CN112688619B - Control method for motor locked-rotor protection - Google Patents
Control method for motor locked-rotor protection Download PDFInfo
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- CN112688619B CN112688619B CN202011516397.1A CN202011516397A CN112688619B CN 112688619 B CN112688619 B CN 112688619B CN 202011516397 A CN202011516397 A CN 202011516397A CN 112688619 B CN112688619 B CN 112688619B
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Abstract
The invention discloses a control method for motor locked-rotor protection, and relates to the field of motor control. According to the scheme, the detection of the rotating speed, the current and the temperature of the motor is combined, the different working states of slight locked rotor, moderate locked rotor and severe locked rotor of the motor are effectively and accurately detected and judged, the accuracy of motor control is improved, and the method has the advantages of being accurate in control and high in applicability.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method for motor locked-rotor protection.
Background
The existing motor locked rotor protection technology is judged by detecting whether a motor operates, the motor can only be locked, and the motor cannot operate, and in practical application, the following locked rotors with different degrees can appear:
1. the motor can eliminate the locked-rotor abnormality by increasing the output torque;
practical applications such as thick dust accumulation, snow blockage, small tree branches and leaves blockage, etc.
2. Moderate locked rotor, the motor can run, the abnormal state is that the rotating speed is lower than the lower limit, the current is greater than the upper limit, after long-time running, the temperature of the motor rises, and the hidden trouble that the temperature exceeds the upper limit exists;
in practical application conditions, the obstruction of foreign matters such as branches leads to the increase of running resistance, and the abnormality of a bearing or a shaft leads to the increase of friction force.
3. The motor can run under the condition of severe locked rotor, the rotating speed is far lower than the lower limit, the current is far higher than the normal value in an abnormal state, the temperature of the motor rises sharply in a short time, and the temperature exceeds the upper limit value;
the friction is increased due to practical application conditions such as ice and snow obstruction, severe structural deformation of the bearing or shaft.
In the above situation, after the running resistance is increased, hidden dangers are formed, the situation is light and only slight heating is needed, the energy consumption is low, the noise is increased, the vibration is increased, and the user experience is reduced; the serious scenario is that the motor overheats, causing damage, smoking and even burning.
Therefore, a new and comprehensive scheme for motor locked-rotor protection is required to be provided for different use working conditions of the motor.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a control method for motor stalling protection, which combines the rotation speed, current and temperature of a motor to effectively and accurately detect and judge different working states of the motor, is beneficial to improving the accuracy of motor control, and has the advantages of precise control and strong applicability.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a control method for motor locked-rotor protection comprises the steps of obtaining the position, the rotating speed, the current and the temperature of a motor, and also comprises the following control steps:
step S1: starting a motor, driving the motor to operate at a first driving duty ratio, continuing for a first preset time T1, and detecting whether the motor rotates; if the motor rotates, continuing to step S2; otherwise, judging the motor to be in a locked-rotor state;
step S2: driving the motor to operate at a second driving duty ratio larger than the first driving duty ratio, continuing for a second preset time T2, and judging whether the rotating speed of the motor is larger than a preset first minimum operating speed threshold value or not; if the judgment result is yes, judging the normal running state of the motor; if not, continuously judging whether the rotating speed of the motor is greater than a preset second lowest operating speed threshold value or not, wherein the second lowest operating speed threshold value is smaller than the first lowest operating speed threshold value; if the judgment result is yes, continuing to step S3.1; otherwise, continuing the step S3.2;
step S3.1: driving the motor to operate at a third driving duty ratio larger than the second driving duty ratio, continuing for a third preset time T3, judging whether the operating speed of the motor is larger than the first minimum operating speed threshold value, and if so, continuing to step S3.1.1; otherwise, judging that the motor is in a locked-rotor state;
step S3.1.1: judging whether the current of the motor is larger than a first preset current value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continue with step S3.1.2;
step S3.1.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, judging whether the rotating speed of the motor reaches a first preset rotating speed threshold value, wherein the first preset rotating speed threshold value is larger than the first lowest rotating speed threshold value, if so, continuing for a fifth preset time T5, and continuing to step S3.1.3; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is larger than the second lowest rotating speed threshold value, and if so, continuing to step S3.1.4; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.1.5;
step S3.1.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
step S3.2: driving the motor to operate at a third driving duty ratio which is greater than the second driving duty ratio, and continuing for a seventh preset time T7, wherein the seventh preset time is greater than the third preset time, judging whether the operating speed of the motor is greater than the second minimum operating speed threshold value, and if so, continuing to step S3.2.1; otherwise, judging that the motor is in a locked-rotor state;
step S3.2.1: judging whether the current of the motor exceeds a second preset current threshold value, wherein the second preset current threshold value is larger than the first preset current value in the step S3.1.1, and if the judgment result is yes, judging that the motor is in a locked-rotor state; otherwise, continue step S3.2.2;
step S3.2.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, and judging whether the rotating speed of the motor reaches a first preset rotating speed threshold value, wherein the first preset rotating speed threshold value is larger than the first lowest rotating speed threshold value, and if the judging result is yes, continuing to operate the step S3.2.3; otherwise, judging the motor to be in a locked-rotor state;
step S3.2.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is larger than the second lowest rotating speed threshold value, and if the judgment result is yes, judging that the motor is in a normal operating state; otherwise, continue step S3.2.4;
step S3.2.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.2.5;
step S3.2.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
if the motor is in a locked-rotor state in the determination result, stopping the motor for checking, and restarting from the step S1 after the fault is eliminated;
if the motor is in a normal running state, the motor is continuously driven to run.
Through the setting, after the motor is started, the duty ratio is gradually increased to drive the motor, through the judgment of setting two-stage low speed, namely two different thresholds of a first lowest running speed threshold value and a second lowest running speed threshold value, thereby distinguishing two different resistance working conditions, after the driving force is subsequently increased, the speed, the current and the temperature are combined, the further judgment is carried out on the running working conditions of the motor, different driving control strategies are pertinently adopted, under the condition of low resistance, the obstacle is eliminated by increasing the driving force, the rotating speed, the current and the temperature can be detected, the current and the temperature of the motor are controlled in an allowed range, the waste of energy consumption is reduced, and the hidden danger of smoke and fire caused by high temperature is reduced.
Preferably, in step S1, whether the motor is rotated is determined by whether a hall sensor is changed.
Through setting up like this, whether change through hall sensor feedback magnetic pole determines whether the motor takes place to rotate, and it is convenient, simple structure to judge.
Preferably, the rotation speed of the motor is obtained by detecting a signal change speed of the hall sensor.
Through setting up like this, it is simple and convenient to measure the speed.
Preferably, the lowest running speed of the motor for normal operation is N 0 The first minimum operation speed threshold is N 1 ，N 0 ≥N 1 ≥N 0 -100。
Preferably, the second minimum operating speed threshold is N 2 ，N 1 ＞N 2 ≥N 1 -200。
Preferably, the rated rotation speed of the motor is N Forehead (forehead) The first preset operation speed threshold value is N 1 ’，N 1 ’=N Forehead (forehead) /2。
Preferably, the second preset operation speed threshold is N 2 ’，N 2 ’≥N Forehead (D) -300。
Preferably, the first preset current value is a 1 Rated current value of the motor is A Forehead (forehead) ，A Forehead (forehead) *45%≤A 1 ≤A Forehead (forehead) *55%。
Preferably, the second preset current value is A 2 ，A Forehead (D) *55%＜A 2 ≤A Forehead (forehead) *65%。
Preferably, the threshold limit current is A Extreme limit The current is the current under the highest working voltage of the motor.
Through setting up like this, above data selection is for verifying through repeated experiments and obtaining, through adopting foretell numerical value selection, can reach the technological effect of accurate judgement motor running state, and can be applicable to the use of the motor of different specifications, and different and select numerical value in this scope according to the service environment who is used for, extensive applicability.
Compared with the prior art, the invention has the beneficial technical effects that:
the control method for the motor locked-rotor protection is provided, different working states of slight locked-rotor, moderate locked-rotor and severe locked-rotor of the motor are effectively and accurately detected and judged by combining the rotating speed, the current and the temperature of the motor, the accuracy of motor control is improved, and the control method has the advantages of accuracy in control and strong applicability.
Drawings
FIG. 1 is a control flow diagram of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments, but the scope of the present invention is not limited to the following embodiments.
Examples
The embodiment discloses a control method for locked-rotor protection of a motor, which comprises the steps of obtaining the position, the rotating speed, the current and the temperature of the motor, and also comprises the following control steps:
step S1: starting a motor, driving the motor to operate at a first driving duty ratio, continuing for a first preset time T1, and detecting whether the motor rotates; if the motor rotates, continuing to step S2; otherwise, judging the motor to be in a locked-rotor state;
step S2: driving the motor to operate at a second driving duty ratio which is greater than the first driving duty ratio, and continuing for a second preset time T2 to judge whether the rotating speed of the motor is greater than a preset first minimum operating speed threshold value or not; if the judgment result is yes, judging the normal running state of the motor; if not, continuously judging whether the rotating speed of the motor is greater than a preset second lowest operating speed threshold value or not, wherein the second lowest operating speed threshold value is smaller than the first lowest operating speed threshold value; if the judgment result is yes, continuing to step S3.1; otherwise, continuing the step S3.2;
step S3.1: driving the motor to operate at a third driving duty ratio larger than the second driving duty ratio, continuing for a third preset time T3, judging whether the operating speed of the motor is larger than the first minimum operating speed threshold value, and if so, continuing to step S3.1.1; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.1: judging whether the current of the motor is larger than a first preset current value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continue step S3.1.2;
step S3.1.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, judging whether the rotating speed of the motor reaches a first preset operating speed threshold value, wherein the first preset operating speed threshold value is larger than a first minimum operating speed threshold value, if so, continuing for a fifth preset time T5, and continuing to perform the step S3.1.3; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value or not, wherein the second preset rotating speed threshold value is larger than a second lowest rotating speed threshold value, and if so, continuing to perform the step S3.1.4; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.1.5;
step S3.1.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
step S3.2: driving the motor to operate at a third driving duty ratio larger than the second driving duty ratio and continuing for a seventh preset time T7, wherein the seventh preset time is larger than the third preset time, judging whether the operating speed of the motor is larger than a second minimum operating speed threshold value or not, and if so, continuing to step S3.2.1; otherwise, judging the motor to be in a locked-rotor state;
step S3.2.1: judging whether the current of the motor exceeds a second preset current threshold value, wherein the second preset current threshold value is larger than the first preset current value in the step S3.1.1, and if the judgment result is yes, judging that the motor is in a locked-rotor state; otherwise, continue step S3.2.2;
step S3.2.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, and judging whether the rotating speed of the motor reaches a first preset operating speed threshold value, wherein the first preset operating speed threshold value is greater than a first lowest operating speed threshold value, and if the judgment result is yes, continuing to operate the step S3.2.3; otherwise, judging the motor to be in a locked-rotor state;
step S3.2.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is larger than a second lowest rotating speed threshold value, and if so, judging that the motor is in a normal operating state; otherwise, continue step S3.2.4;
step S3.2.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.2.5;
step S3.2.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
if the motor is in a locked-rotor state in the determination result, stopping the motor for checking, and restarting from the step S1 after the fault is eliminated;
if the motor is in a normal running state, the motor is continuously driven to run.
In a preferred embodiment, in step S1, whether the motor rotates is detected by determining whether the hall sensor changes, that is, by determining whether the hall sensor feeds back that the magnetic pole of the motor changes.
In a preferred embodiment, in the present embodiment, the rotation speed of the motor is obtained by detecting the signal change speed of the hall sensor.
In other embodiments, the rotation speed of the motor can be detected by other testing modes.
In a preferred embodiment, the minimum operating speed for normal operation of the motor is N 0 The first minimum operation speed threshold is N 1 ，N 0 ≥N 1 ≥N 0 -100。
In a preferred embodiment, the second minimum operating speed threshold is N 2 ，N 1 ＞N 2 ≥N 1 -200。
In a preferred embodiment, the motor has a nominal rotational speed N Forehead (forehead) The first preset operation speed threshold is N 1 ’，N 1 ’=N Forehead (forehead) /2。
In a preferred embodiment, the second preset operating speed threshold is N 2 ’，N 2 ’≥N Forehead (forehead) -300。
In a preferred embodiment, the first preset current value is a 1 Rated current value of the motor is A Forehead (forehead) ，A Forehead (forehead) *45%≤A 1 ≤A Forehead (forehead) *55%。
In a preferred embodiment, the second preset current value is a 2 ，A Forehead (forehead) *55%＜A 2 ≤A Forehead (forehead) *65%。
In a preferred embodiment, the threshold limit current is a Extreme limit The current is the current under the highest working voltage of the motor.
Rated working voltage is 26V (volt), rated working current A Forehead (forehead) Is 6.5A (ampere) and rated rotating speed N Forehead (forehead) For the example of DC motor control at 2800rpm, the maximum operating voltage is 32V.
The rotating speed of the motor can be acquired through sensors such as a photoelectric pulse encoder, a linear grating ruler, an induction synchronizer, a rotary transformer and a linear magnetic grating ruler, the current of the motor is acquired through data fed back by an ammeter connected with the motor in series, the temperature of the motor can be acquired through an electronic thermometer, and the temperature of a motor outer cover is mainly measured. And the parameters are set according to the following steps:
the first drive duty is set to 20%;
the first preset time T1 is set to 500ms (milliseconds);
the second drive duty is set to 30%;
the second preset time T2 is set to 4s (seconds);
the lowest operation of the motor in normal operationSpeed N 0 Taking the minimum value of 700 to 800rpm, and setting the first minimum running speed threshold value N 1 Set to 600rpm;
second minimum operating speed threshold value N 2 Set to 400rpm;
the third drive duty is set to 40%;
the third preset time T3 is set to be 4s;
a first preset current value A 1 Setting to be 3A;
the highest drive duty cycle is set to 100%;
the fourth preset time T4 is set to 20s;
first preset running speed threshold value N 1 ' set to 1400rpm;
the fifth preset time T5 is set to 20s;
second preset operating speed threshold value N 2 ' set to 2500rpm;
limiting current threshold A Extreme limit Set to 9.75A, which was measured by the motor at a maximum operating voltage of 32V;
the sixth preset time T6 is set to 1h (hour);
the maximum threshold value of the allowable operation range is set to be 85 ℃;
the seventh preset time T7 is set to 6s;
second predetermined current threshold A 2 Set to 4A.
The setting of the numerical values is set according to parameters of the motor, and the parameters adopted by the motors with different specifications are different and can be set according to actual requirements.
Referring to fig. 1, the motor operation is controlled according to the following control steps:
step S1: starting the motor, driving the motor to run at a duty ratio of 20%, and continuing for 500ms, wherein the continuous time control can be controlled by a conventional timer or timer, and whether the motor rotates or not is detected, namely whether the Hall sensor changes or not is detected;
if the Hall sensor changes, namely the motor rotates, continuing to step S2;
otherwise, judging that the motor is in a locked-rotor state;
step S2: driving the motor to operate at a duty ratio of 30%, continuing for 4s, and judging whether the rotating speed of the motor is greater than 600rpm;
if the judgment result is yes, judging the normal running state of the motor, namely eliminating the running obstacle by increasing the driving force;
otherwise, judging that the motor is abnormal, and further continuously judging whether the rotating speed of the motor is greater than 400rpm;
if the judgment result is yes, the resistance suffered by the motor operation is relatively small, and the step S3.1 is continued;
otherwise, indicating that the resistance received by the motor in operation is relatively small, and continuing to step S3.2;
step S3.1: driving the motor to operate at a duty ratio of 40%, continuing for 4s, and judging whether the operating speed of the motor is greater than 600rpm;
if yes, continuing to step S3.1.1;
otherwise, the motor is judged to be in a locked-rotor state, and the speed of the motor cannot be increased to a preset first minimum operation speed threshold value after the driving force is increased, so that the requirement of safe operation cannot be met;
step S3.1.1: judging whether the current of the motor is larger than 3A or not;
if the judgment result is yes, the motor is judged to be in a locked-rotor state, the motor is in a low rotating speed and large current state, and the following hidden dangers exist: the motor generates heat to generate high temperature to cause smoke and fire, so that the maintenance process after the locked rotor is judged needs to be carried out, and the safe operation of the motor is ensured;
otherwise, continue with step S3.1.2;
step S3.1.2: driving the motor to operate at a duty ratio of 100%, continuing for 20s, and judging whether the rotating speed of the motor reaches 1400rpm;
if the judgment result is yes, namely the rotating speed of the motor is more than or equal to 1400rpm, continuing to operate for 20s, and continuing to operate in the step S3.1.3; the effect of its continued operation for 20s is: the motor is operated for a sufficient time in the running state of the highest driving force;
otherwise, judging the motor to be in a locked-rotor state;
step S3.1.3: judging whether the rotating speed of the motor reaches 2500rpm or not;
if the judgment result is yes, namely the rotating speed of the motor is more than or equal to 2500rpm, continuing the step S3.1.4;
otherwise, judging the motor to be in a locked-rotor state;
step S3.1.4: judging whether the current of the motor is more than 9.75A;
if yes, judging that the motor is in a locked-rotor state;
otherwise, continuously running for 1h, and continuing to step S3.1.5;
step S3.1.5: judging whether the temperature of the motor exceeds 85 ℃;
if yes, judging that the motor is in a locked-rotor state;
otherwise, judging the motor to be in a normal running state;
step S3.2: driving the motor to operate at a duty ratio of 40% for 6s, prolonging the driving time, detecting the speed after the motor tends to be in a stable state, and judging whether the operating speed of the motor is greater than 400rpm;
if yes, continuing to step S3.2.1;
otherwise, judging that the motor is in a locked-rotor state;
step S3.2.1: judging whether the current of the motor exceeds 4A;
if the judgment result is yes, judging that the motor is in a locked-rotor state;
otherwise, continue step S3.2.2;
step S3.2.2: driving the motor to operate at a duty ratio of 100%, continuing for 20s, and judging whether the rotating speed of the motor reaches 1400rpm;
if yes, continuing to operate the step S3.2.3;
otherwise, judging that the motor is in a locked-rotor state;
step S3.2.3: judging whether the rotating speed of the motor reaches 2500rpm or not;
if the judgment result is yes, the motor is judged to be in a normal running state, namely the driving force is increased to eliminate running obstacles;
otherwise, continue step S3.2.4;
step S3.2.4: judging whether the current of the motor is more than 9.75A;
if yes, judging that the motor is in a locked-rotor state;
otherwise, continuously running for 1h, and continuing to step S3.2.5;
step S3.2.5: judging whether the temperature of the motor exceeds 85 ℃;
if yes, judging that the motor is in a locked-rotor state;
otherwise, the motor is judged to be in a normal running state.
The motor operation can be suitable for the following use conditions possibly encountered in the motor operation process:
case 1: the operation can not be carried out: the main manifestation form is that the foreign matter blocks the rotation, is completely locked and can not rotate;
the running state of the motor is identified by detecting whether the motor can run or not under the driving of low driving force and combining the feedback of the Hall sensor;
case 2: mild abnormalities: foreign matter blocking such as snow and twigs can be removed by increasing the output under the working condition, namely the output is increased by adjusting the output duty ratio and the running time of the driving signal, so that the foreign matter is removed;
case 3: moderate abnormalities: the abnormal of self structure, for example bearing, axle are unusual, and motor running resistance increases under this kind of condition, causes the motor work to be in the state at low rotational speed, heavy current, and the hidden danger that exists has: the energy consumption is high, the motor generates heat, and high temperature causes smoke and fire; under the working condition, whether the rotating speed and the current exceed the limit relation or not is judged by detecting the rotating speed and the current, so that the waste of energy consumption is avoided, and the hidden danger of smoking and firing caused by high temperature is reduced;
case 4: severe abnormality: self structure is unusual, for example bearing, axle are unusual, and motor running resistance increases under this kind of circumstances, causes the rotational speed to limit on the lower side, the electric current is limit on the upper side, and the long-time operation of motor, and the motor temperature rise is too high, and the hidden danger of existence has: the energy consumption is low and high, and the motor generates heat; under the working condition, whether the rotating speed and the temperature exceed the limit relation or not is judged by detecting the rotating speed and the motor temperature, so that the conditions of energy consumption waste and high motor temperature are avoided.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. A control method for motor locked-rotor protection comprises the steps of obtaining the position, the rotating speed, the current and the temperature of a motor, and is characterized by further comprising the following control steps:
step S1: starting a motor, driving the motor to operate at a first driving duty ratio, continuing for a first preset time T1, and detecting whether the motor rotates; if the motor rotates, continuing to step S2; otherwise, judging the motor to be in a locked-rotor state;
step S2: driving the motor to operate at a second driving duty ratio larger than the first driving duty ratio, continuing for a second preset time T2, and judging whether the rotating speed of the motor is larger than a preset first minimum operating speed threshold value or not; if the judgment result is yes, judging the normal running state of the motor; if not, continuously judging whether the rotating speed of the motor is greater than a preset second lowest operating speed threshold value or not, wherein the second lowest operating speed threshold value is smaller than the first lowest operating speed threshold value; if the judgment result is yes, continuing to step S3.1; otherwise, continuing the step S3.2;
step S3.1: driving the motor to operate at a third driving duty ratio larger than the second driving duty ratio, continuing for a third preset time T3, judging whether the operating speed of the motor is larger than the first minimum operating speed threshold value, and if so, continuing to step S3.1.1; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.1: judging whether the current of the motor is larger than a first preset current value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continue step S3.1.2;
step S3.1.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, judging whether the rotating speed of the motor reaches a first preset rotating speed threshold value, wherein the first preset rotating speed threshold value is larger than the first lowest rotating speed threshold value, if so, continuing for a fifth preset time T5, and continuing to step S3.1.3; otherwise, judging that the motor is in a locked-rotor state;
step S3.1.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is larger than the second lowest rotating speed threshold value, and if so, continuing to step S3.1.4; otherwise, judging the motor to be in a locked-rotor state;
step S3.1.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.1.5;
step S3.1.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
step S3.2: driving the motor to operate at a third driving duty ratio larger than the second driving duty ratio, and continuing for a seventh preset time T7, wherein the seventh preset time is larger than the third preset time, judging whether the operating speed of the motor is larger than the second minimum operating speed threshold value, and if so, continuing to step S3.2.1; otherwise, judging the motor to be in a locked-rotor state;
step S3.2.1: judging whether the current of the motor exceeds a second preset current threshold value, wherein the second preset current threshold value is larger than the first preset current value in the step S3.1.1, and if the judgment result is yes, judging that the motor is in a locked-rotor state; otherwise, continue with step S3.2.2;
step S3.2.2: driving the motor to operate at the highest driving duty ratio, continuing for a fourth preset time T4, and judging whether the rotating speed of the motor reaches a first preset rotating speed threshold value, wherein the first preset rotating speed threshold value is larger than the first lowest rotating speed threshold value, and if the judging result is yes, continuing to operate the step S3.2.3; otherwise, judging the motor to be in a locked-rotor state;
step S3.2.3: judging whether the rotating speed of the motor reaches a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is larger than the second lowest rotating speed threshold value, and if the judgment result is yes, judging that the motor is in a normal operating state; otherwise, continue step S3.2.4;
step S3.2.4: judging whether the current of the motor is larger than a limit current threshold value or not, and if so, judging that the motor is in a locked-rotor state; otherwise, continuously operating for a sixth preset time T6, and continuing to operate in the step S3.2.5;
step S3.2.5: judging whether the temperature of the motor exceeds the highest threshold value of the allowed operation range, if so, judging that the motor is in a locked-rotor state; otherwise, judging the motor to be in a normal running state;
if the motor is in a locked-rotor state in the determination result, stopping the motor for checking, and restarting from the step S1 after the fault is eliminated;
if the motor is in a normal running state, the motor is continuously driven to run.
2. The method for controlling locked-rotor protection of a motor according to claim 1, wherein in step S1, whether the motor is rotated is determined by whether a hall sensor is changed.
3. The control method of motor stall protection according to claim 1, wherein the rotation speed of the motor is obtained by detecting the signal change speed of the hall sensor.
4. The method as claimed in claim 1, wherein the minimum running speed of the motor for normal operation is N 0 The first minimum operation speed threshold is N 1 ，N 0 ≥N 1 ≥N 0 -100。
5. The motor cartridge of claim 3The control method of the rotation protection is characterized in that the second minimum operation speed threshold value is N 2 ，N 1 ＞N 2 ≥N 1 -200。
6. The method of claim 1, wherein the rated speed of the motor is N Forehead (forehead) The first preset operation speed threshold value is N 1 ’，N 1 ’=N Forehead (forehead) /2。
7. The method of claim 5, wherein the second predetermined operating speed threshold is N 2 ’，N 2 ’≥N Forehead (D) -300。
8. The method of claim 1, wherein the first predetermined current value is a 1 Rated current value of the motor is A Forehead (forehead) ，A Forehead (forehead) *45%≤A 1 ≤A Forehead (forehead) *55%。
9. The method of claim 8, wherein the second predetermined current value is a 2 ，A Forehead (forehead) *55%＜A 2 ≤A Forehead (forehead) *65%。
10. The method of claim 8, wherein the threshold limit current is a Extreme limit The current is the current under the highest working voltage of the motor.
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| JP4584212B2 (en) * | 2006-08-31 | 2010-11-17 | Ｎｅｃアクセステクニカ株式会社 | Motor rotation speed control device |
| JP5604991B2 (en) * | 2010-06-01 | 2014-10-15 | パナソニック株式会社 | MOTOR DRIVE DEVICE AND ELECTRIC DEVICE USING THE SAME |
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