CN115333403A - Motor starting control method and device and electronic equipment - Google Patents
Motor starting control method and device and electronic equipment Download PDFInfo
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- CN115333403A CN115333403A CN202210963457.7A CN202210963457A CN115333403A CN 115333403 A CN115333403 A CN 115333403A CN 202210963457 A CN202210963457 A CN 202210963457A CN 115333403 A CN115333403 A CN 115333403A
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- 230000001133 acceleration Effects 0.000 claims abstract description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 53
- 239000003990 capacitor Substances 0.000 claims description 38
- 230000006870 function Effects 0.000 claims description 14
- 230000001629 suppression Effects 0.000 claims description 14
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 229910000859 α-Fe Inorganic materials 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010408 film Substances 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000002427 irreversible effect Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
- H02P1/04—Means for controlling progress of starting sequence in dependence upon time or upon current, speed, or other motor parameter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
- H02P1/022—Security devices, e.g. correct phase sequencing
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Abstract
The embodiment of the invention discloses a control method and device for motor starting and electronic equipment. The method comprises the following steps: determining the temperature of the motor at safe starting; detecting the speed and the steering direction of the motor; enabling the starting acceleration and the starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; and controlling the motor to be in a state to be started according to the bus voltage of the motor. According to the invention, the technical problem that the motor cannot be effectively started due to the fact that the motor is easily influenced by severe working conditions such as low temperature and headwind in the starting process in the related technology is solved, and the technical effects of improving the adaptability of the motor under the severe working conditions, improving the starting efficiency of the motor and effectively guaranteeing the safety and reliability of the motor in operation are achieved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor starting control method and device and electronic equipment.
Background
At present, the frequency conversion drive is converted towards the direction of high efficiency and machine control integration. The traditional electrolytic scheme adopted by the variable-frequency driving part can increase the system volume and increase the cost, and the service life of the variable-frequency driving part is shorter than that of a film capacitor, so that the driving and controlling system adopting the film scheme or the small electrolytic capacitor scheme is more and more favored by the market and is a future trend. However, the thin film solution or the small electrolytic capacitor solution also brings control difficulties, especially in starting.
Along with the development of the application of the motor system towards the cluster control integration direction, when the cluster control motor operates in the air wall environment, the start conditions of the fans are more complicated due to turbulent flow among the fans. When there are not only normal running motors but also un-started motors in the air wall, if a unique group control starting strategy is not adopted for the motors which are not yet started but are about to be started, the system can be failed to start, the starting period is too long, and even the risk of damaging the system is caused.
At the moment, the state of the motor is uncertain when the motor is started, the motor can be in a static state, an upwind operation state, a downwind operation state and the like, and the motor can be in a high-speed or low-speed state in the downwind and the upwind. Because the system adopts a thin film scheme or a small electrolytic capacitor scheme, the capacitance value of the bus capacitor is small, and under the non-sensing operation condition, the bus voltage pumping phenomenon may exist when the system is directly braked and started when the upwind speed is high or the upwind heavy load is generated, so that the high-voltage breakdown of the bus capacitor and an Insulated Gate Bipolar Transistor (IGBT) is easily caused, and the damage of the control system is caused. Therefore, the system is effectively and quickly started in the headwind operation, reduces the braking time, improves the starting efficiency of the system, and is a new difficulty.
In addition, the application field of the existing driving and controlling integrated machine scheme is wider and wider, and typhoon and salt mist corrosion are required to be resisted in coastal areas; in northern areas, low temperature resistant start-ups are required. If the motor scheme adopts a ferrite scheme, special starting measures are required during starting so as to ensure that the motor is not easy to lose magnetism. Under the low temperature environment, the small electrolytic capacitor has the condition that the internal electrolyte is solidified, so that the capacitance value of the effective capacitor is reduced and the normal operation cannot be realized.
An effective solution to the above problems has not been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and device for motor starting and electronic equipment, and aims to at least solve the technical problem that the motor cannot be effectively started because the motor starting in the related art is easily influenced by low-temperature, headwind and other severe working conditions.
According to an aspect of an embodiment of the present invention, there is provided a control method for starting a motor, including: determining the temperature of the motor at safe starting; detecting the speed and the steering direction of the motor; enabling starting acceleration and starting time of the motor according to the speed and the steering of the motor, and monitoring bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; controlling the motor to be in a to-be-started state according to the bus voltage of the motor, wherein the to-be-started state comprises at least one of the following states: low speed state, stationary state.
Optionally, before determining that the motor is at a temperature for safe start-up, the method further comprises: acquiring the winding temperature of the motor and the capacitance temperature of the motor; judging whether the winding temperature of the motor is smaller than a first temperature threshold value and whether the capacitance temperature of the motor is smaller than a second temperature threshold value; under the condition that the winding temperature of the motor is smaller than the first temperature threshold and/or the capacitor temperature of the motor is smaller than a second temperature threshold, controlling the motor to reach the temperature for safe starting; and when the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitance temperature of the motor is greater than or equal to the second temperature threshold, determining that the motor reaches the safe starting temperature.
Optionally, obtaining a winding temperature of the motor and a capacitance temperature of the motor comprises: obtaining a sensor temperature collected at a controller of the motor; respectively inquiring a corresponding relation array of the sensor temperature and the winding temperature and a corresponding relation array of the sensor temperature and the capacitor temperature according to the sensor temperature acquired at the controller of the motor to obtain the winding temperature of the motor and the capacitor temperature of the motor.
Optionally, controlling the motor to a safe start temperature comprises: acquiring a rotor position of the motor; and heating the motor according to the position of the rotor of the motor until the motor reaches the temperature for safe starting.
Optionally, detecting the speed and the steering of the motor comprises: and detecting the motor based on a direct stator flux linkage observer and a High Frequency Injection (HFI) algorithm to obtain the speed and the steering direction of the motor.
Optionally, controlling the motor to be in a state to be started according to a bus voltage of the motor, includes: judging whether the bus voltage of the motor is greater than a preset threshold value or not; under the condition that the bus voltage is greater than the preset threshold value, adjusting the running parameters of the motor until the motor is in a state to be started; and under the condition that the bus voltage is less than or equal to the bus voltage threshold value, controlling the motor to be in a state to be started.
Optionally, the operating parameter of the motor includes a torque output value of the motor, and adjusting the operating parameter of the motor includes: invoking a voltage suppression function, wherein the expression of the voltage suppression function is as follows:
T output the output ＝k p ·ΔU+∫(k i ·ΔU)+T 0
Wherein, T Output of Represents a torque output value of the motor, Δ U represents a difference between an upper limit value of a bus voltage of the motor and a real-time value of the bus voltage of the motor, k p Denotes the proportionality coefficient, k i Representing the integral coefficient, T 0 Representing the last torque output value before the motor is over-pressurized; and controlling the torque output value of the motor according to the voltage suppression function.
Alternatively, the electricityThe expression that the starting acceleration of the motor is in inverse proportion to the upwind rotating speed of the motor is as follows: w ∞ k 1 /a 2 The expression that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor is as follows: w ∞ k 2 * t; wherein w represents the upwind speed of the motor, a 2 Representing the starting acceleration of the motor, t representing the starting time of the motor, k 1 A proportionality coefficient, k, representing the inverse ratio of the starting acceleration of the motor to the upwind speed of the motor 2 And a proportionality coefficient which represents that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus for motor start, including: the determining module is used for determining the temperature of the motor in safe starting; the detection module is used for detecting the speed and the steering direction of the motor; the monitoring module is used for enabling starting acceleration and starting time of the motor according to the speed and the steering of the motor and monitoring bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; the control module is used for controlling the motor to be in a to-be-started state according to the bus voltage of the motor, wherein the to-be-started state comprises at least one of the following states: low speed state, stationary state.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method steps of any of the above.
In the embodiment of the invention, the temperature for determining the safe starting of the motor is adopted; detecting the speed and the steering direction of the motor; enabling the starting acceleration and the starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; controlling the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started comprises at least one of the following states: low speed state, stationary state. That is to say, the embodiment of the present invention first determines a temperature at which a motor is safely started, then detects a speed and a rotation direction of the motor, further enables a starting acceleration and a starting time of the motor according to the speed and the rotation direction of the motor, and monitors a bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to a headwind rotation speed of the motor, the starting time of the motor is directly proportional to the headwind rotation speed of the motor, the headwind rotation speed of the motor is determined according to the speed and the rotation direction of the motor, and finally controls the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started includes at least one of: the motor is started easily to be influenced by severe working conditions such as low temperature and headwind in the related art, the technical problem that the motor cannot be started effectively is solved, the adaptability of the motor under the severe working conditions is improved, the starting efficiency of the motor is improved, and the safety and reliability of the operation of the motor are effectively guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a flowchart of a control method for starting a motor according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling motor start according to an alternative embodiment of the present invention;
fig. 3 is a schematic diagram of a control device for motor start according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order.
In accordance with an aspect of embodiments of the present invention, there is provided a method of controlling motor start-up, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1 is a flowchart of a control method for starting a motor according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
step S102, determining the temperature of the motor at safe starting;
if the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, it may be determined that the motor is at a safe starting temperature.
Step S104, detecting the speed and the steering of the motor;
step S106, enabling the starting acceleration and the starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor;
in an alternative embodiment, the expression that the starting acceleration of the electric machine is inversely proportional to the upwind speed of the electric machine is: w ∞ k 1 /a 2 The expression that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor is as follows: w ∞ k 2 * t; wherein w represents electricityUpwind speed of the machine, a 2 Denotes the starting acceleration of the motor, t denotes the starting time of the motor, k 1 A proportionality coefficient, k, representing the inverse ratio of the starting acceleration of the motor to the upwind speed of the motor 2 And the proportionality coefficient is proportional to the upwind speed of the motor and represents the starting time of the motor.
It should be noted that the starting acceleration and the starting time of the motor are enabled by using the speed and the steering of the motor, so that the problem of the start in the direct and upwind caused by the eddy current disturbance between the motor loads under the group control condition can be solved, the success rate of the start of the motor is increased, the starting time is reduced, the starting efficiency is improved, and the safety and the reliability of the motor are ensured.
Step S108, controlling the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started comprises at least one of the following states: low speed state, stationary state.
The low-speed state is that the speed of the motor is greater than zero and less than a preset speed threshold, which may be set according to the requirements of an application scenario, for example, the preset speed threshold may be set to 10rpm, 15rpm, 20rpm, and the like; the stationary state is when the speed of the motor is equal to zero. In a specific implementation process, the motor can be considered to be in a state to be started no matter the motor is in a low-speed state or a static state. After the motor is electrified, the motor can run at a low speed or in a static state, and the safety and reliability of the motor under the condition of direct wind and counter wind are ensured.
In an optional embodiment, after controlling the motor to be in a standby state according to the bus voltage of the motor, the method further includes: receiving a control instruction of the motor, wherein the control instruction of the motor is used for indicating the motor to adjust the running state; and controlling the running state of the motor according to the control command of the motor, wherein the running state comprises but is not limited to acceleration, deceleration, braking, stopping and the like. After the motor finishes the processes of low-temperature starting and active braking anti-reversion, the motor runs at a low speed or in a static state, and meanwhile, receives a control command of the motor and enables the motor to normally run according to the requirement.
The motor includes but is not limited to a permanent magnet synchronous motor and a ferrite motor.
In the embodiment of the invention, the temperature for determining the safe starting of the motor is adopted; detecting the speed and the steering direction of the motor; enabling the starting acceleration and the starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; controlling the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started comprises at least one of the following states: low speed state, stationary state. That is to say, the embodiment of the present invention first determines a temperature at which a motor is safely started, then detects a speed and a rotation direction of the motor, further enables a starting acceleration and a starting time of the motor according to the speed and the rotation direction of the motor, and monitors a bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to a headwind rotation speed of the motor, the starting time of the motor is directly proportional to the headwind rotation speed of the motor, the headwind rotation speed of the motor is determined according to the speed and the rotation direction of the motor, and finally controls the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started includes at least one of: the motor is started easily under the influence of severe working conditions such as low temperature and headwind in the related art, the technical problem that the motor cannot be started effectively is solved, the adaptability of the motor under the severe working conditions is improved, the starting efficiency of the motor is improved, and the technical effect of safety and reliability of the motor operation is effectively guaranteed.
In an alternative embodiment, before determining that the motor is at a temperature for safe start-up, the method further comprises: acquiring the winding temperature of the motor and the capacitance temperature of the motor; judging whether the winding temperature of the motor is smaller than a first temperature threshold value and whether the capacitor temperature of the motor is smaller than a second temperature threshold value; under the condition that the winding temperature of the motor is smaller than a first temperature threshold and/or the capacitance temperature of the motor is smaller than a second temperature threshold, controlling the motor to reach the temperature for safe starting; and when the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, determining that the motor reaches the safe starting temperature.
Optionally, first, the winding temperature of the motor and the capacitor temperature of the motor need to be obtained, and then, whether the winding temperature of the motor is smaller than a first temperature threshold and whether the capacitor temperature of the motor is smaller than a second temperature threshold are judged, so that the following different application scenarios may occur: 1) If any situation that the winding temperature of the motor is smaller than the first temperature threshold value, the capacitance temperature of the motor is smaller than the second temperature threshold value, the winding temperature of the motor is smaller than the first temperature threshold value and the capacitance temperature of the motor is smaller than the second temperature threshold value occurs, the situation shows that the motor does not reach the safe starting temperature, and at the moment, the motor needs to be controlled to reach the safe starting temperature; 2) If the winding temperature of the motor is larger than or equal to the first temperature threshold value and the capacitance temperature of the motor is larger than or equal to the second temperature threshold value, the motor reaches the safe starting temperature.
In the above embodiment of the present invention, two application scenarios, i.e., the temperature at which the motor does not reach the safe start and the temperature at which the motor reaches the safe start, are determined by respectively comparing the winding temperature of the motor with the first temperature threshold and the capacitance temperature of the motor with the second temperature threshold, so that the motor is always at the safe start temperature, the limitation of the motor on start and operation in a low-temperature environment is solved, the operation working environment range of the motor is expanded, the adaptability of the motor is increased, the severe working conditions of start and operation in the low-temperature environment are met, and the motor is not demagnetized.
It should be noted that the first temperature threshold and the second temperature threshold may be set according to the needs of an application scenario, and are not described in detail herein; the first temperature threshold and the second temperature threshold may be the same or different.
In an alternative embodiment, obtaining a winding temperature of the electric machine and a capacitance temperature of the electric machine comprises: acquiring a sensor temperature collected at a controller of a motor; and respectively inquiring a corresponding relation array of the sensor temperature and the winding temperature and a corresponding relation array of the sensor temperature and the capacitor temperature according to the sensor temperature acquired at the controller of the motor to obtain the winding temperature of the motor and the capacitor temperature of the motor.
Optionally, before the motor is started, the temperature of a built-in temperature sensor on a Printed Circuit Board (PCB) of the motor, that is, the temperature of the sensor collected at the controller of the motor, may be detected; then, the corresponding relation array of the sensor temperature and the winding temperature and the corresponding relation array of the sensor temperature and the capacitor temperature are respectively inquired by utilizing the sensor temperature collected by the controller of the motor, and then the winding temperature of the motor and the capacitor temperature of the motor can be obtained from the corresponding relation arrays.
It should be noted that the corresponding relation array of the sensor temperature and the winding temperature, and the corresponding relation array of the sensor temperature and the capacitor temperature may be determined according to experimental data under characteristic conditions; for example, the corresponding relation array of the sensor temperature and the winding temperature is obtained by averaging the different sensor temperatures corresponding to the different winding temperatures through multiple tests, and the corresponding relation array of the sensor temperature and the capacitance temperature is obtained by averaging the different sensor temperatures corresponding to the different capacitance temperatures through multiple tests. Optionally, firstly, a temperature sensor is required to be mounted on a winding of the sample motor and a capacitor of a controller of the sample motor; placing a controller of the sample motor and the sample motor in a low-temperature environment to perform winding current testing, reading the winding temperature, the capacitance temperature and the sensor temperature, and repeatedly testing for multiple times; then analyzing the data relation of the three temperatures in the low-temperature environment and integrating into corresponding relation arrays [ An, bn ] and [ An, cn ], wherein An represents the temperature of the sensor, the initial temperature of the sensor is approximate to the ambient temperature, bn represents the temperature of a winding, cn represents the temperature of a capacitor, and n represents the number of sample motors; and finally, according to the corresponding relation array obtained by the sample motor and the controller of the sample motor, the temperature sensor can be directly used on the batch motors and controllers with the same parameter configuration, the temperature sensor does not need to be arranged on the winding of the batch motor and the capacitor of the batch controller, the temperature of the sensor at the controller of the motor can be directly read through the power module, the corresponding relation array is inquired, and the winding temperature and the capacitor temperature of the motor are obtained. It should be noted that the power module is provided with an NTC temperature sensor.
In the above embodiment of the present invention, the winding temperature of the motor and the capacitor temperature of the motor corresponding to the sensor temperature collected at the controller of the motor can be quickly and accurately obtained by using the correspondence array between the sensor temperature and the winding temperature and the correspondence array between the sensor temperature and the capacitor temperature.
In an alternative embodiment, controlling the motor to a safe starting temperature comprises: acquiring a rotor position of a motor; and heating the motor according to the position of the rotor of the motor until the motor reaches the temperature for safe starting.
Alternatively, if the motor does not reach a safe start temperature, for example, if the sensor temperature is too low (e.g., -40 ℃), the winding temperature of the motor is considered not to meet the safe start temperature, the rotor position may be estimated according to a High Frequency Injection (HFI) algorithm, a constant current may be output at the constant rotor position, and the motor rotor is kept to be heated in a stationary state until the motor reaches the safe start temperature, so as to prevent the rotor from being damaged. The low-temperature heating is particularly important for the motor, and can protect the motor from being lost of magnetism; in a similar way, after the capacitor temperature of the motor and the winding temperature of the motor both meet the safe starting temperature, the next step of starting strategy can be carried out, and the capacitor service life and the motor reliability can be effectively guaranteed.
In the above embodiment of the invention, the rotor position of the motor can be used for heating the motor until the motor reaches the safe starting temperature, so that the safe reliability of the motor starting is effectively ensured.
In an alternative embodiment, detecting the speed and direction of rotation of the motor comprises: and detecting the motor based on a direct stator flux observer and a high-frequency injection algorithm to obtain the speed and the steering of the motor.
Alternatively, after the execution of the cold start process is completed, a direct stator flux linkage (DFVC) observer and a high frequency injection algorithm (HFI) may be combined to track the rotor position and estimate the rotor speed in real time, thereby determining the rotation direction of the motor according to the rotor position and using the rotor speed as the speed of the motor. It should be noted that, the high frequency injection algorithm (HFI) can estimate the rotor position and the rotor speed at the very low speed (within 20 rpm) or zero speed of the motor to obtain the speed and the steering of the motor; the rotor position and the rotor speed can be estimated at low speed and above based on a direct stator flux linkage (DFVC) observer to obtain the speed and the steering of the motor, and the two modes can enable the motor to operate in a closed loop within a full-speed range without starting failure.
In an alternative embodiment, controlling the motor to be in a state to be started according to the bus voltage of the motor includes: judging whether the bus voltage of the motor is greater than a preset threshold value or not; under the condition that the bus voltage is greater than a preset threshold value, adjusting the running parameters of the motor until the motor is in a state to be started; and under the condition that the bus voltage is less than or equal to the bus voltage threshold, controlling the motor to be in a state to be started.
Optionally, according to the speed and the steering of the motor, the starting acceleration and the starting time of the motor are enabled, the bus voltage of the motor is monitored in real time, the running parameters of the motor are adjusted, and the situation that the motor is free from overcurrent and overvoltage in the braking process can be guaranteed.
It should be noted that the operating parameters of the electric machine include, but are not limited to, a torque output value of the electric machine; the value range of the predetermined threshold is 680-800V.
In an alternative embodiment, the adjusting the operating parameter of the motor is a torque output value of the motor, and includes: calling a voltage suppression function, wherein the expression of the voltage suppression function is as follows:
T output of ＝k p ·ΔU+∫(k i ·ΔU)+T 0
Wherein, T Output of Represents a torque output value of the motor, Δ U represents a difference between an upper limit value of a bus voltage of the motor and a real-time value of the bus voltage of the motor, k p Denotes the proportionality coefficient, k i Representing the integral coefficient, T 0 Representing the last torque output value before the motor is over-pressurized; and controlling the torque output value of the motor according to the voltage suppression function.
In the above embodiment of the present invention, the voltage suppression function is called to control the torque output value of the motor, so as to ensure that the motor does not generate overcurrent or overvoltage, and eliminate the irreversible impact caused by sudden rise of the bus voltage of the motor.
Fig. 2 is a flowchart of a control method for starting a motor according to an alternative embodiment of the present invention, as shown in fig. 2, the method includes the following steps:
firstly, a motor is electrified, the temperature of a sensor built in a PCB (corresponding to the sensor temperature collected at a controller of the motor) is sampled, an experience array, namely a corresponding relation array of the sensor temperature and the winding temperature, the sensor temperature and the capacitor temperature, is respectively inquired, whether the winding temperature of the motor and the capacitor temperature of the motor both meet the temperature for safe starting (the temperature depends on the permanent magnet material and the capacitance value of the motor) is judged, if the temperature is lower than the temperature, the position of the rotor is estimated according to a high-frequency injection algorithm, constant current is output at the constant position of the rotor, the rotor of the motor is kept to be heated in a static state so as to avoid the damage of the rotor, when the winding is heated and the temperature of the rotor rapidly rises to exceed a set operable value, the position of the rotor and the speed of the rotor are detected in real time based on an algorithm combining a direct stator magnetic chain (DFVC) observer and a high-frequency injection algorithm (HFI), then the starting acceleration and the starting time of the motor are enabled according to the detected speed and the rotation direction of the motor, and the starting acceleration and the upwind rotation speed of the motor are in inverse infinite order to form an inverse ratio w ∞ 1 /a 2 The starting time of the motor is proportional to the upwind speed w ∞ k 2 * t, simultaneously monitoring the bus voltage of the motor in real time, and when the bus voltage of the motor does not exceed a preset threshold, adopting closed-loop control of a rotating speed outer loop and a maximum torque current ratio inner loop; calling a voltage suppression function when the bus voltage of the motor rises and exceeds a predetermined threshold
T Output of ＝k p ·ΔU+∫(k i ·ΔU)+T 0 Dynamically adjusting the torque output value, wherein Δ U = U Upper limit value -U Real-time value ，T 0 The last torque output value before overvoltage is indicated to ensure that the motor does not generate overcurrent or overvoltage, and the irreversible impact on the motor caused by sudden rise of the bus voltage is eliminated. Is started upAnd waiting for the input of a starting instruction after the completion.
According to another aspect of the embodiment of the present invention, there is further provided a control device for motor start, fig. 3 is a schematic diagram of the control device for motor start provided by the embodiment of the present invention, and as shown in fig. 3, the control device for motor start includes: a determination module 32, a detection module 34, a monitoring module 36, and a control module 38. The motor start control device will be described in detail below.
A determination module 32 for determining a temperature at which the motor is at a safe start;
if the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, it may be determined that the motor is at a safe starting temperature.
A detection module 34 connected to the determination module 32 for detecting the speed and the steering of the motor;
a monitoring module 36, connected to the detecting module 34, for enabling a starting acceleration and a starting time of the motor according to the speed and the direction of rotation of the motor, and monitoring a bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to a headwind rotation speed of the motor, the starting time of the motor is directly proportional to the headwind rotation speed of the motor, and the headwind rotation speed of the motor is determined according to the speed and the direction of rotation of the motor;
it should be noted that the starting acceleration and the starting time of the motor are enabled by using the speed and the steering of the motor, so that the problem of the start in the direct and upwind caused by the eddy current disturbance between the motor loads under the group control condition can be solved, the success rate of the start of the motor is increased, the starting time is reduced, the starting efficiency is improved, and the safety and the reliability of the motor are ensured.
And a control module 38, connected to the monitoring module 36, for controlling the motor to be in a to-be-started state according to a bus voltage of the motor, wherein the to-be-started state includes at least one of: low speed state, stationary state.
The low-speed state is that the speed of the motor is greater than zero and less than a preset speed threshold, where the preset speed threshold may be set according to the needs of an application scenario, for example, the preset speed threshold may be set to 10rpm, 15rpm, 20rpm, and the like; the stationary state is when the speed of the motor is equal to zero. In the specific implementation process, the motor can be considered to be in a state to be started no matter the motor is in a low-speed state or a static state. After the motor is electrified, the motor can run at a low speed or in a static state, and the safety and reliability of the motor under the condition of direct wind and counter wind are ensured.
In an optional embodiment, the apparatus further comprises: the receiving module is used for receiving a control instruction of the motor after controlling the motor to be in a state to be started according to the bus voltage of the motor, wherein the control instruction of the motor is used for indicating the motor to adjust the running state; and the third processing module is used for controlling the running state of the motor according to the control instruction of the motor, wherein the running state comprises but is not limited to acceleration, deceleration, braking, stopping and the like. After the motor finishes the processes of low-temperature starting and anti-reversion through active braking, the motor runs at a low speed or in a static state, and meanwhile, a control instruction of the motor is received and the motor is enabled to run normally according to requirements.
The motor includes but is not limited to a permanent magnet synchronous motor and a ferrite motor.
It should be noted that the determining module 32, the detecting module 34, the monitoring module 36 and the control module 38 correspond to steps S102 to S108 in the method embodiment, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of the method embodiment.
In the embodiment of the invention, the control device for starting the motor determines the temperature of the motor in safe starting; detecting the speed and the steering direction of the motor; enabling the starting acceleration and the starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor; controlling the motor to be in a state to be started according to the bus voltage of the motor, wherein the state to be started comprises at least one of the following states: low speed state, stationary state. That is to say, the embodiment of the present invention first determines a temperature at which a motor is safely started, then detects a speed and a rotation direction of the motor, further enables a starting acceleration and a starting time of the motor according to the speed and the rotation direction of the motor, and monitors a bus voltage of the motor, where the starting acceleration of the motor is inversely proportional to a headwind rotation speed of the motor, the starting time of the motor is directly proportional to the headwind rotation speed of the motor, the headwind rotation speed of the motor is determined according to the speed and the rotation direction of the motor, and finally controls the motor to be in a state to be started according to the bus voltage of the motor, where the state to be started includes at least one of: the motor is started easily to be influenced by severe working conditions such as low temperature and headwind in the related art, the technical problem that the motor cannot be started effectively is solved, the adaptability of the motor under the severe working conditions is improved, the starting efficiency of the motor is improved, and the safety and reliability of the operation of the motor are effectively guaranteed.
In an optional embodiment, the method further comprises: the acquisition module is used for acquiring the winding temperature of the motor and the capacitance temperature of the motor before the motor is determined to be at the safe starting temperature; the judging module is used for judging whether the winding temperature of the motor is smaller than a first temperature threshold value and whether the capacitor temperature of the motor is smaller than a second temperature threshold value; the first processing module is used for controlling the motor to reach the safe starting temperature under the condition that the winding temperature of the motor is smaller than a first temperature threshold and/or the capacitance temperature of the motor is smaller than a second temperature threshold; and the second processing module is used for determining that the motor reaches the safe starting temperature when the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitance temperature of the motor is greater than or equal to the second temperature threshold.
In an optional implementation manner, the obtaining module includes: a first acquisition unit for acquiring a sensor temperature acquired at a controller of the motor; and the query unit is used for respectively querying the corresponding relation array of the sensor temperature and the winding temperature and the corresponding relation array of the sensor temperature and the capacitor temperature according to the sensor temperature acquired at the controller of the motor to obtain the winding temperature of the motor and the capacitor temperature of the motor.
In an optional implementation manner, the first processing module includes: a second acquisition unit for acquiring a rotor position of the motor; and the processing unit is used for heating the motor according to the position of the rotor of the motor until the motor reaches the temperature for safe starting.
In an alternative embodiment, the detection module 34 includes: and the detection unit is used for detecting the motor based on the direct stator flux observer and the high-frequency injection algorithm to obtain the speed and the steering of the motor.
In an alternative embodiment, the control module 38 includes: the judging unit is used for judging whether the bus voltage of the motor is greater than a preset threshold value or not; the adjusting unit is used for adjusting the operation parameters of the motor under the condition that the bus voltage is greater than a preset threshold value until the motor is in a state to be started; and the control unit is used for controlling the motor to be in a state of waiting for starting under the condition that the bus voltage is less than or equal to the bus voltage threshold value.
In an alternative embodiment, the operating parameter of the electric machine comprises a torque output value of the electric machine, and the adjusting unit comprises: a calling subunit, configured to call a voltage suppression function, where an expression of the voltage suppression function is as follows:
T output the output ＝k p ·ΔU+∫(k i ·ΔU)+T 0
Wherein, T Output the output Represents a torque output value of the motor, Δ U represents a difference between an upper limit value of a bus voltage of the motor and a real-time value of the bus voltage of the motor, k p Denotes the proportionality coefficient, k i Representing the integral coefficient, T 0 Representing the last torque output value before the motor is over-pressurized; and the control subunit is used for controlling the torque output value of the motor according to the voltage suppression function.
In an alternative embodiment, the expression that the starting acceleration of the electric machine is inversely proportional to the upwind speed of the electric machine is: w ∞ k 1 /a 2 The expression that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor is as follows: w ∞ k 2 * t; wherein w represents the upwind speed of the motor, a 2 Representing electric machinesStarting acceleration, t represents the starting time of the motor, k 1 A proportionality coefficient, k, representing the inverse ratio of the starting acceleration of the motor to the upwind speed of the motor 2 And the proportionality coefficient is proportional to the upwind speed of the motor and represents the starting time of the motor.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method steps of any of the above.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform any of the above method steps.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method of controlling starting of a motor, comprising:
determining the temperature of the motor at safe starting;
detecting the speed and the steering direction of the motor;
enabling starting acceleration and starting time of the motor according to the speed and the steering of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is directly proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor;
controlling the motor to be in a to-be-started state according to the bus voltage of the motor, wherein the to-be-started state comprises at least one of the following states: low speed state, stationary state.
2. The method of claim 1, wherein prior to determining that the motor is at a temperature for safe startup, the method further comprises:
acquiring the winding temperature of the motor and the capacitance temperature of the motor;
judging whether the winding temperature of the motor is smaller than a first temperature threshold value and whether the capacitance temperature of the motor is smaller than a second temperature threshold value;
under the condition that the winding temperature of the motor is smaller than the first temperature threshold and/or the capacitor temperature of the motor is smaller than a second temperature threshold, controlling the motor to reach the temperature for safe starting;
and when the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitance temperature of the motor is greater than or equal to the second temperature threshold, determining that the motor reaches the safe starting temperature.
3. The method of claim 2, wherein obtaining a winding temperature of the electric machine and a capacitance temperature of the electric machine comprises:
acquiring a sensor temperature acquired at a controller of the motor;
respectively inquiring a corresponding relation array of the sensor temperature and the winding temperature and a corresponding relation array of the sensor temperature and the capacitor temperature according to the sensor temperature acquired at the controller of the motor to obtain the winding temperature of the motor and the capacitor temperature of the motor.
4. The method of claim 2, wherein controlling the motor to a temperature for safe start-up comprises:
acquiring the rotor position of the motor;
and heating the motor according to the position of the rotor of the motor until the motor reaches the temperature for safe starting.
5. The method of claim 1, wherein detecting the speed and direction of rotation of the motor comprises:
and detecting the motor based on a direct stator flux observer and a high-frequency injection algorithm to obtain the speed and the steering of the motor.
6. The method of claim 1, wherein controlling the electric machine to be in a standby state based on a bus voltage of the electric machine comprises:
judging whether the bus voltage of the motor is greater than a preset threshold value or not;
under the condition that the bus voltage is greater than the preset threshold value, adjusting the operation parameters of the motor until the motor is in a state to be started;
and under the condition that the bus voltage is less than or equal to the bus voltage threshold value, controlling the motor to be in a state to be started.
7. The method of claim 6, wherein the operating parameter of the electric machine comprises a torque output value of the electric machine, and adjusting the operating parameter of the electric machine comprises:
invoking a voltage suppression function, wherein the expression of the voltage suppression function is as follows:
T output of ＝k p ·ΔU+∫(k i ·ΔU)+T 0
Wherein, T Output of Represents a torque output value of the motor, Δ U represents a difference between an upper limit value of a bus voltage of the motor and a real-time value of the bus voltage of the motor, k p Denotes the proportionality coefficient, k i Representing the integral coefficient, T 0 Representing a last torque output value of the motor before overvoltage;
and controlling the torque output value of the motor according to the voltage suppression function.
8. The method according to any one of claims 1 to 7, wherein the expression that the starting acceleration of the electric machine and the upwind speed of the electric machine are inversely proportional is: w ∞ k 1 /a 2 The expression that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor is as follows: w ∞ k 2 * t; wherein w represents the upwind speed of the motor, a 2 Representing said electric machineStarting acceleration, t represents the starting time of the motor, k 1 A proportionality coefficient, k, representing the inverse ratio of the starting acceleration of the motor to the upwind speed of the motor 2 And a proportionality coefficient which represents that the starting time of the motor is in direct proportion to the upwind rotating speed of the motor.
9. A control device for motor starting, comprising:
the determining module is used for determining the temperature of the motor in safe starting;
the detection module is used for detecting the speed and the steering direction of the motor;
the monitoring module is used for enabling starting acceleration and starting time of the motor according to the speed and the steering of the motor and monitoring bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the upwind rotating speed of the motor, the starting time of the motor is proportional to the upwind rotating speed of the motor, and the upwind rotating speed of the motor is determined according to the speed and the steering of the motor;
the control module is used for controlling the motor to be in a to-be-started state according to the bus voltage of the motor, wherein the to-be-started state comprises at least one of the following states: low speed state, stationary state.
10. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the method steps of any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210963457.7A CN115333403A (en) | 2022-08-11 | 2022-08-11 | Motor starting control method and device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210963457.7A CN115333403A (en) | 2022-08-11 | 2022-08-11 | Motor starting control method and device and electronic equipment |
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| CN115333403A true CN115333403A (en) | 2022-11-11 |
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| CN202210963457.7A Pending CN115333403A (en) | 2022-08-11 | 2022-08-11 | Motor starting control method and device and electronic equipment |
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| Country | Link |
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| CN (1) | CN115333403A (en) |
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