与铣刨鼓连接，轮毂电机用于与行走机构连接；
铣刨电机和轮毂电机分别和控制模块连接。
具体地，控制模块可以包括铣刨电机控制器和至少一个多合一控制器。铣刨电机控制器用于对铣刨电机进行控制，多合一控制器用于对轮毂电机进行控制。
进一步的，该装置还包括：动力电池，动力电池与控制模块连接。
此外，本申请实施例还提供一种电动铣刨机，包括电机堵转保护控制装置，铣刨电机与铣刨鼓连接，轮毂电机与行走机构连接。
图2为本申请提供的电动铣刨机电控系统图，如图2所示，电动铣刨机电控系统主要包括动力电池、多合一控制器、铣刨电机控制器、轮毂电机、铣刨电机、行走机构(左前轮、右前轮、左后轮和右后轮)、铣刨鼓等。该电动铣刨机采用行驶系统与铣刨鼓单独用电机驱动的分布式方案。
图3为本申请提供的电机堵转保护控制策略的流程示意图之一，如图3所示，检测铣刨电机转速，如果铣刨电机转速小于5r/min，检测控制器输出电流，如果此时电流大于等于输出电流峰值，判定为发生堵转。也就是，要判断发生堵转需要同时满足铣刨电机转速小于5r/min和电流大于等于输出电流峰值。
检测车速是否为0，并将铣刨电机扭矩降为0。如果车速不为0，应紧急停车制动。当车速为0且铣刨电机扭矩为0后，可以开启堵转工况模式A。
图4为本申请提供的电机堵转保护控制策略的流程示意图之二，如图4所示，开启堵转工况模式A，检测水温是否小于65℃且IGBT温度小于75℃。如果不满足，应增大散热风扇转速，等待水温和IGBT温度下降。满足要求后将铣刨电机扭矩提升到输出扭矩安全输出扭矩N并将IGBT频率由f降低到0.5f，堵转时IGBT输出相位为U相。保持输出扭矩N，开始计时，直到计时为T。期间检测铣刨电机转速，如果铣刨电机转速大于等于5r/min，说明已经脱离堵转工况，停止；如果计时T完成后，铣刨电机转速小于5r/min，开启堵转工况模式B。
图5为本申请提供的电机堵转保护控制策略的流程示意图之三，如图5所示，开启堵转工况模式B，检测水温是否小于65℃且IGBT温度小于75℃。如果不满足，应增大散热风扇转速，等待水温和IGBT温度下降。满足要求后将铣刨电机扭矩提升到1.1N并将IGBT频率由0.5f降低到0.25f，堵转时IGBT输出相位为V相。保持输出扭矩1.1N，开始计时，直到计时为0.91T。期间检测铣刨电机转速，如果铣刨电机转速大于等于5r/min，说明已经脱离堵转工况，停止；如果计时0.91T完成后，铣刨电机转速小于5r/min，开启堵转工况模式C。
图6为本申请提供的电机堵转保护控制策略的流程示意图之四，如图6所示，开启堵转工况模式C，检测水温是否小于65℃且IGBT温度小于75℃。如果不满足，应增大散热风扇转速，等待水温和IGBT温度下降。满足要求后将铣刨电机扭矩提升到1.2N并将IGBT频率由0.25f降低到0.1f，堵转时IGBT输出相位为W相。保持输出扭矩1.2N，开始计时，直到计时为0.825T。期间检测铣刨电机转速，如果铣刨电机转速大于等于5r/min，说明已经脱离堵转工况，停止；如果计时0.825T完成后，铣刨电机转速小于5r/min，停止并结束。
降低IGBT频率是为了减少堵转时IGBT的热损耗以保护系统安全运行。换相运行是为了让多个IGBT能交替工作，减少堵转时单个IGBT的热损耗以保护系统安全运行。
三种堵转工况模式只是为了方便进行示例，至于具体的堵转扭矩N、 堵转时间T、水温和IGBT温度、开关频率、堵转相位切换顺序可以根据实际情况进行设置。堵转判断标准，铣刨电机转速和电流值也仅作为示例，可以根据实际情况调整。
基于上述任一实施例，图7为本申请提供的电机堵转保护控制装置的结构示意图，如图7所示，该装置包括：
确定单元710，用于确定铣刨电机是否处于堵转状态，若铣刨电机处于堵转状态，转下一步骤；
控制单元720，用于开启电机堵转工况模式，电机堵转工况模式包括电机堵转工况第一模式；
其中，电机堵转工况第一模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式；其中，在电机堵转工况第一模式，铣刨电机以第一扭矩作为当前控制扭矩，以第一控制时长作为当前控制时长。
本申请提供的电机堵转保护控制装置，若铣刨电机处于堵转状态，开启电机堵转工况第一模式；第一模式包括提升铣刨电机的输出扭矩；控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式；若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后退出电机堵转工况第一模式，能够自动化地对铣刨电机进行电机堵转保护控制，不依赖于人工经验，避免了因开关模块发热造成铣刨电机控制系统损坏的风险，提高了电机堵转故障处理效率，提高了电机堵转保护效果。
优选的，电机堵转工况模式包括电机堵转工况第二模式，控制单元还用于：
若在运行第一控制时长后退出电机堵转工况第一模式，开启电机堵转工况第二模式；
电机堵转工况第二模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第二扭矩运行，以及铣刨电机的开关模块以第二开关频率和第二供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第二模式，若所述铣刨电机的当前转速小于设定转速，在运行第二控制时长后，退出电机堵转工况第二模式；
其中，在电机堵转工况第二模式，铣刨电机以第二扭矩作为当前控制扭矩，以第二控制时长作为当前控制时长，第二扭矩大于第一扭矩，第二控制时长小于第一控制时长，第二开关频率小于第一开关频率，第二供电相位与第一供电相位不同。
优选的，电机堵转工况模式包括电机堵转工况第三模式，控制单元还用于：
若在运行第二控制时长后退出电机堵转工况第二模式，开启电机堵转工况第三模式；
电机堵转工况第三模式包括：
提升铣刨电机的输出扭矩；
控制铣刨电机以第三扭矩运行，以及铣刨电机的开关模块以第三开关频率和第三供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第三模式，若所述铣刨电机的当前转速小于设定转速，在运行第三控制时长后，退出电机堵转工况第三模式并结束流程；
其中，在电机堵转工况第三模式，铣刨电机以第三扭矩作为当前控制扭矩，以第三控制时长作为当前控制时长，第三扭矩大于第二扭矩，第三控制时长小于第二控制时长，第三开关频率小于第二开关频率，第三供电相位与第二供电相位不同，第三供电相位与第一供电相位不同。
优选的，还包括：
温度控制单元，用于获取铣刨电机控制器的冷却水温和开关模块的工作温度，若冷却水温小于第一温度设定值且工作温度小于第二温度设定值，执行提升所述铣刨电机的输出扭矩的步骤，若所述冷却水温大于等于第一温度设定值或所述工作温度大于等于第二温度设定值，开启散热冷却模式，直至冷却水温小于第一温度设定值且工作温度小于第二温度设定值后执行 提升所述铣刨电机的输出扭矩的步骤。
优选的，还包括：
堵转状态确定单元，用于获取铣刨电机的当前转速，以及开关模块的当前输出电流；若当前转速小于设定转速且当前输出电流大于等于开关模块的峰值电流，确定铣刨电机的工作状态为堵转状态。
基于上述任一实施例，还包括：
预控制单元，用于获取电动铣刨机的车速；
若电动铣刨机的车速为零，将铣刨电机的输出扭矩降低为零；
若电动铣刨机的车速不为零，对电动铣刨机进行紧急制动，并将电动铣刨机的车速和铣刨电机的输出扭矩降低为零。
此外，本申请实施例还提供一种电动铣刨机，包括上述电机堵转保护控制装置。
图8为本申请提供的电子设备的结构示意图，如图8所示，该电子设备可以包括：处理器(Processor)810、通信接口(Communications Interface)820、存储器(Memory)830和通信总线(Communications Bus)840，其中，处理器810，通信接口820，存储器830通过通信总线840完成相互间的通信。处理器810可以调用存储器830中的逻辑命令，以执行电机堵转保护控制方法，例如包括：
确定铣刨电机是否处于堵转状态，若铣刨电机处于堵转状态，转下一步骤；开启电机堵转工况模式，电机堵转工况模式包括电机堵转工况第一模式；其中，电机堵转工况第一模式包括：提升铣刨电机的输出扭矩；控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式；其中，在电机堵转工况第一模式，铣刨电机以第一扭矩作为当前控制扭矩，以第一控制时长作为当前控制时长。
此外，上述的存储器830中的逻辑命令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该 计算机软件产品存储在一个存储介质中，包括若干命令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请实施例提供的电子设备中的处理器可以调用存储器中的逻辑指令，实现上述方法，其具体的实施方式与前述方法实施方式一致，且可以达到相同的有益效果，此处不再赘述。
本申请还提供一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现上述各实施例提供的电机堵转保护控制方法，例如包括：
确定铣刨电机是否处于堵转状态，若铣刨电机处于堵转状态，转下一步骤；开启电机堵转工况模式，电机堵转工况模式包括电机堵转工况第一模式；其中，电机堵转工况第一模式包括：提升铣刨电机的输出扭矩；控制铣刨电机以第一扭矩运行，以及铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取铣刨电机的当前转速，若铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式；其中，在电机堵转工况第一模式，铣刨电机以第一扭矩作为当前控制扭矩，以第一控制时长作为当前控制时长。
本申请提供的计算机可读存储介质上存储的计算机程序被执行时，实现上述方法，其具体的实施方式与前述方法实施方式一致，且可以达到相同的有益效果，此处不再赘述。
本申请还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述各实施例提供的电机堵转保护控制方法。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干命令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (14)

  1. 一种电机堵转保护控制方法，适用于电动铣刨机，其中，所述电机堵转保护控制方法，包括：
    确定所述电动铣刨机的铣刨电机是否处于堵转状态；
    在所述铣刨电机处于堵转状态时，开启电机堵转工况模式，所述电机堵转工况模式包括电机堵转工况第一模式；
    其中，电机堵转工况第一模式包括：
    提升所述铣刨电机的输出扭矩；
    控制所述铣刨电机以第一扭矩运行，以及所述铣刨电机的开关模块以第一开关频率和第一供电相位运行，期间持续获取所述铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第一模式，若所述铣刨电机的当前转速小于设定转速，在运行第一控制时长后，退出电机堵转工况第一模式；
    其中，在电机堵转工况第一模式，所述铣刨电机以第一扭矩作为当前输出扭矩，以第一控制时长作为当前控制时长。
  2. 根据权利要求1所述的电机堵转保护控制方法，其中，所述电机堵转工况模式包括电机堵转工况第二模式，若所述铣刨电机在运行第一控制时长后退出电机堵转工况第一模式，开启电机堵转工况第二模式；
    所述电机堵转工况第二模式包括：
    提升所述铣刨电机的输出扭矩；
    控制所述铣刨电机以第二扭矩运行，以及所述铣刨电机的开关模块以第二开关频率和第二供电相位运行，期间持续获取所述铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第二模式，若所述铣刨电机的当前转速小于设定转速，在运行第二控制时长后，退出电机堵转工况第二模式；
    其中，在电机堵转工况第二模式，所述铣刨电机以第二扭矩作为当前输出扭矩，以第二控制时长作为当前控制时长，所述第二扭矩大于所述第一扭矩，所述第二控制时长小于所述第一控制时长，所述第二开关频率小于所述第一开关频率，所述第二供电相位与所述第一供电相位不同。
  3. 根据权利要求2所述的电机堵转保护控制方法，其中，所述电机堵 转工况模式包括电机堵转工况第三模式，若所述铣刨电机在运行第二控制时长后退出电机堵转工况第二模式，开启电机堵转工况第三模式；
    所述电机堵转工况第三模式包括：
    提升所述铣刨电机的输出扭矩；
    控制所述铣刨电机以第三扭矩运行，以及所述铣刨电机的开关模块以第三开关频率和第三供电相位运行，期间持续获取所述铣刨电机的当前转速，若所述铣刨电机的当前转速大于等于设定转速，退出电机堵转工况第三模式，若所述铣刨电机的当前转速小于设定转速，在运行第三控制时长后，退出电机堵转工况第三模式并结束流程；
    其中，在电机堵转工况第三模式，所述铣刨电机以第三扭矩作为当前输出扭矩，以第三控制时长作为当前控制时长，所述第三扭矩大于所述第二扭矩，所述第三控制时长小于所述第二控制时长，所述第三开关频率小于所述第二开关频率，所述第三供电相位与所述第二供电相位不同，所述第三供电相位与所述第一供电相位不同。
  4. 根据权利要求1至3任一项所述的电机堵转保护控制方法，其中，电机堵转工况模式中在提升所述铣刨电机的输出扭矩之前，包括：
    获取铣刨电机控制器的冷却水温和所述开关模块的工作温度，若所述冷却水温小于第一温度设定值且所述工作温度小于第二温度设定值，执行提升所述铣刨电机的输出扭矩的步骤，若所述冷却水温大于等于第一温度设定值或所述工作温度大于等于第二温度设定值，开启散热冷却模式，直至所述冷却水温小于第一温度设定值且所述工作温度小于第二温度设定值后执行提升所述铣刨电机的输出扭矩的步骤。
  5. 根据权利要求1至3任一项所述的电机堵转保护控制方法，其中，所述确定所述电动铣刨机的铣刨电机是否处于堵转状态，包括：
    获取所述铣刨电机的当前转速，以及所述开关模块的当前输出电流；
    若所述当前转速小于设定转速且所述当前输出电流大于等于所述开关模块的峰值电流，确定所述铣刨电机的工作状态为堵转状态。
  6. 根据权利要求1至3任一项所述的电机堵转保护控制方法，其中，在所述开启电机堵转工况模式之前，还包括：
    获取电动铣刨机的车速；
    若所述电动铣刨机的车速为零，将所述铣刨电机的输出扭矩降低为零；
    若所述电动铣刨机的车速不为零，对所述电动铣刨机进行紧急制动，并将所述电动铣刨机的车速和所述铣刨电机的输出扭矩降低为零。
  7. 根据权利要求1至3任一项所述的电机堵转保护控制方法，其中，所述电动铣刨机的当前输出扭矩和当前控制时长之积等于安全输出扭矩和安全控制时长之积。
  8. 根据权利要求7所述的电机堵转保护控制方法，其中，所述电动铣刨机的当前输出扭矩为上一时刻输出扭矩与预设输出扭矩增加值之和。
  9. 一种用于实施如权利要求1至8任一项所述的电机堵转保护控制方法的电机堵转保护控制装置，其中，包括：
    控制模块；
    铣刨电机；
    轮毂电机；
    所述铣刨电机用于与铣刨鼓连接，所述轮毂电机用于与行走机构连接；
    所述铣刨电机和轮毂电机分别和所述控制模块连接。
  10. 根据权利要求9所述的电机堵转保护控制装置，其中，包括动力电池，所述动力电池与所述控制模块连接。
  11. 一种电动铣刨机，包括铣刨鼓和行走机构，其中，包括权利要求9或10所述的电机堵转保护控制装置，所述铣刨电机与铣刨鼓连接，所述轮毂电机与行走机构连接。
  12. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1至8任一项所述的电机堵转保护控制方法。
  13. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至8任一项所述的电机堵转保护控制方法。
  14. 一种计算机程序产品，包括计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1-8中任一项所述的电机堵转保护控制方法。
PCT/CN2022/080583 2021-09-14 2022-03-14 电机堵转保护控制方法、装置、电动铣刨机、设备、介质及程序 WO2023040216A1 (zh)

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