CN113922334B - Operation protection method and device for servo motor, storage medium and electronic equipment - Google Patents
Operation protection method and device for servo motor, storage medium and electronic equipment Download PDFInfo
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- CN113922334B CN113922334B CN202111107380.5A CN202111107380A CN113922334B CN 113922334 B CN113922334 B CN 113922334B CN 202111107380 A CN202111107380 A CN 202111107380A CN 113922334 B CN113922334 B CN 113922334B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003860 storage Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000005070 sampling Methods 0.000 claims description 36
- 238000004590 computer program Methods 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
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- 239000013307 optical fiber Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- Control Of Electric Motors In General (AREA)
- Protection Of Generators And Motors (AREA)
Abstract
The invention relates to an operation protection method, a device, a storage medium and an electronic device for a servo motor, wherein the method comprises the following steps: obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected; acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length; and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running. The invention can realize effective protection when the rated protection current of the servo motor exceeds the maximum overload heat in a short time, and improves the accuracy of operation protection and the detection efficiency of the servo motor.
Description
Technical Field
The present invention relates to the field of servo motor application technologies, and in particular, to a method and apparatus for protecting operation of a servo motor, a storage medium, and an electronic device.
Background
With the current high-speed development of the information society, market demands are continuously expanding, and servo motors are widely applied to industrial production. In order to meet the requirements of industrial production, the problem that how to protect the servo motor is needed to be solved under the condition that the input cost is not increased under the condition that the overload heating of the servo motor occurs due to long-time work is solved.
In the prior art, a common method is to add a temperature sensor to a servo motor so as to measure the heating temperature of the servo motor to reach a limit value; and a current constant value detection mode is adopted, and the alarm is turned off after the current of the servo motor exceeds the rated current for a period of time, but in the actual application process, the current change is frequent, the detection cannot be accurately carried out, and the overload protection cannot play a role.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a device for protecting the operation of a servo motor, a storage medium and electronic equipment.
The technical scheme of the operation protection method of the servo motor is as follows:
obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The operation protection method of the servo motor has the following beneficial effects:
the method comprises the steps of obtaining the maximum overload heat of the servo motor to be protected, obtaining the maximum operation time length of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected, obtaining the actual heat in the first time length of the current time point, judging whether the actual heat is larger than the maximum overload heat, if yes, triggering an alarm and controlling the servo motor to be protected to stop operation, and if not, controlling the servo motor to be protected to continue operation.
On the basis of the scheme, the operation protection method of the servo motor can be improved as follows.
Further, the obtaining the maximum overload heat of the servo motor to be protected includes:
and calculating the maximum overload heat according to the rated current, the maximum current operation duration and the overload threshold coefficient of the servo motor to be protected.
The beneficial effects of adopting the further scheme are as follows: according to the obtained parameters of the servo motor to be protected, the maximum overload heat of the servo motor to be protected can be obtained through calculation, and the subsequent judgment is facilitated.
Further, the relationship between the rated protection current and the rated current is:
a=110% ×b, where a represents the rated protection current and B represents the rated current.
Further, obtaining the actual heat in a first time period to the current time point, wherein the value of the first time period is equal to the value of the maximum operation time period, and the method comprises the following steps:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The beneficial effects of adopting the further scheme are as follows: the obtained heat of each sampling period in the current time period is accumulated, whether the heat of the servo motor is overheated or not is detected in real time, the follow-up judgment is convenient, and corresponding operation is carried out according to the judgment result, so that the accuracy of operation protection and the detection efficiency of the servo motor are improved.
The technical scheme of the operation protection device of the servo motor is as follows:
comprising the following steps: the device comprises a configuration module, an acquisition module and a detection module;
the configuration module is used for: obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the acquisition module is used for: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
the detection module is used for: and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The operation protection device of the servo motor has the following beneficial effects:
the device acquires the maximum overload heat quantity of the servo motor to be protected, acquires the maximum operation time length of the servo motor to be protected according to the maximum overload heat quantity and the rated protection current of the servo motor to be protected, acquires the actual heat quantity in the first time length of the current time point, judges whether the actual heat quantity is larger than the maximum overload heat quantity, if yes, triggers an alarm and controls the servo motor to be protected to stop operation, and if not, controls the servo motor to be protected to continue operation, so that the servo motor exceeding the rated protection current and exceeding the maximum overload heat quantity in a short time can be effectively protected by accumulating the actual heat quantity in the maximum operation time length.
On the basis of the scheme, the operation protection device of the servo motor can be improved as follows.
Further, the obtaining the maximum overload heat of the servo motor to be protected includes:
and calculating the maximum overload heat according to the rated current, the maximum current operation duration and the overload threshold coefficient of the servo motor to be protected.
The beneficial effects of adopting the further scheme are as follows: according to the obtained parameters of the servo motor to be protected, the maximum overload heat of the servo motor to be protected can be obtained through calculation, and the subsequent judgment is facilitated.
Further, the relationship between the rated protection current and the rated current is:
a=110% ×b, where a represents the rated protection current and B represents the rated current.
Further, the obtaining module is specifically configured to:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The beneficial effects of adopting the further scheme are as follows: the obtained heat of each sampling period in the current time period is accumulated, whether the heat of the servo motor is overheated or not is detected in real time, the follow-up judgment is convenient, and corresponding operation is carried out according to the judgment result, so that the accuracy of operation protection and the detection efficiency of the servo motor are improved.
The technical scheme of the storage medium is as follows:
the storage medium has stored therein instructions which, when read by a computer, cause the computer to perform the steps of the method for protecting operation of a servo motor as described in any one of the above.
The technical scheme of the electronic equipment is as follows:
comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, causes the computer to perform the steps of the method for protecting operation of a servomotor as described in any one of the preceding claims.
Drawings
FIG. 1 is a schematic flow chart of a method for protecting operation of a servo motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an operation protection device for a servo motor according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, an operation protection method for a servo motor according to an embodiment of the present invention includes the following steps:
s1, acquiring the maximum overload heat of a servo motor to be protected, and acquiring the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
s2, acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
and S3, judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
According to the method, the maximum overload heat of the servo motor to be protected is obtained, the maximum operation time of the servo motor to be protected is obtained according to the maximum overload heat and the rated protection current of the servo motor to be protected, the actual heat in the first time of the current time point is obtained, whether the actual heat is larger than the maximum overload heat or not is judged, if yes, an alarm is triggered, the servo motor to be protected is controlled to stop operating, and if not, the servo motor to be protected is controlled to continue operating, so that the servo motor exceeding the rated protection current and exceeding the maximum overload heat in a short time can be effectively protected by accumulating the actual heat of the maximum operation time.
The actual heat formula of the servo motor to be protected is as follows:
wherein T represents a sampling period, R represents a resistance value of the servo motor to be protected, T represents a maximum operation duration of the servo motor to be protected, n represents a sampling period number within the maximum operation duration of the servo motor to be protected, and I i The default value of T is 0.1ms, T can also be set according to the actual situation, n=t/T.
Specifically: the maximum operation time length T is obtained by bringing the obtained maximum overload heat and rated protection current into a formula, the total heat in the period of T from the current time point to the front is obtained as the actual heat, so that the actual heat and the maximum overload heat are judged, if Q Actual practice is that of >Q Overload, overload Stopping operation and alarming if Q Actual practice is that of <Q Overload, overload And continuously operating the servo motor, continuously measuring the actual heat in a time period from the current time point to the front T time point in real time, continuously comparing at any time, and stopping operation in time when an abnormality occurs.
Preferably, in the above technical solution, the obtaining the maximum overload heat of the servo motor to be protected includes:
according to rated current I of the servo motor to be protected Rated for Maximum current I Maximum value Calculating the maximum overload heat quantity Q according to the maximum current operation time length T and the overload threshold coefficient k Overload, overload 。
Wherein,
for example, when the rated current is 10A, the maximum current is 50A, the maximum current operation time is 2S, the resistance of the servo motor to be protected is 10Ω, and the overload threshold coefficient is 90%, according to the above formula, the maximum overload heat is 4500J, when the heat in the period of actual operation is detected not to exceed 4500J, the servo motor will continue to operate, and when the heat in the period of actual operation is detected to exceed 4500J, an alarm will be triggered and the operation of the servo motor will be stopped.
Preferably, in the above technical solution, the relationship between the rated protection current and the rated current is:
a=110% ×b, where a represents the rated protection current and B represents the rated current.
The common servo motor has a certain overload capacity, and when the current is less than 110% of the rated current, the servo motor can bear the heating value for a long time and operates for a long time, so 110% of the rated current is selected as the rated protection current.
Preferably, in the above technical solution, the obtaining the actual heat in the first time period to the current time point, where the value of the first time period is equal to the value of the maximum operation time period includes:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
For example, the sampling period of the current servo motor is 0.1ms, that is, the current value of the servo motor to be protected is detected once every 0.1ms, the current maximum operation duration is assumed to be 2S, the sum of the heat of each sampling period in 2S before the current time point is obtained to be the required actual heat, the actual heat and the maximum overload heat are judged, and protection or continuous operation is correspondingly adopted.
In the above embodiments, although the steps S1, S2, etc. are numbered, those skilled in the art may adjust the execution sequence of the steps S1, S2, etc. according to the actual situation, which is also within the scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 2, an operation protection device 200 for a servo motor according to an embodiment of the present invention is characterized by comprising: the device comprises a configuration module 210, an acquisition module 220 and a detection module 230;
the configuration module 210 is configured to: obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the obtaining module 220 is configured to: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
the detection module 230 is configured to: and judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running.
The device acquires the maximum overload heat quantity of the servo motor to be protected, acquires the maximum operation time length of the servo motor to be protected according to the maximum overload heat quantity and the rated protection current of the servo motor to be protected, acquires the actual heat quantity in the first time length of the current time point, judges whether the actual heat quantity is larger than the maximum overload heat quantity, if yes, triggers an alarm and controls the servo motor to be protected to stop operation, and if not, controls the servo motor to be protected to continue operation, so that the servo motor exceeding the rated protection current and exceeding the maximum overload heat quantity in a short time can be effectively protected by accumulating the actual heat quantity of the maximum operation time length.
Preferably, in the above technical solution, the obtaining the maximum overload heat of the servo motor to be protected includes:
and calculating the maximum overload heat according to the rated current, the maximum current operation duration and the overload threshold coefficient of the servo motor to be protected.
Preferably, in the above technical solution, the relationship between the rated protection current and the rated current is:
a=110% ×b, where a represents the rated protection current and B represents the rated current.
The common servo motor has a certain overload capacity, and when the current is less than 110% of the rated current, the servo motor can bear the heating value for a long time and operates for a long time, so 110% of the rated current is selected as the rated protection current.
Preferably, in the above technical solution, the obtaining module 220 is specifically configured to:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
The steps for implementing the corresponding functions by the parameters and the modules in the operation protection device 200 for a servo motor according to the present invention may refer to the parameters and the steps in the embodiments of the operation protection method for a servo motor according to the present invention, which are not described herein.
The storage medium provided by the embodiment of the invention comprises: the storage medium stores instructions, and when the instructions are read by the computer, the computer executes the steps of the operation protection method of the servo motor according to any one of the above, and specifically, reference may be made to each parameter and step in the embodiment of the operation protection method of a servo motor in the foregoing, which is not described herein.
Computer storage media such as: flash disk, mobile hard disk, etc.
The electronic device provided in the embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the steps of the operation protection method of the servo motor described in any one of the foregoing are specifically referred to each parameter and step in the embodiment of the operation protection method of a servo motor described in any one of the foregoing when the processor executes the computer program, and are not described herein.
Those skilled in the art will appreciate that the present invention may be embodied as methods, apparatus, storage media, and electronic devices.
Thus, the invention may be embodied in the form of: either entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or entirely software, or a combination of hardware and software, referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code. Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (4)
1. A method of protecting operation of a servo motor, comprising:
obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running;
the obtaining the maximum overload heat of the servo motor to be protected comprises the following steps:
calculating the maximum overload heat according to the rated current, the maximum current operation duration and the overload threshold coefficient of the servo motor to be protected;
wherein,t is the maximum current operation duration, I Maximum value For the maximum current, k is an overload threshold coefficient, Q Overload, overload R represents the resistance value of the servo motor to be protected for the maximum overload heat quantity;
the rated protection current and the rated current have the following relation:
a=110% x B, a represents the rated protection current, and B represents the rated current;
wherein Q is Overload, overload ＝A 2 ×R×T 1 ；T 1 R represents the resistance value of the servo motor to be protected for the maximum operation duration;
obtaining the actual heat in a first time length from the current time point, wherein the value of the first time length is equal to the value of the maximum operation time length, and the method comprises the following steps:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
2. An operation protection device for a servo motor, comprising: the device comprises a configuration module, an acquisition module and a detection module;
the configuration module is used for: obtaining the maximum overload heat of a servo motor to be protected, and obtaining the maximum operation time of the servo motor to be protected according to the maximum overload heat and the rated protection current of the servo motor to be protected;
the acquisition module is used for: acquiring actual heat in a first time length from a current time point, wherein the value of the first time length is equal to the value of the maximum operation time length;
the detection module is used for: judging whether the actual heat is larger than the maximum overload heat, if so, triggering an alarm and controlling the servo motor to be protected to stop running, and if not, controlling the servo motor to be protected to continue running;
the obtaining the maximum overload heat of the servo motor to be protected comprises the following steps:
calculating the maximum overload heat according to the rated current, the maximum current operation duration and the overload threshold coefficient of the servo motor to be protected;
wherein,t is the maximum current operation duration, I Maximum value For the maximum current, k is an overload threshold coefficient, Q Overload, overload R represents the resistance value of the servo motor to be protected for the maximum overload heat quantity;
the rated protection current and the rated current have the following relation:
a=110% x B, a represents the rated protection current, and B represents the rated current; wherein Q is Overload, overload ＝A 2 ×R×T 1 ；T 1 R represents the resistance value of the servo motor to be protected for the maximum operation duration; the acquisition module is specifically configured to:
dividing the first duration into a plurality of sampling periods, and detecting current data in each sampling period;
and correspondingly calculating the heat corresponding to each sampling period according to the current data in each sampling period, and determining the sum of the heat corresponding to all the sampling periods as the actual heat.
3. A storage medium having instructions stored therein which, when read by a computer, cause the computer to perform the method of protecting operation of a servo motor as claimed in claim 1.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, causes the computer to perform the method for protecting the operation of a servomotor according to claim 1.
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| 采煤机截割电机反时限保护研究与实现;胡忠利;《煤矿机械》;煤矿机械;20151231;第36卷(第12期);第164-165页 * |
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