CN107240906A - Motor rotation blockage protects control method - Google Patents
Motor rotation blockage protects control method Download PDFInfo
- Publication number
- CN107240906A CN107240906A CN201710649351.9A CN201710649351A CN107240906A CN 107240906 A CN107240906 A CN 107240906A CN 201710649351 A CN201710649351 A CN 201710649351A CN 107240906 A CN107240906 A CN 107240906A
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- motor
- stall
- current
- threshold value
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Classifications
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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
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Control method is protected the invention discloses a kind of motor rotation blockage.Stall monitoring modular and stall processing module are set in the primary control program of ac-dc-ac inverter driver；The change of the stall monitoring module monitors DC bus-bar voltage, and first derivative and second dervative are asked for DC bus-bar voltage, judge whether to occur stall according to variation tendency and obtain the type of stall.It was found that after stall, stall processing module reduces the heating risk of motor by way of staged reduces current of electric.The present invention is not in the case where changing hardware configuration, by setting stall monitoring modular and stall the processing modules implement monitoring and processing of stall in master control program, and effective control is realized to stall heating.
Description
Technical field
Control method is protected the present invention relates to a kind of motor rotation blockage.
Background technology
There is stall often in driver dragging alternating current generator.In punch press and press machine system, stall phenomenon is particularly dashed forward
Go out, and can frequently occur when adjusting mould and changing target materials.
Motor rotation blockage situation generally occurs under two states, when one kind is electric motor starting；Another is then in motor
In running.The characteristics of stall in electric motor starting has zero-speed or is extremely low fast, if being accomplished by overcoming during motor startup
Higher torque and inertia, because the overload capacity of now motor is relatively poor, therefore it is more serious to generate heat.And in motor operation
During occur that stall situation is more special, because motor has had after certain initial velocity, stall because of load behavior not
Heat condition with motor also can respectively have difference.
Occur after stall, electric current increased dramatically and generate heat in driver, until reaching Drive Module physical carrier
The upper limit.Common solution is：（1）Module is increased, module capacity is in a disguised form improved, waste module resource is had a disadvantage in that；
（2）Driver is protection module and redirected automatically as protected mode after setting electric current higher limit, arrival, is had a disadvantage in that：Electricity
Machine applying working condition is complex, and limit value is difficult to determine, set it is too high can waste module resource, too low then Drive Module or
Motor is easily damaged, also, conventional protected mode is directly to allow motor to power off, but so operation is for potential energy loading high
And in the presence of other machinery potential energy be quite dangerous, and for the operating mode without mechanical potential, directly power off
There is also the potential risk of injury system attachment.
The content of the invention
The present invention proposes a kind of motor rotation blockage protection control method, the purpose is to：Do not changing driver hardware configuration
On the premise of, the heating after control stall.
Technical solution of the present invention is as follows：
Motor rotation blockage protects control method, and stall monitoring modular and stall are set in the primary control program of ac-dc-ac inverter driver
Processing module；
The stall monitoring modular determines whether to occur stall and judges the class of stall according to the variation tendency of DC bus-bar voltage
Type；
It was found that after stall, stall processing module reduces the heating risk of motor by way of staged reduces current of electric.
It is used as the further improvement of the above method：Monitoring motor DC bus voltage value, and calculate direct current in real time in real time
Press the first derivative D1 and second dervative D2 relative to the time；
If motor is in startup stage, D1 and is less than 0, D1 absolute values more than default single order threshold value one, D2 less than 0, while D2
Absolute value is more than default second order threshold value one, then is judged to starting stall；
If the rotating speed of motor is less than 0, D1 absolute values less than default motor high and low rotating speed cut off value, D1 and is more than default single order
Threshold value two, D2 are less than 0, while D2 absolute values are then determined as low speed stall more than default second order threshold value two；
If the rotating speed of motor is more than 0, D1 absolute values higher than default motor high and low rotating speed cut off value, D1 and is more than default single order
Threshold value three, D2 are more than 0, while D2 absolute values are then determined as high speed stall more than default second order threshold value three；The single order threshold value
Three and the setting principle of second order threshold value three be：D1, which was more than 0, absolute value and is equal to default single order threshold value three and D2, at that time is more than 0, absolutely
When being equal to second order threshold value three to value, motor status are still not up to the state that protection is jumped in alarm.
It is used as the further improvement of the above method：When there is low speed stall or high speed stall in motor, stall processing module
The input current for improving motor first is impacted, if motor is reduced still in locked rotor condition, then by staged after impact
Risk that the mode of current of electric reduces that the motor feels hot.
It is used as the further improvement of the above method：If motor is judged as starting stall, first limiting motor input electricity
1.2 times of rated current are flow to, is continued after 3 seconds, 0.6 times of limiting motor input current to rated current.
It is used as the further improvement of the above method：If motor is judged as low speed stall, the input of motor is improved first
Electric current is impacted, if motor is still in locked rotor condition, the 1.2 of limiting motor input current to rated current after impact
Times, continue after 3 seconds, 0.6 times of limiting motor input current to rated current.
It is used as the further improvement of the above method：If motor is judged as high speed stall, the input of motor is improved first
Electric current is impacted, if motor is still in locked rotor condition after impact, 1 times of limiting motor input current to rated current,
Continue after 3 seconds, 0.6 times of limiting motor input current to rated current.
It is used as the further improvement of the above method：After limiting motor input current to 0.6 times of rated current, further
Limiting motor input current is to 0.15 times of rated current.
Relative to prior art, the present invention has the positive effect that：（1）The present invention is not changing the situation of hardware configuration
Under, it is right by setting stall monitoring modular and stall the processing modules implement monitoring and processing of stall in master control program
Stall heating realizes effective control；（2）The present invention is by monitoring DC bus-bar voltage and carrying out asking single order to lead what is led with second order
Mode come judge motor whether stall, judged compared to traditional according to current of electric, can quickly be prejudged out
Stall, so as to take control measure in time before system sends alarm；（3）The present invention proposes a kind of motor torque of association
Suppress control program, make motor that there is certain control device in the case where protecting the precondition of itself, redirected in motor driver
Judge that locked rotor condition is gone forward side by side row order ladder type limitation electric current, while controlled motor is generated heat, is to be preferential before protected mode
The state instruction of system provides certain reaction time, provides the time window taken measures for user, it is to avoid directly
Power-off is connect motor is caused to damage；（4）The present invention takes different monitoring modes for startup stage, low speed and fast state
And processing method, have the advantages that judgment accuracy height, adaptability are good；（5）When motor occurs to block up under low speed or fast state
When turning, impact is first attempted to exclude stall obstacle, and provide one kind for system attempts to solve to block up immediately when stall just occurs
The approach turned, efficiently reduces influence of the stall to the normal operation of system.
Embodiment
The following detailed description of technical scheme：
Motor rotation blockage protects control method, and stall monitoring modular and stall are set in the primary control program of ac-dc-ac inverter driver
Processing module.
The stall monitoring modular is used to monitor whether to occur stall and judges the type of stall, and motor DC is monitored in real time
Bus voltage value, and first derivative D1 and second dervative D2 of the DC voltage relative to the time are calculated in real time, step is：
（A-1）Had been surprisingly found that by research, the motor rotation blockage state in electric motor starting state is small except rotation speed change, electric current is anxious
Outside sharp increase is subject to, also there is instantaneous DC bus-bar voltage reduction and show.Because power input to a machine is limited, although filtered electrical
The presence of appearance can bear to be declined because the control of driver causes instantaneously to draw voltage caused by high current, but busbar voltage
Reduction situation and trend from the voltage pulsation as caused by rectification be different, therefore can be according to instantaneous dc bus electricity
The low phenomenon of pressure drop judges stall situation.Therefore, if motor is in startup stage, D1 and is less than 0, D1 absolute values more than default one
Rank threshold value one, D2 be less than 0, while D2 absolute values be more than default second order threshold value one, then be determined as start stall.
（B-1）When motor operation stall occurs in the case of suitable low speed, due to the storage phase of mechanical energy in systems
To less, it is not enough to form the energy feedback for system, therefore situation is similar with starting stall.Therefore, if turn of motor
Speed less than default motor high and low rotating speed cut off value, D1 be less than 0, D1 absolute values be more than default single order threshold value two, D2 be less than 0,
D2 absolute values are more than default second order threshold value two simultaneously, then are determined as low speed stall.
（C-1）Occurs stall when motor is in high-speed cruising, the change of voltage is then entirely different, due to being now mechanical energy
It is converted into electric energy, and the finite capacity of bus filter capacitor, and the driver of conventional AC-DC-AC patterns does not possess energy and returned
Energy regenerative power, thus can also according to the change of dc bus to judge stall the occurrence of.That is, if the rotating speed of motor is higher than
Default motor high and low rotating speed cut off value, D1 are more than 0, D1 absolute values and are more than default single order threshold value three, D2 more than 0, while D2
Absolute value is more than default second order threshold value three, then is determined as high speed stall；The setting of the single order threshold value three and second order threshold value three
Principle is：D1 is more than 0, absolute value equal to default single order threshold value three at that time and D2 is more than 0, absolute value equal to second order threshold value three
When, motor status are still not up to the state that protection is jumped in alarm.
Each threshold value can determine rational value according to experimental result combination actual condition.
It was found that after stall, stall processing module reduces the heating wind of motor by way of staged reduces current of electric
Danger.During processing, when low speed stall or high speed stall occurs in motor, the input current that stall processing module improves motor first enters
Row impact, if motor is still in locked rotor condition after impact, then reduces motor hair by way of staged reduction current of electric
Hot blast danger.Specific method is：
（A-2）If motor is judged as starting stall, limiting motor input current first continues 3 to 1.2 times of rated current
After second, 0.6 times of limiting motor input current to rated current, if also needing to continue, limiting motor input current is to specified
0.15 times of electric current.
（B-2）If motor is judged as low speed stall, the input current that motor is improved first is impacted, if impact
Motor continues after 3 seconds, limiting motor is defeated still in locked rotor condition, then limiting motor input current to 1.2 times of rated current afterwards
Enter electric current to 0.6 times of rated current, if also needing to continue, 0.15 times of limiting motor input current to rated current.
（C-2）If motor is judged as high speed stall, the input current that motor is improved first is impacted, if impact
Motor continues after 3 seconds still in locked rotor condition, then limiting motor input current to 1 times of rated current afterwards, limiting motor input
Electric current is to 0.6 times of rated current.If also needing to continue, 0.15 times of limiting motor input current to rated current, it is ensured that
Motor will not burn.
Whether for needing further persistently to limit the input current of motor, its criterion is：If in motor rotation blockage
Before processed, do not allow motor to run out of steam, otherwise can occur equipment upset or the complete situation out of control of equipment, now need
Motor is wanted to keep certain output torque as much as possible,, can be further to protect motor because this is a kind of prolonged stall
Limiting motor input current is to 0.15 times of rated current.
The stall monitoring modular and stall processing module are attached on main control loop, and should have higher open
Dynamic priority, is preferably provided in main interruption.
Claims (7)
1. motor rotation blockage protects control method, it is characterised in that：Stall is set in the primary control program of ac-dc-ac inverter driver
Monitoring modular and stall processing module；
The stall monitoring modular determines whether to occur stall and judges the class of stall according to the variation tendency of DC bus-bar voltage
Type；
It was found that after stall, stall processing module reduces the heating risk of motor by way of staged reduces current of electric.
2. motor rotation blockage as claimed in claim 1 protects control method, it is characterised in that：Monitoring motor DC bus is electric in real time
Pressure value, and first derivative D1 and second dervative D2 of the DC voltage relative to the time are calculated in real time；
If motor is in startup stage, D1 and is less than 0, D1 absolute values more than default single order threshold value one, D2 less than 0, while D2
Absolute value is more than default second order threshold value one, then is judged to starting stall；
If the rotating speed of motor is less than 0, D1 absolute values less than default motor high and low rotating speed cut off value, D1 and is more than default single order
Threshold value two, D2 are less than 0, while D2 absolute values are then determined as low speed stall more than default second order threshold value two；
If the rotating speed of motor is more than 0, D1 absolute values higher than default motor high and low rotating speed cut off value, D1 and is more than default single order
Threshold value three, D2 are more than 0, while D2 absolute values are then determined as high speed stall more than default second order threshold value three；The single order threshold value
Three and the setting principle of second order threshold value three be：D1, which was more than 0, absolute value and is equal to default single order threshold value three and D2, at that time is more than 0, absolutely
When being equal to second order threshold value three to value, motor status are still not up to the state that protection is jumped in alarm.
3. motor rotation blockage as claimed in claim 2 protects control method, it is characterised in that：When low speed stall or height occurs in motor
During fast stall, the input current that stall processing module improves motor first is impacted, if motor is still in stall after impact
State, then the risk that by way of staged reduces current of electric reduces that the motor feels hot.
4. motor rotation blockage as claimed in claim 2 protects control method, it is characterised in that：If motor is judged as starting and blocked up
Turn, limiting motor input current continues after 3 seconds to 1.2 times of rated current first, limiting motor input current to rated current
0.6 times.
5. motor rotation blockage as claimed in claim 2 protects control method, it is characterised in that：Blocked up if motor is judged as low speed
Turn, the input current that motor is improved first is impacted, if motor is still in locked rotor condition, limiting motor input after impact
Electric current continues after 3 seconds to 1.2 times of rated current, 0.6 times of limiting motor input current to rated current.
6. motor rotation blockage as claimed in claim 2 protects control method, it is characterised in that：If motor is judged as stifled at a high speed
Turn, the input current that motor is improved first is impacted, if motor is still in locked rotor condition, limiting motor input after impact
Electric current continues after 3 seconds to 1 times of rated current, 0.6 times of limiting motor input current to rated current.
7. the motor rotation blockage protection control method as described in claim 4 to 6 is any, it is characterised in that：Limiting motor input electricity
It flow to after 0.6 times of rated current, 0.15 times of further limiting motor input current to rated current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649351.9A CN107240906B (en) | 2017-08-02 | 2017-08-02 | Motor rotation blockage protects control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649351.9A CN107240906B (en) | 2017-08-02 | 2017-08-02 | Motor rotation blockage protects control method |
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| CN107240906A true CN107240906A (en) | 2017-10-10 |
| CN107240906B CN107240906B (en) | 2019-05-21 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110554317A (en) * | 2019-09-24 | 2019-12-10 | 格力电器（武汉）有限公司 | Motor locked-rotor experiment monitoring system, monitoring method and monitoring device thereof |
| CN110829948A (en) * | 2019-10-24 | 2020-02-21 | 中国第一汽车股份有限公司 | Locked-rotor protection method and device for motor system, vehicle and storage medium |
| CN110031757B (en) * | 2019-03-22 | 2020-08-07 | 中国地质大学（武汉） | Method for rapidly detecting locked rotor of motor closed-loop system |
| CN112366656A (en) * | 2020-11-10 | 2021-02-12 | 珠海格力电器股份有限公司 | Motor control method and device, motor equipment and electric equipment |
| CN112398375A (en) * | 2020-11-05 | 2021-02-23 | 中国航空工业集团公司西安航空计算技术研究所 | Permanent magnet synchronous motor control system and comprehensive protection method |
| CN112653093A (en) * | 2019-10-10 | 2021-04-13 | 惠州拓邦电气技术有限公司 | Method and device for preventing AC motor from stalling |
| CN112737472A (en) * | 2020-12-29 | 2021-04-30 | 深圳贝特莱电子科技股份有限公司 | Method for preventing motor from stalling, motor and steering engine |
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| CN112737472A (en) * | 2020-12-29 | 2021-04-30 | 深圳贝特莱电子科技股份有限公司 | Method for preventing motor from stalling, motor and steering engine |
| CN112737472B (en) * | 2020-12-29 | 2022-05-10 | 深圳贝特莱电子科技股份有限公司 | Method for preventing motor from stalling, motor and steering engine |
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Address after: 264006 No. 17 Fuzhou Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: EURA Drives Electric Co., Ltd. Address before: 264006, 11, the Yellow River Road, Yantai economic and Technological Development Zone, Shandong, China Patentee before: EURA Drives Electric Co., Ltd. |