CN111244897B - Detection method, detection device, motor and storage medium - Google Patents
Detection method, detection device, motor and storage medium Download PDFInfo
- Publication number
- CN111244897B CN111244897B CN201811437427.2A CN201811437427A CN111244897B CN 111244897 B CN111244897 B CN 111244897B CN 201811437427 A CN201811437427 A CN 201811437427A CN 111244897 B CN111244897 B CN 111244897B
- Authority
- CN
- China
- Prior art keywords
- motor
- coordinate system
- phase
- magnetic flux
- electric control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Protection Of Generators And Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a detection method, a detection device, a motor and a storage medium, wherein the detection method comprises the following steps: and when the quadrature axis current under the two-phase rotating coordinate system is detected to be larger than 0, determining whether the motor is locked according to the relation between the load torque of the motor and the electric control output torque. According to the technical scheme, whether the locked rotor happens or not is determined through the detection of the torque, so that the sensitivity and the real-time performance of locked rotor detection are improved, the locked rotor phenomenon can be fed back in time, and the damage probability of the motor and the compression provided with the motor is reduced.
Description
Technical Field
The invention relates to the field of motors, in particular to a permanent magnet motor, a fabric roll motor and a motor.
Background
The compressor is widely applied as a core part of air conditioner refrigeration, but in poor feedback of the market, the compressor body is not abnormal under many conditions, but because the driving controller of the motor continuously operates or continuously blocks rotation under a control fault state, demagnetization or other bad phenomena are generated in the motor due to overhigh temperature, and more serious, even the related electric control devices are damaged.
Because the running frequency and the target frequency of the motor during locked-rotor are close to each other, even if the motor fails to start, the motor cannot be identified, the motor can be triggered to stop due to failure only when the motor fails or an electric control device fails, and the motor has higher damage probability due to the fact that the time lasts for a long time.
Disclosure of Invention
In order to solve at least one of the above technical problems, an object of the present invention is to provide a motor stalling detection method.
Another object of the present invention is to provide a motor stalling detection device.
It is a further object of the present invention to provide an electric machine.
It is yet another object of the present invention to provide a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for detecting locked-rotor of a motor, including: and when the quadrature axis current under the two-phase rotating coordinate system is detected to be larger than 0, determining whether the motor generates locked rotor or not according to the relation between the load torque of the motor and the electric control output torque.
In this technical scheme, motor stalling is in actual performance and motor rotor blocks up not to rotate, through the size that detects load torque and automatically controlled output torque respectively, whether in order to confirm the motor according to the relation between the two and take place the stalling, because moment is one of the variables of the most direct reflection motor rotor state, whether through the detection to moment confirm to take place the stalling, be favorable to promoting the sensitivity and the real-time of stalling detection, and then be favorable to in time making the feedback to the stalling phenomenon, in order to reduce the motor and be provided with the damage probability of the compression of this motor.
The permanent magnet motor provided by the invention in the above embodiment may further have the following additional technical features:
in the foregoing technical solution, preferably, determining whether the motor has a locked rotor according to a relationship between a load torque of the motor and an electronically controlled output torque includes: and determining the load torque according to the counter electromotive force of the motor and the real-time rotating speed of the motor rotor.
In this technical scheme, through the real-time rotational speed of the back electromotive force that detects the motor and electric motor rotor, wherein, adopt the cutting action of back electromotive force sign motor to the magnetic induction line, adopt electric motor rotor's real-time rotational speed sign cutting action's range, and then can combine back electromotive force and real-time rotational speed to sign load torque together to obtain the higher load torque of reliability, and then be favorable to promoting the reliability that locked-rotor detected.
In any of the above technical solutions, preferably, the method further includes: performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor; clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system; performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system; determining corresponding static magnetic flux according to the current signal and the voltage signal under the two-phase static coordinate system; performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system; and determining the counter electromotive force according to the direct-axis magnetic flux value.
In the technical scheme, in a closed-loop control system, a stator alternating current signal of a motor on a static three-phase coordinate system is equivalent to a direct current signal under a synchronous rotating coordinate system through coordinate conversion, the stator alternating current signal is further equivalent to a direct current signal under a two-phase synchronous static coordinate system through coordinate conversion, decoupling between magnetic flux and torque is achieved through corresponding control signals, so that magnetic flux can be calculated through the direct current signal and the voltage signal under the two-phase static coordinate system, then a straight-axis magnetic flux value is further determined, and counter electromotive force is determined through the straight-axis magnetic flux value.
Specifically, three-phase current sampling is carried out through an ADC (analog to digital converter) by a controller MCU (microprogrammed control Unit) to obtain currents Iu, Iv and Iw, and then I is calculated through Clark conversion α 、I β The concrete formula is as follows:
according to V d 、V q Calculating V by inverse Park transformation α 、V β The concrete formula is as follows:
using flux estimates to determine
The specific formula is as follows:
then, the method is solved by Park transformation
The specific formula is as follows:
wherein the content of the first and second substances,
representing the value of the magnetic flux of the D axis to characterize the back EMF of the machine, according to
The back electromotive force Ke is found, and the formula is as follows:
in any of the above technical solutions, preferably, the method further includes: and determining position information of the motor stator according to the magnetic flux so as to determine the real-time rotating speed by performing integral operation on the position information.
In this technical solution, estimating the magnetic flux of the motor, and then estimating the position information of the rotor of the motor by the calculated magnetic flux of the motor, and performing an integration operation on the position information to estimate the rotation speed of the rotor, so as to determine the load torque by combining the obtained back electromotive force, includes:
wherein, the first and the second end of the pipe are connected with each other,
the load torque is characterized.
In any of the above technical solutions, preferably, the method further includes: and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
In this solution, the vector is synthesized by rotating the voltage
And characterizing the magnitude of the electric control output torque so as to determine whether the locked rotor phenomenon is generated or not by comparing with the load torque.
In any of the above technical solutions, preferably, determining whether the motor has a locked rotor according to a relationship between a load torque of the motor and an electronically controlled output torque includes: and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
In this solution, the load torque is detected to be greater than the electronically controlled output torque, i.e. when the load torque is detected to be greater than the electronically controlled output torque
In the process, the load torque has negative influence on the electric control output torque, namely resistance for limiting the rotation of the motor rotor can be generated, and the phenomenon of locked rotor can also be generated.
In any of the above technical solutions, preferably, the method further includes: and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
In this technical scheme, carry out the fault alarm when being greater than or equal to 5s through setting up duration, on the one hand, can promote the reliability that locked rotor detected, reduce the erroneous judgement probability, on the other hand, through carrying out the fault alarm, can in time take measures to the locked rotor problem to reduce the probability that motor and motor damaged.
An embodiment of a second aspect of the present invention provides a motor locked-rotor detection device, including: a memory and a processor; a memory for storing program code; a processor for invoking program code execution: and when the quadrature axis current under the two-phase rotating coordinate system is detected to be larger than 0, determining whether the motor generates locked rotor or not according to the relation between the load torque of the motor and the electric control output torque.
In this technical scheme, motor stalling is in actual performance and motor rotor blocks up not to rotate, through the size that detects load torque and automatically controlled output torque respectively, whether in order to confirm the motor according to the relation between the two and take place the stalling, because moment is one of the variables of the most direct reflection motor rotor state, whether through the detection to moment confirm to take place the stalling, be favorable to promoting the sensitivity and the real-time of stalling detection, and then be favorable to in time making the feedback to the stalling phenomenon, in order to reduce the motor and be provided with the damage probability of the compression of this motor.
In the foregoing technical solution, preferably, the processor is specifically configured to: and determining the load torque according to the counter electromotive force of the motor and the real-time rotating speed of the motor rotor.
In this technical scheme, through the real-time rotational speed that detects the back electromotive force of motor and electric motor rotor, wherein, adopt the cutting action of back electromotive force sign motor to the magnetic induction line, adopt electric motor rotor's real-time rotational speed sign cutting action's range, and then can combine back electromotive force and real-time rotational speed to sign load torque together to obtain the higher load torque of reliability, and then be favorable to promoting locked rotor detection's reliability.
In any of the above technical solutions, preferably, the processor is specifically configured to: performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor; clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system; performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system; determining corresponding static magnetic flux according to the current signal and the voltage signal under the two-phase static coordinate system; performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system; and determining the counter electromotive force according to the direct-axis magnetic flux value.
In the technical scheme, in a closed-loop control system, a stator alternating current signal of a motor in a static three-phase coordinate system is equivalent to a direct current signal in a synchronous rotating coordinate system through coordinate conversion, the stator alternating current signal is further equivalent to a direct current signal in a two-phase synchronous static coordinate system through coordinate conversion, decoupling between magnetic flux and torque is achieved through corresponding control signals, so that magnetic flux can be calculated through the direct current signal and the voltage signal in the two-phase static coordinate system, then a straight-axis magnetic flux value is further determined, and counter electromotive force is determined through the straight-axis magnetic flux value.
Specifically, three-phase current sampling is carried out through an ADC (analog to digital converter) by a controller MCU (microprogrammed control unit) to obtain currents Iu, Iv and Iw, and then I is calculated through Clark conversion α 、I β The concrete formula is as follows:
according to V d 、V q Calculating V by inverse Park transformation α 、V β The concrete formula is as follows:
using flux estimates to find
The concrete formula is as follows:
then, the method is solved by Park transformation
The concrete formula is as follows:
wherein the content of the first and second substances,
representing the value of the magnetic flux of the D axis to characterize the back EMF of the machine, according to
The back electromotive force Ke is found, and the formula is as follows:
in any of the above technical solutions, preferably, the processor is specifically configured to: and determining position information of the motor stator according to the magnetic flux so as to determine the real-time rotating speed by performing integral operation on the position information.
In this technical solution, estimating the magnetic flux of the motor, and then estimating the position information of the rotor of the motor by the calculated magnetic flux of the motor, and performing an integration operation on the position information to estimate the rotation speed of the rotor, so as to determine the load torque by combining the obtained back electromotive force, includes:
wherein the content of the first and second substances,
the load torque is characterized.
In any of the above technical solutions, preferably, the processor is specifically configured to: and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
In this solution, the vector is synthesized by rotating the voltage
And characterizing the magnitude of the electric control output torque so as to determine whether the locked rotor phenomenon is generated or not by comparing with the load torque.
In any of the above technical solutions, preferably, the processor is specifically configured to: and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
In this solution, the load torque is detected to be greater than the electronically controlled output torque, i.e. when the load torque is detected to be greater than the electronically controlled output torque
In the process, the load torque has negative influence on the electric control output torque, namely resistance for limiting the rotation of the motor rotor can be generated, and the phenomenon of locked rotor can also be generated.
In any of the above technical solutions, preferably, the processor is specifically configured to: and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
In this technical scheme, carry out the malfunction alerting when being greater than or equal to 5s through setting up duration, on the one hand, can promote the reliability that locked rotor detected, reduce the erroneous judgement probability, on the other hand, through carrying out the malfunction alerting, can in time take measures to the locked rotor problem to reduce the probability that motor and motor damaged.
An embodiment of the third aspect of the present invention provides a motor including the motor stalling detection device set forth in the embodiment of the second aspect of the present invention.
An embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the detection method according to any one of the above-mentioned solutions of the first aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart showing a motor stalling detection method according to a first embodiment of the invention;
fig. 2 is a schematic flow chart illustrating a motor stalling detection method according to a second embodiment of the invention;
FIG. 3 shows a schematic block diagram of a motor flux calculation scheme of an embodiment of the present invention;
fig. 4 shows a schematic block diagram of a motor stalling detection device according to an embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The first embodiment is as follows:
as shown in fig. 1, a method for detecting a locked rotor of a motor according to an embodiment of the present invention includes: and 102, when the quadrature axis current in the two-phase rotating coordinate system is detected to be larger than 0, determining whether the motor is locked according to the relation between the load torque of the motor and the electric control output torque.
In this embodiment, the actual performance of the locked rotor of the motor and the blocked rotor of the motor do not rotate, and whether the locked rotor occurs in the motor is determined according to the relationship between the load torque and the electric control output torque by respectively detecting the load torque and the electric control output torque.
In the above embodiment, preferably, determining whether the electric motor is locked in rotation according to a relationship between a load torque of the electric motor and the electronically controlled output torque includes: and determining the load torque according to the counter electromotive force of the motor and the real-time rotating speed of the motor rotor.
In this embodiment, through the real-time rotational speed that detects the back electromotive force of motor and electric motor rotor, wherein, adopt the cutting action of back electromotive force representation motor to magnetic induction line, adopt the real-time rotational speed representation cutting action's of electric motor rotor amplitude, and then can combine back electromotive force and real-time rotational speed together to represent load torque to obtain the higher load torque of reliability, and then be favorable to promoting the reliability that the locked rotor detected.
In any of the above embodiments, preferably, the method further includes: performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor; clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system; performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system; determining corresponding static magnetic flux according to the current signal and the voltage signal under the two-phase static coordinate system; performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system; and determining the counter electromotive force according to the direct-axis magnetic flux value.
In the embodiment, in a closed-loop control system, a stator alternating current signal of a motor on a static three-phase coordinate system is equivalent to a direct current signal under a synchronous rotating coordinate system through coordinate conversion, and is further equivalent to a direct current signal under a two-phase synchronous static coordinate system through coordinate conversion, and decoupling between magnetic flux and torque is realized through corresponding control signals, so that magnetic flux can be calculated through the direct current signal and the voltage signal under the two-phase static coordinate system, then a direct-axis magnetic flux value is further determined, and counter electromotive force is determined through the direct-axis magnetic flux value.
Specifically, three-phase current sampling is carried out through an ADC (analog to digital converter) by a controller MCU (microprogrammed control unit) to obtain currents Iu, Iv and Iw, and then I is calculated through Clark conversion α 、I β The concrete formula is as follows:
according to V d 、V q Calculating V by inverse Park transformation α 、V β The concrete formula is as follows:
as shown in fig. 3, the magnetic flux estimation is used to obtain
The specific formula is as follows:
wherein, Rs is stator resistance, and Ls is stator inductance.
As shown in FIG. 3, 302 and 310 are used for integral amplification, 304, 306, 308, 312, 314 and 316 are used for gain adjustment, and the input is I α 、I β 、V α And V β Output is
And
then, the method is solved by Park transformation
The specific formula is as follows:
wherein the content of the first and second substances,
representing the value of the magnetic flux of the D axis to characterize the back EMF of the machine, according to
The back electromotive force Ke is found, formula:
in any of the above embodiments, preferably, the method further includes: and determining position information of the motor stator according to the magnetic flux so as to determine the real-time rotating speed by performing integral operation on the position information.
In this embodiment, estimating the rotation speed of the rotor by performing estimation of the magnetic flux of the motor, which can be used to estimate the position information of the rotor of the motor from the calculated magnetic flux of the motor, and integrating the position information to determine the load torque by combining the obtained back electromotive force includes:
wherein, the first and the second end of the pipe are connected with each other,
the load torque is characterized.
In any of the above embodiments, preferably, the method further includes: and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
In this embodiment, the vector is synthesized by rotating the voltage
And characterizing the magnitude of the electric control output torque so as to determine whether the locked rotor phenomenon is generated or not by comparing with the load torque.
In any of the above embodiments, preferably, determining whether the electric motor is locked in rotation according to a relationship between a load torque of the electric motor and the electronically controlled output torque includes: and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
In this embodiment, the load torque is detected to be greater than the electronically controlled output torque, i.e. when the load torque is detected to be greater than the electronically controlled output torque
In the process, the load torque has negative influence on the electric control output torque, namely resistance for limiting the rotation of the motor rotor can be generated, and the phenomenon of locked rotor can also be generated.
In any of the above embodiments, preferably, the method further includes: and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
In this embodiment, carry out the malfunction alerting when setting up duration and being greater than or equal to 5s, on the one hand, can promote the reliability that locked rotor detected, reduce the erroneous judgement probability, on the other hand, through carrying out the malfunction alerting, can in time take measures to the locked rotor problem to reduce the probability that motor and motor damaged.
Example two:
as shown in fig. 2, a motor stalling detection method according to another embodiment of the invention includes:
and step 212, stopping the machine and reporting faults.
Example three:
as shown in fig. 4, the motor stalling detection device 400 according to the embodiment of the invention includes: a memory 402 and a processor 404; a memory 402 for storing the memory 402 for storing program code; a processor 404 for invoking program code to perform: and when the quadrature axis current under the two-phase rotating coordinate system is detected to be larger than 0, determining whether the motor is locked according to the relation between the load torque of the motor and the electric control output torque.
In this embodiment, the actual performance of the locked rotor of the motor and the blocked rotor of the motor do not rotate, and whether the locked rotor occurs in the motor is determined according to the relationship between the load torque and the electric control output torque by respectively detecting the load torque and the electric control output torque.
In the foregoing embodiment, preferably, the processor 404 is specifically configured to: and determining the load torque according to the counter electromotive force of the motor and the real-time rotating speed of the motor rotor.
In this embodiment, through the real-time rotational speed that detects the back electromotive force of motor and electric motor rotor, wherein, adopt the cutting action of back electromotive force representation motor to magnetic induction line, adopt the real-time rotational speed representation cutting action's of electric motor rotor amplitude, and then can combine back electromotive force and real-time rotational speed together to represent load torque to obtain the higher load torque of reliability, and then be favorable to promoting the reliability that the locked rotor detected.
In any of the above embodiments, preferably, the processor 404 is specifically configured to: performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor; clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system; performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system; determining corresponding static magnetic flux according to the current signal and the voltage signal under the two-phase static coordinate system; performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system; and determining the counter electromotive force according to the direct-axis magnetic flux value.
In the embodiment, in a closed-loop control system, a stator alternating current signal of a motor on a static three-phase coordinate system is equivalent to a direct current signal under a synchronous rotating coordinate system through coordinate conversion, and is further equivalent to a direct current signal under a two-phase synchronous static coordinate system through coordinate conversion, and decoupling between magnetic flux and torque is realized through corresponding control signals, so that magnetic flux can be calculated through the direct current signal and the voltage signal under the two-phase static coordinate system, then a direct-axis magnetic flux value is further determined, and counter electromotive force is determined through the direct-axis magnetic flux value.
Specifically, three-phase current sampling is carried out through an ADC (analog to digital converter) by a controller MCU (microprogrammed control Unit) to obtain currents Iu, Iv and Iw, and then I is calculated through Clark conversion α 、I β The concrete formula is as follows:
according to V d 、V q Calculating V by inverse Park transformation α 、V β The concrete formula is as follows:
using flux estimates to determine
The specific formula is as follows:
then, the data is obtained through Park conversion
The concrete formula is as follows:
wherein the content of the first and second substances,
representing the value of the magnetic flux of the D axis to characterize the back EMF of the machine, according to
The back electromotive force Ke is found, and the formula is as follows:
in any of the above embodiments, preferably, the processor 404 is specifically configured to: and determining position information of the motor stator according to the magnetic flux so as to determine the real-time rotating speed by performing integral operation on the position information.
In this embodiment, by performing estimation of the magnetic flux of the motor, and further by estimating the position information of the rotor of the motor from the calculated magnetic flux of the motor, and by integrating the position information, estimation of the rotation speed of the rotor is achieved to determine the load torque in combination with the above-mentioned obtained counter electromotive force, including:
wherein the content of the first and second substances,
the load torque is characterized.
In any of the above embodiments, preferably, the processor 404 is specifically configured to: and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
In this embodiment, the vector is synthesized by rotating the voltage
And characterizing the magnitude of the electric control output torque so as to determine whether the locked rotor phenomenon is generated or not by comparing with the load torque.
In any of the above embodiments, preferably, the processor 404 is specifically configured to: and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
In this embodiment, the load torque is detected to be greater than the electronically controlled output torque, i.e. when the load torque is detected to be greater than the electronically controlled output torque
In the process, the load torque has negative influence on the electric control output torque, namely resistance for limiting the rotation of the motor rotor can be generated, and the phenomenon of locked rotor can also be generated.
In any of the above embodiments, preferably, the processor 404 is specifically configured to: and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
In this embodiment, carry out the malfunction alerting when setting up duration and being greater than or equal to 5s, on the one hand, can promote the reliability that locked rotor detected, reduce the erroneous judgement probability, on the other hand, through carrying out the malfunction alerting, can in time take measures to the locked rotor problem to reduce the probability that motor and motor damaged.
According to an embodiment of the present invention, a motor is further provided, which includes the motor stalling detection device provided in any one of the above embodiments.
According to an embodiment of the present invention, there is also provided a compressor including the motor according to the above embodiment.
According to an embodiment of the present invention, a computer-readable storage medium is also proposed, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the detection method according to any one of the above-mentioned embodiments.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A motor locked-rotor detection method is characterized by comprising the following steps:
when detecting that the quadrature axis current under the two-phase rotating coordinate system is greater than 0, determining whether the motor generates locked rotor according to the relation between the load torque of the motor and the electric control output torque;
the determining whether the motor generates locked rotor according to the relationship between the load torque and the electric control output torque of the motor specifically comprises:
determining the load torque according to the counter electromotive force of the motor and the real-time rotating speed of a motor rotor;
performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor;
clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system;
performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system;
determining corresponding magnetic flux according to the current signal and the voltage signal under the two-phase static coordinate system;
performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system;
and determining the counter electromotive force according to the direct-axis magnetic flux value.
2. The method for detecting according to claim 1, further comprising:
determining position information of the motor stator according to the magnetic flux to determine the real-time rotation speed by performing an integration operation on the position information.
3. The detection method according to claim 1, further comprising:
and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
4. The detection method according to any one of claims 1 to 3, wherein the determining whether the electric motor has a stall or not according to a relationship between a load torque of the electric motor and an electronically controlled output torque specifically includes:
and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
5. The method of claim 4, further comprising:
and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
6. The utility model provides a motor stalling detection device which characterized in that includes: a memory and a processor;
the memory for storing program code;
the processor is used for calling the program codes to execute the following steps:
when detecting that the quadrature axis current under the two-phase rotating coordinate system is greater than 0, determining whether the motor generates locked rotor according to the relation between the load torque of the motor and the electric control output torque;
the processor is specifically configured to:
determining the load torque according to the back electromotive force of the motor and the real-time rotating speed of a motor rotor;
the processor is specifically further configured to:
performing three-phase current sampling operation by adopting an analog-to-digital converter to obtain three-phase sampling current of the motor;
clark conversion is carried out on the three-phase sampling current to generate a current signal under a two-phase static coordinate system;
performing Park inverse transformation on the collected voltage signals under the two-phase rotating coordinate system to generate voltage signals under the two-phase static coordinate system;
determining corresponding static magnetic flux according to the current signal and the voltage signal in the two-phase static coordinate system;
performing Park transformation on the magnetic flux to obtain a direct-axis magnetic flux value under a corresponding two-phase rotating coordinate system;
and determining the counter electromotive force according to the direct-axis magnetic flux value.
7. The detection apparatus according to claim 6, wherein the processor is specifically configured to:
determining position information of the motor stator according to the magnetic flux to determine the real-time rotation speed by performing an integration operation on the position information.
8. The detection apparatus according to claim 6, wherein the processor is specifically configured to:
and performing synthesis operation on the voltage signals under the two-phase static coordinate system to determine the electric control output torque.
9. The detection apparatus according to any one of claims 6 to 8, wherein the processor is specifically configured to:
and when the load torque is detected to be larger than the electric control output torque, determining that the motor generates locked rotor.
10. The detection apparatus according to claim 9, wherein the processor is specifically configured to:
and when the duration that the load torque is greater than the electric control output torque is detected to be greater than or equal to 5s, controlling to stop the electric control output and generating locked rotor fault alarm information.
11. An electric machine, comprising:
the motor stall detection apparatus of any one of claims 6 to 10.
12. A computer-readable storage medium, having stored thereon an operation control program which, when executed by a processor, implements the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437427.2A CN111244897B (en) | 2018-11-28 | 2018-11-28 | Detection method, detection device, motor and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437427.2A CN111244897B (en) | 2018-11-28 | 2018-11-28 | Detection method, detection device, motor and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111244897A CN111244897A (en) | 2020-06-05 |
| CN111244897B true CN111244897B (en) | 2022-09-13 |
Family
ID=70863784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811437427.2A Active CN111244897B (en) | 2018-11-28 | 2018-11-28 | Detection method, detection device, motor and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111244897B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113410819B (en) * | 2021-06-12 | 2022-06-07 | 四川虹美智能科技有限公司 | Motor locked-rotor protection control method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1599230A (en) * | 2004-07-28 | 2005-03-23 | 哈尔滨工业大学 | Discrete variable frequency starting system of AC induction motor and starting method |
| CN202424399U (en) * | 2011-12-05 | 2012-09-05 | 周加仁 | Mechanical gear shifting hub motor with double clutches |
| CN103166184A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Delayed alarm method for direct current variable pitch motor |
| CN105366549A (en) * | 2014-12-11 | 2016-03-02 | 冯春魁 | Method and system for parameter calculation, control, running monitoring and load monitoring of crane |
| CN106419644A (en) * | 2015-08-04 | 2017-02-22 | 德昌电机(深圳)有限公司 | Rotary stirrer control method and control system |
| CN107947663A (en) * | 2017-11-27 | 2018-04-20 | 奥克斯空调股份有限公司 | A kind of low-frequency vibration suppressing method and device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6737828B2 (en) * | 2001-07-19 | 2004-05-18 | Matsushita Electric Industrial Co., Ltd. | Washing machine motor drive device |
| JP6199776B2 (en) * | 2014-03-11 | 2017-09-20 | 株式会社荏原製作所 | Electric motor drive |
-
2018
- 2018-11-28 CN CN201811437427.2A patent/CN111244897B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1599230A (en) * | 2004-07-28 | 2005-03-23 | 哈尔滨工业大学 | Discrete variable frequency starting system of AC induction motor and starting method |
| CN202424399U (en) * | 2011-12-05 | 2012-09-05 | 周加仁 | Mechanical gear shifting hub motor with double clutches |
| CN103166184A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Delayed alarm method for direct current variable pitch motor |
| CN105366549A (en) * | 2014-12-11 | 2016-03-02 | 冯春魁 | Method and system for parameter calculation, control, running monitoring and load monitoring of crane |
| CN106419644A (en) * | 2015-08-04 | 2017-02-22 | 德昌电机(深圳)有限公司 | Rotary stirrer control method and control system |
| CN107947663A (en) * | 2017-11-27 | 2018-04-20 | 奥克斯空调股份有限公司 | A kind of low-frequency vibration suppressing method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111244897A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105529967A (en) | Fan start state detection and start control method | |
| CN109490646B (en) | Phase-loss detection method for driving motor of new energy automobile | |
| US20140265960A1 (en) | Control system for synchronous motor including abnormality detection and diagnosis function | |
| JP2009526511A (en) | Method and apparatus for driving a synchronous machine | |
| CN110658453B (en) | Asynchronous motor work abnormity detection method and device | |
| CN110596585B (en) | Motor locked-rotor monitoring device, motor protection system and method | |
| CN110557075A (en) | motor torque determination method and device and motor control system | |
| CN1983794A (en) | Self tuning method and apparatus for permanent magnet sensorless control | |
| US7405534B2 (en) | Apparatus and method for controlling velocity of motor | |
| JP2018033301A (en) | Method for determining orientation of rotor of non-iron pmsm motor in sensor free manner | |
| CN108111082B (en) | IF control stall detection method and system for permanent magnet synchronous motor | |
| CN110875704A (en) | Locked rotor detection method, locked rotor detection device and control system of permanent magnet synchronous motor | |
| CN111244897B (en) | Detection method, detection device, motor and storage medium | |
| CN112269131B (en) | Speed ring PI oscillation detection method and device, electronic equipment and storage medium | |
| EP3133732B1 (en) | Power conversion device and power conversion method | |
| EP2645562B1 (en) | Control method for induction motor | |
| Kubota et al. | Adaptive flux observer of induction motor and its stability | |
| CN116241444A (en) | Compressor starting method and device and electrical equipment | |
| US10333451B2 (en) | Controller and method for detecting a blocked state of an electrical machine | |
| CN112311288B (en) | Motor position sensor calibration method, device, equipment and storage medium | |
| US11283391B2 (en) | Detection of current measurement gain errors in synchronous motor drives | |
| CN111845350B (en) | Motor phase loss diagnosis method, motor controller, management system and vehicle | |
| CN109268299B (en) | Fan steering detection device, detection method and fan | |
| CN111697879A (en) | Motor starting control system and motor control method | |
| WO2023159619A1 (en) | Locked-rotor detection device, system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |