CN113376519B - Motor starting state detection method and device, motor and readable storage medium - Google Patents
Motor starting state detection method and device, motor and readable storage medium Download PDFInfo
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- CN113376519B CN113376519B CN202110574891.1A CN202110574891A CN113376519B CN 113376519 B CN113376519 B CN 113376519B CN 202110574891 A CN202110574891 A CN 202110574891A CN 113376519 B CN113376519 B CN 113376519B
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Abstract
The invention provides a motor starting state detection method, a motor starting state detection device, a motor and a computer readable storage medium, wherein the method comprises the following steps: u, V, W three-phase voltage of the motor is sampled; any one phase voltage and the other two phase voltages pass through a comparator and then output two groups of comparison signals; and acquiring a preset starting state feature table, and judging the starting state of the motor according to the matching degree of the two groups of comparison signals and the preset starting state feature table. The two comparators are used for comparing the three-phase voltage to obtain the comparison signal, and then the comparison signal is matched with the corresponding starting state, so that the number of the comparators can be reduced, hardware resources are reduced, the cost is saved, the anti-interference capability of the method is high, and the starting state of the motor can be accurately judged.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor starting state detection method and device, a motor and a computer readable storage medium.
Background
Before the motor is started to operate, the motor generally has three states, namely a static state, a downwind state and an upwind state. The starting method adopted for the motor is different according to different starting states of the motor. When the non-inductive FOC control scheme is adopted, generally, electromotive forces of three phases are respectively compared with electromotive forces of a central point, and the starting state of the motor is judged according to the change of the comparison result. However, this method requires three comparators, occupies a lot of hardware resources, and at a low speed, the back electromotive force is weak, and a large amount of noise exists in the comparison result, which is likely to cause erroneous determination.
Disclosure of Invention
The invention mainly aims to provide a motor starting state detection method, a motor starting state detection device, a motor and a computer readable storage medium, and aims to solve the problems that cost is too high and misjudgment is easily caused due to more comparators in a circuit for judging the starting state of the motor in the prior art.
In order to achieve the above object, the present invention provides a method and a device for detecting a starting state of a motor, wherein the method comprises:
receiving a first comparison signal sent by a first comparator and a second comparison signal sent by a second comparator;
acquiring a preset starting state feature table, and matching starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table;
and taking the matched starting state as the current starting state of the motor.
Optionally, the step of matching the start states corresponding to the first comparison signal and the second comparison signal in the preset start state feature table includes:
judging whether level overturning occurs in the first comparison signal and the second comparison signal within a preset time;
if not, the current starting state of the motor is a static state;
if yes, executing the following steps: and matching the starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table.
Optionally, the step of matching the start states corresponding to the first comparison signal and the second comparison signal in the preset start state feature table includes:
acquiring a preset number of level turning states of the first comparison signal and the second comparison signal;
and matching the starting states corresponding to the continuous preset number of level overturning states in the preset starting state feature table.
Optionally, the step of obtaining a preset number of level flip states of which the first comparison signal and the second comparison signal are continuous further includes:
and calculating the rotating speed of the motor according to the preset number of continuous level overturning states of the first comparison signal and the second comparison signal.
Optionally, the step of calculating the rotation speed of the motor according to a preset number of level flip states of the first comparison signal and the second comparison signal includes:
obtaining the rotation frequency of the motor according to the level overturning state;
and calculating the rotating speed of the motor according to the rotating frequency.
Optionally, the step of obtaining the rotation frequency of the motor according to the level reversal state includes:
judging whether an invalid interference level exists in the level overturning state;
if so, after filtering the invalid interference level, calculating the rotation frequency of the motor according to the filtered level overturning state.
In order to achieve the above object, the present invention further provides a motor starting state detection device, which applies the motor starting state detection method described above; the device comprises a first comparator, a second comparator, a processing module and a sampling module; the sampling module comprises a first sampling unit, a second sampling unit and a third sampling unit;
the input end of the first sampling unit is connected with a U-phase pin of the motor, and the output end of the first sampling unit is respectively connected with the first input end of the first comparator and the first input end of the second comparator; the input end of the second sampling unit is connected with a V-phase pin of the motor, and the output end of the second sampling unit is connected with the second input end of the first comparator; the input end of the third sampling unit is connected with the W-phase pin of the motor, and the output end of the third sampling unit is connected with the second input end of the second comparator; the output end of the first comparator is connected with the first input end of the processing module, and the output end of the second comparator is connected with the second input end of the processing module; wherein:
the processing module is configured to receive a first comparison signal sent by the first comparator and a second comparison signal sent by the second comparator, and determine a starting state of the motor according to the first comparison signal and the second comparison signal.
In order to achieve the above object, the present invention further provides an electric motor, which includes the motor starting state detection apparatus as described above, the apparatus includes a processing module and a computer program stored on the processing module and operable on the processing module, and the computer program, when executed by the processing module, implements the steps of the motor starting state detection method as described above.
To achieve the above object, the present invention further provides a computer-readable storage medium having stored thereon a computer program, which when executed by a processing module, implements the steps of the motor start-up state detection method as described above.
The invention provides a motor starting state detection method, a motor starting state detection device, a motor and a computer readable storage medium, wherein the method comprises the following steps: receiving a first comparison signal sent by a first comparator and a second comparison signal sent by a second comparator; acquiring a preset starting state feature table, and matching starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table; and taking the matched starting state as the current starting state of the motor.
Compared with the prior art, the invention has the beneficial effects that: the motor starting state detection method adopted by the invention can accurately identify the starting state of the motor, and meanwhile, the three-phase voltage is only required to be compared for two times, so that the number of comparators in the device can be reduced, the cost is saved, meanwhile, the method has strong anti-interference capability, and the accuracy of system starting state judgment is effectively improved.
Drawings
FIG. 1 is a schematic flow chart of a motor start state detection method according to the present invention;
FIG. 2 is a general flow chart of the motor start-up state detection method of the present invention;
FIG. 3 is a waveform diagram of a first comparison signal and a second comparison signal when the motor is in a downwind state according to the method for detecting the starting state of the motor of the present invention;
FIG. 4 is a waveform diagram of a first comparison signal and a second comparison signal when the motor is in a headwind state according to the method for detecting the starting state of the motor of the present invention;
FIG. 5 is a schematic diagram of a first comparison signal and a second comparison signal and a counter counting when an invalid level exists in a downwind state of a motor according to the motor start state detection method of the present invention;
FIG. 6 is a schematic diagram of a first comparison signal and a second comparison signal and a counter counting when an invalid level exists in a state of upwind of a motor according to the method for detecting a starting state of a motor of the present invention;
fig. 7 is a schematic structural diagram of the motor start-up state detection device of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Processing module | Q1～Q2 | First to |
| 200 | Sampling module | R1～R2 | First to |
| 201 | First sampling unit | M | |
| 202 | |
203 | Third sampling unit |
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a motor starting state detection method, refer to fig. 1, fig. 1 is a flow diagram of the motor starting state detection device of the invention, in the first embodiment of the motor starting state detection method provided by the invention, the method is applied to the motor starting state detection device; the method comprises the following steps:
step S10, receiving a first comparison signal sent by the first comparator and a second comparison signal sent by the second comparator;
step S20, acquiring a preset start state feature table, and matching start states corresponding to the first comparison signal and the second comparison signal in the preset start state feature table;
and step S30, taking the matched starting state as the current starting state of the motor.
In this embodiment, the first comparator is configured to compare voltages of the U-phase and the V-phase to output a corresponding first comparison signal, and when the U-phase voltage is greater than the V-phase voltage, the first comparator outputs a high level; when the U phase voltage is less than or equal to the V phase voltage, the first comparator outputs a low level. The second comparator is used for comparing the voltage of the U phase and the voltage of the W phase to output a corresponding second comparison signal, and when the voltage of the U phase is greater than the voltage of the W phase, the second comparator outputs a high level; when the U phase voltage is less than or equal to the W phase voltage, the second comparator outputs a low level. The processing module judges the starting state of the motor according to the received first comparison signal and the second comparison signal.
The preset starting state feature table comprises states corresponding to each running state of the motor, the first comparison signal and the second comparison signal.
This embodiment obtains the comparison signal through adopting two comparator comparison three-phase voltage, and then matches the starting condition who corresponds through the comparison signal to make the quantity that can reduce the comparator, reduce hardware resources, practiced thrift the cost.
Further, in the second embodiment of the motor starting state detection method of the present invention proposed based on the first embodiment of the present invention, the step S20 includes the steps of:
step S40, determining whether level inversion occurs in the first comparison signal and the second comparison signal within a preset time;
step S50, if not, the current starting state of the motor is a static state;
in step S60, if yes, the method proceeds to: and matching the starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table.
The preset time is the time required for the motor to rotate 120 ° at the first preset minimum rotational speed.
When the first comparison signal and the second comparison signal are in constant levels within a preset time, namely the first comparison signal and the second comparison signal have no change of rising edges or falling edges, the fact that the current rotating speed of the motor is smaller than the minimum rotating speed is indicated, and the starting state of the motor can be judged to be a static state;
the embodiment can reasonably judge whether the motor is in a static state.
Further, referring to fig. 2, in a third embodiment of the motor starting state detecting method of the present invention proposed based on the second embodiment of the present invention, the step S20 includes the steps of:
step S21, obtaining a preset number of level flip states in which the first comparison signal and the second comparison signal are continuous;
step S22, matching the starting states corresponding to the consecutive preset number of level flip states in the preset starting state feature table.
It can be understood that the preset number can be set according to actual needs, and the larger the preset number is, the stronger the anti-interference capability is, and the longer the time for judging the starting state is. In this embodiment, the predetermined number is 3.
Referring to fig. 3, in the preset starting state feature table, the sequence of the level reversal states corresponding to the first comparison signal and the second comparison signal of the motor in the downwind state is a cycle of 00-10-11-01, that is, after 01, the motor returns to 00 for cycle. The 00 means that the first comparison signal is at a low level and the second comparison signal is at a low level; 10 means that the first comparison signal is at a high level and the second comparison signal is at a low level; 11 means that the first comparison signal is high and the second comparison signal is high; 01 means that the first comparison signal is low and the second comparison signal is high. When the first comparison signal and the second comparison signal meet the cycle of 00-10-11-01, the current starting state of the motor is a downwind state. For example: in the embodiment, 3 level turnover states are taken, and when the change of the level turnover states meets 00-10-11, 10-11-01, 11-01-00 or 01-00-10, the current starting state of the motor is a downwind state.
Referring to fig. 4, in the preset starting state feature table, the sequence of the level reversal states corresponding to the first comparison signal and the second comparison signal of the motor in the upwind state is a cycle of 00-01-11-10, that is, after 10, the motor returns to 00 for cycle. The 00 means that the first comparison signal is at a low level and the second comparison signal is at a low level; 01 means that the first comparison signal is at a low level and the second comparison signal is at a high level; 11 means that the first comparison signal is high and the second comparison signal is high; 10 means that the first comparison signal is high and the second comparison signal is low. When the first comparison signal and the second comparison signal meet the cycle of 00-01-11-10, the current starting state of the motor is an upwind state. For example: in this embodiment, 3 level flip states are taken, and when the change of the level flip state satisfies 00-01-11, 01-11-10, 11-10-00 or 10-00-01, the current starting state of the motor is an upwind state.
Further, when the preset time is the time when the motor rotates 360 degrees at the second preset minimum rotating speed. Wherein: the second preset minimum rotation speed and the first preset minimum rotation speed may be equal or unequal.
If the starting state of the motor is not judged to be the downwind state or the upwind state within the preset time, the motor is in the downwind and upwind alternating state, the current rotating speed of the motor is less than the second preset minimum rotating speed, and the starting state of the motor can be judged to be the static state at the moment.
The embodiment can accurately judge the starting state of the motor.
Further, in a fourth embodiment of the motor starting state detecting method of the present invention proposed based on the third embodiment of the present invention, after the step S21, the method further includes the steps of:
and step S23, calculating the rotating speed of the motor according to the preset number of level overturning states of the first comparison signal and the second comparison signal.
The step S23 includes the steps of:
step S231, obtaining the rotation frequency of the motor according to the level overturning state;
and step S232, calculating the rotating speed of the motor according to the rotating frequency.
And according to the period of the first comparison signal and the second comparison signal, namely the time of one rotation of the motor, obtaining the rotation frequency corresponding to the motor, and further obtaining the starting rotation speed through the rotation frequency calculation. From the above, it can be seen that, starting from the second edge of the first comparison signal and the second comparison signal, each subsequent edge can determine the starting state of the motor according to the relationship between the change of the current edge and the change of the previous edge. The starting state of the motor can be judged four times in one cycle of the first comparison signal and the second comparison signal. The method comprises the steps that a counter is used for recording the change of a motor starting state, the default value of the counter is set to be 5, if the current motor starting state is detected to be a downwind state, the count of the counter is increased by 1, when the count of the counter reaches 9, the motor rotates for a circle downwind, the count of the counter automatically returns to the default value 5, the subsequent counting is continued, the starting time of the downwind rotation of the motor is the time when the count of the counter starts from the default value 5, the ending time is the time when the count of the counter changes from 8 to the default value 5, and therefore the downwind rotation frequency of the motor can be obtained; similarly, when the motor starting state is the upwind state, the counter counts by 1, when the counter counts to 1, the motor rotates by one turn against the wind, at the moment, the counter counts automatically and returns to the default value of 5, the subsequent counting is continued, the starting time of the motor rotating by one turn against the wind is the time when the counter counts from the default value of 5, and the ending time is the time when the counter counts from 2 to the default value of 5, so that the rotating frequency of the motor rotating by the upwind can be obtained. After the rotational frequency is obtained, the motor speed is calculated according to the following formula:
wherein V is the rotating speed of the motor; f is the rotation frequency; p is the number of pole pairs of the motor.
It should be noted that the default count of the counter may be changed according to actual needs.
The embodiment can accurately calculate the rotation speed of the motor.
Further, in a sixth embodiment of the motor start state detection method of the present invention proposed based on the fifth embodiment of the present invention, the step S231 includes the steps of:
step S2311, determining whether an invalid interference level exists in the level upset state;
and step S2312, if yes, filtering the invalid interference level, and then calculating the rotation frequency of the motor according to the filtered level overturning state.
Referring to fig. 5 and 6, if the level flip state does not satisfy the sequence of the change of the downwind state or the upwind state, it indicates that there is an invalid interference level in the first comparison signal or the second comparison signal, and the counter keeps counting when the invalid interference level comes, and continues counting until the valid level comes.
The embodiment can effectively resist interference, and judge the starting state of the motor and calculate the starting rotating speed of the motor more accurately.
The invention also provides a motor starting state detection device, which applies the motor starting state detection method; referring to fig. 7, fig. 7 is a schematic structural diagram of the motor start-up state detection device of the present invention; the apparatus comprises a first comparator Q1, a second comparator Q2, a processing module 100, and a sampling module 200; the sampling module 200 comprises a first sampling unit 201, a second sampling unit 202 and a third sampling unit 203;
the input end of the first sampling unit 201 is connected to a U-phase pin of the motor M, and the output end of the first sampling unit 201 is connected to the first input end of the first comparator Q1 and the first input end of the second comparator Q2, respectively; the input end of the second sampling unit 202 is connected to the V-phase pin of the motor M, and the output end of the second sampling unit 202 is connected to the second input end of the first comparator Q1; the input end of the third sampling unit 203 is connected to the W-phase pin of the motor M, and the output end of the third sampling unit 203 is connected to the second input end of the second comparator Q2; the output terminal of the first comparator Q1 is connected to a first input terminal of the processing module 100, and the output terminal of the second comparator Q2 is connected to a second input terminal of the processing module 100; wherein:
the processing module 100 is configured to receive a first comparison signal sent by the first comparator Q1 and a second comparison signal sent by the second comparator Q2, and determine a starting state of the motor M according to the first comparison signal and the second comparison signal.
In this embodiment, the first input terminal of the first comparator Q1 is a non-inverting input terminal, and the second input terminal of the first comparator Q1 is an inverting input terminal; the first input of the second comparator Q2 is a non-inverting input and the second input of the second comparator Q2 is an inverting input.
The first comparator Q1 is used for comparing the voltage of the U phase and the voltage of the V phase to output a corresponding first comparison signal, and when the voltage of the U phase is greater than the voltage of the V phase, the first comparator Q1 outputs a high level; when the U-phase voltage is less than or equal to the V-phase voltage, the first comparator Q1 outputs a low level. The second comparator Q2 is used for comparing the voltage of the U phase and the W phase to output a corresponding second comparison signal, and when the voltage of the U phase is greater than the voltage of the W phase, the second comparator Q2 outputs a high level; when the U-phase voltage is less than or equal to the W-phase voltage, the second comparator Q2 outputs a low level. The processing module 100 determines the starting state of the motor M according to the received first comparison signal and the second comparison signal.
This embodiment obtains the comparison signal through adopting two comparators to compare three-phase voltage, and then matches the starting state that corresponds through the comparison signal to make the quantity that can reduce the comparator, reduce hardware resources, practiced thrift the cost.
Further, the sampling unit comprises a first resistor R1 and a second resistor R2; wherein:
the first end of the first resistor R1 is used as the input end of the sampling unit, the second end of the first resistor R1 is used as the output end of the sampling unit, and the second end of the first resistor R1 is grounded through the second resistor R2.
The first resistor R1 and the second resistor R2 are used for voltage division sampling.
In order to achieve the above object, the present invention further provides an electric motor, which includes the motor starting state detection apparatus as described above, the apparatus includes a processing module and a computer program stored on the processing module and operable on the processing module, and the computer program, when executed by the processing module, implements the steps of the motor starting state detection method as described above. It is understood that, since the present invention includes the motor start state detection device as described above, the present invention has all the advantageous effects of the motor start state detection device as described above.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium is at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and includes several instructions for enabling a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processing module to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A method for detecting a starting state of a motor, the method comprising:
receiving a first comparison signal sent by a first comparator according to the U-phase voltage and the V-phase voltage of the motor, and a second comparison signal sent by a second comparator according to the U-phase voltage and the W-phase voltage of the motor;
acquiring a preset starting state feature table, and matching starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table;
taking the matched starting state as the current starting state of the motor;
the step of matching the start states corresponding to the first comparison signal and the second comparison signal in the preset start state feature table includes:
acquiring a preset number of level turning states of the first comparison signal and the second comparison signal;
and matching the starting states corresponding to the continuous preset number of level overturning states in the preset starting state feature table.
2. The method for detecting a starting state of a motor according to claim 1, wherein the step of matching starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table comprises:
judging whether level overturning occurs in the first comparison signal and the second comparison signal within a preset time;
if not, the current starting state of the motor is a static state;
if yes, executing the following steps: and matching the starting states corresponding to the first comparison signal and the second comparison signal in the preset starting state feature table.
3. The method for detecting a motor startup state according to claim 1, wherein the step of obtaining a preset number of consecutive level flip states of the first comparison signal and the second comparison signal further comprises:
and calculating the rotating speed of the motor according to the continuous preset number of level overturning states of the first comparison signal and the second comparison signal.
4. A method for detecting a starting state of a motor according to claim 3, wherein said step of calculating a rotation speed of the motor based on a predetermined number of consecutive level-reversal states of the first comparison signal and the second comparison signal comprises:
obtaining the rotation frequency of the motor according to the level overturning state;
and calculating the rotating speed of the motor according to the rotating frequency.
5. The motor startup state detection method according to claim 4, wherein the step of obtaining the rotation frequency of the motor according to the level reversal state includes:
judging whether an invalid interference level exists in the level overturning state;
and if so, filtering the invalid interference level, and then calculating the rotation frequency of the motor according to the filtered level overturning state.
6. A motor starting state detection device is characterized in that the device applies the motor starting state detection method according to any one of claims 1-5, and comprises a first comparator, a second comparator, a processing module and a sampling module; the sampling module comprises a first sampling unit, a second sampling unit and a third sampling unit;
the input end of the first sampling unit is connected with a U-phase pin of the motor, and the output end of the first sampling unit is respectively connected with the first input end of the first comparator and the first input end of the second comparator; the input end of the second sampling unit is connected with a V-phase pin of the motor, and the output end of the second sampling unit is connected with the second input end of the first comparator; the input end of the third sampling unit is connected with the W-phase pin of the motor, and the output end of the third sampling unit is connected with the second input end of the second comparator; the output end of the first comparator is connected with the first input end of the processing module, and the output end of the second comparator is connected with the second input end of the processing module; wherein:
the processing module is configured to receive a first comparison signal sent by the first comparator and a second comparison signal sent by the second comparator, and determine a starting state of the motor according to the first comparison signal and the second comparison signal.
7. An electric machine, characterized in that the electric machine comprises a motor start status detection apparatus according to claim 6, the apparatus comprising a processing module and a computer program stored on and executable on the processing module, the computer program, when executed by the processing module, implementing the steps of the motor start status detection method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processing module, carries out the steps of the motor start status detection method according to any one of claims 1 to 5.
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