CN115833681A - Method, device, equipment and medium for judging step-out of permanent magnet synchronous motor - Google Patents
Method, device, equipment and medium for judging step-out of permanent magnet synchronous motor Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a medium for judging the step-out of a permanent magnet synchronous motor, which belong to the technical field of permanent magnet synchronous motors, and the method comprises the following steps: when the permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed, acquiring a torque angle of the permanent magnet synchronous motor and acquiring an oscillation component amplitude of the torque angle; determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within first preset time, and judging whether the target times is greater than or equal to a second preset threshold value; if yes, judging that the permanent magnet synchronous motor has an out-of-step fault. The method judges whether the permanent magnet synchronous motor has the step-out fault by detecting the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, so that the influence on the judgment result of the step-out fault of the permanent magnet synchronous motor due to inaccurate motor parameter identification can be avoided, and whether the step-out fault of the permanent magnet synchronous motor occurs can be accurately and reliably judged by the method.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method, a device, equipment and a medium for judging the step-out of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high power density, small loss, high dynamic response speed and the like, so that the permanent magnet synchronous motor is widely applied to actual life. In recent years, because open-loop IF (current-to-frequency ratio) control can output stable torque and the current during starting is controllable, most of enterprises start the permanent magnet synchronous motor by using IF at present during the control without a position sensor. When the IF is used for starting the permanent magnet synchronous motor, when the load torque of the permanent magnet synchronous motor exceeds the maximum value of the load brought by the IF starting, the rotating magnetic field of the permanent magnet synchronous motor cannot drag the rotor to rotate, and the permanent magnet synchronous motor has the step-out fault at the moment.
When the permanent magnet synchronous motor has a step-out fault, a frequency converter connected with the permanent magnet synchronous motor usually outputs a lower voltage, and meanwhile, a rotor of the permanent magnet synchronous motor generates serious eddy current. If the permanent magnet synchronous motor is kept in the state for a long time, permanent magnet loss of the rotor permanent magnet can be caused. In order to protect the permanent magnet synchronous motor and the frequency converter when the permanent magnet synchronous motor has an out-of-step fault, the permanent magnet synchronous motor needs to be stopped or restarted after the permanent magnet synchronous motor has the out-of-step fault. However, in the prior art, it is generally determined whether the out-of-step fault occurs in the permanent magnet synchronous motor by identifying parameters such as terminal voltage, current, and load torque of the permanent magnet synchronous motor during operation, but the out-of-step fault determination result of the permanent magnet synchronous motor is easily affected by the parameter identification result of the permanent magnet synchronous motor, and thus the determination result of the out-of-step fault of the permanent magnet synchronous motor has a high false determination rate. At present, no effective solution exists for the technical problem.
Therefore, how to accurately and reliably judge whether the permanent magnet synchronous motor has the step-out fault is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, an apparatus, a device and a medium for determining step-out of a permanent magnet synchronous motor, so as to accurately and reliably determine whether a step-out fault occurs in the permanent magnet synchronous motor. The specific scheme is as follows:
a method for judging step loss of a permanent magnet synchronous motor comprises the following steps:
when a permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed, acquiring a torque angle of the permanent magnet synchronous motor and acquiring an oscillation component amplitude of the torque angle;
determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within a first preset time, and judging whether the target times is greater than or equal to a second preset threshold value;
and if so, judging that the permanent magnet synchronous motor has an out-of-step fault.
Preferably, the process of acquiring the torque angle of the permanent magnet synchronous motor includes:
acquiring the torque angle of the permanent magnet synchronous motor by using a target model;
wherein the expression of the target model is:
the expression for the torque angle is:
in the formula, v γ And v δ The speed components i of the permanent magnet synchronous motor on the gamma axis and the delta axis respectively under the gamma delta coordinate system down converter γ And i δ Respectively in the gamma axis and delta axis of the permanent magnet synchronous motorA current component of (A) L d And L q The quadrature axis inductance and the direct axis inductance of the permanent magnet synchronous motor are respectively theta err For said torque angle, psi m Is the rotor flux linkage amplitude, i, of the PMSM d And i q For the current components of the PMSM in the d-axis and q-axis, respectively, E ex To extend the magnitude of the back EMF, E exγ And E exδ Respectively the extended back electromotive force of the permanent magnet synchronous motor on a gamma axis and a delta axis, R is the stator winding resistance of the permanent magnet synchronous motor, omega 1 And the rotating frequency of the stator magnetic field of the permanent magnet synchronous motor is p, and p is the number of pole pairs of the permanent magnet synchronous motor.
Preferably, the process of acquiring the amplitude of the oscillation component of the torque angle includes:
and sequentially filtering the torque angles by using a high-pass filter and a low-pass filter to obtain the amplitude of the oscillation component of the torque angle.
Preferably, the preset rotating speed is greater than or equal to 5% of the rated rotating speed of the permanent magnet synchronous motor.
Preferably, after the process of determining whether the target number of times is greater than or equal to a second preset threshold, the method further includes:
if not, continuing to execute the step of determining the target times that the amplitude of the oscillation component of the torque angle is greater than the first preset threshold value within the first preset time after waiting for the second preset time, and judging whether the target times is greater than or equal to the second preset threshold value.
Preferably, before the process of determining that the permanent magnet synchronous motor has the step-out fault, the method further includes:
judging whether the torque angle is within a preset range or not;
if not, continuing to execute the step of judging the out-of-step fault of the permanent magnet synchronous motor.
Preferably, the preset range is set according to the type of the permanent magnet synchronous motor.
Correspondingly, the invention also discloses a device for judging the step-out of the permanent magnet synchronous motor, which comprises:
the device comprises a component acquisition module, a control module and a control module, wherein the component acquisition module is used for acquiring a torque angle of a permanent magnet synchronous motor and acquiring an oscillation component amplitude of the torque angle when the permanent magnet synchronous motor is started in an IF (intermediate frequency) mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed;
the frequency judging module is used for determining the target frequency of the amplitude of the oscillation component of the torque angle, which is greater than a first preset threshold value in a first preset time, and judging whether the target frequency is greater than or equal to a second preset threshold value;
and the fault determination module is used for determining that the permanent magnet synchronous motor has the step-out fault when the determination result of the frequency determination module is positive.
Correspondingly, the invention also discloses a device for judging the step-out of the permanent magnet synchronous motor, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of the method for judging the step loss of the permanent magnet synchronous motor as disclosed in the foregoing when executing the computer program.
Correspondingly, the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method for judging the step loss of the permanent magnet synchronous motor are realized.
Therefore, in the step-out judging method provided by the invention, after the permanent magnet synchronous motor is started in an IF mode, IF the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed, the torque angle of the permanent magnet synchronous motor is obtained, and the oscillation component amplitude of the torque angle is obtained; and then, determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within a first preset time, and if the target times is greater than or equal to a second preset threshold value, indicating that the permanent magnet synchronous motor has a step-out fault. The method judges whether the out-of-step fault occurs to the permanent magnet synchronous motor by detecting the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, so that the influence on the judging result of the out-of-step fault of the permanent magnet synchronous motor caused by inaccurate motor parameter identification can be avoided, and whether the out-of-step fault occurs to the permanent magnet synchronous motor can be accurately and reliably judged by the method. Correspondingly, the device, the equipment and the medium for judging the step-out of the permanent magnet synchronous motor, which are provided by the invention, also have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining step loss of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a PMSM torque angle;
FIG. 3 is a schematic diagram illustrating a principle of determining whether a step-out fault occurs in a PMSM according to an amplitude of an oscillation component of a torque angle of the PMSM and an angle range of the torque angle;
fig. 4 is a structural diagram of a step-out determining device of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a structural diagram of a step-out determining device of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for determining step loss of a permanent magnet synchronous motor according to an embodiment of the present invention, where the method includes:
step S11: when the permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed, acquiring a torque angle of the permanent magnet synchronous motor and acquiring an oscillation component amplitude of the torque angle;
step S12: determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within first preset time, and judging whether the target times is greater than or equal to a second preset threshold value;
step S13: if so, judging that the permanent magnet synchronous motor has the step-out fault.
In this embodiment, a method for determining step-out of a permanent magnet synchronous motor is provided, by which whether a step-out fault occurs in the permanent magnet synchronous motor can be accurately and reliably determined. Before introducing the method for judging the step-out of the permanent magnet synchronous motor, a step-out voltage equation of the permanent magnet synchronous motor is simply explained.
In the prior art, the torque angle of the permanent magnet synchronous motor is generally defined as an included angle between a current vector of the permanent magnet synchronous motor and a d-axis of a rotor. IF the permanent magnet synchronous motor is started in IF mode and pull-in current I is applied to gamma axis r If the pull-in current applied to the delta axis is 0, the torque angle of the permanent magnet synchronous motor corresponds to θ in fig. 2 err . Referring to fig. 2, fig. 2 is a schematic view of a torque angle of the permanent magnet synchronous motor. In fig. 2, d and q represent d and q axes of the permanent magnet synchronous motor, respectively, γ and δ represent γ and δ axes of the permanent magnet synchronous motor, respectively, and θ err Representing the torque angle of the permanent magnet synchronous machine.
Then, according to a space vector relation of vector control of the permanent magnet synchronous motor, drawing a gamma delta coordinate system of the permanent magnet synchronous motor in an IF starting mode, controlling the permanent magnet synchronous motor to orient according to a rotor flux linkage, orienting the rotor flux linkage on a d axis, and rotating counterclockwise by 90 degrees to be a q axis, wherein a voltage equation of the permanent magnet synchronous motor in the gamma delta coordinate system is as follows:
wherein,
in the formula u γ And u δ Respectively representing the voltage components, i, output by the down converters of the permanent magnet synchronous motor on the gamma axis and the delta axis γ And i δ Respectively representing the current components of the permanent magnet synchronous motor under a gamma axis and a delta axis, R representing the stator winding resistance of the permanent magnet synchronous motor, L 0 And L 1 All represent the parameter, L d And L q Respectively representing the quadrature-axis inductance and the direct-axis inductance of the PMSM, psi m Representing rotor flux amplitude, omega, of a PMSM s Represents the rotation frequency of the permanent magnet synchronous motor in an IF given coordinate system, omega is the rotor rotation frequency of the permanent magnet synchronous motor, theta s The electrical angle of the permanent magnet synchronous motor relative to the permanent magnet synchronous motor winding A in a gamma delta coordinate system is shown, and theta is the electrical angle of a rotor of the permanent magnet synchronous motor relative to the permanent magnet synchronous motor winding A on a d axis.
As can be known from a voltage equation of the permanent magnet synchronous motor under a gamma delta coordinate system, when the permanent magnet synchronous motor is in a normal working state, omega s = ω, angle error θ of permanent magnet synchronous motor in γ δ coordinate system and dq coordinate system s The voltage component u output by the permanent magnet synchronous motor at the gamma axis and delta axis down converters will remain unchanged γ And u δ No oscillating component will occur; when the permanent magnet synchronous motor works in the out-of-step fault state, omega s Not equal to omega, and the angle error theta of the permanent magnet synchronous motor in a gamma delta coordinate system and a dq coordinate system at the moment s The-theta also has periodic variation, in this case, the voltage component u output by the down-converter of the permanent magnet synchronous motor on the gamma axis and the delta axis γ And u δ An oscillating component will occur.
Based on the above theoretical basis, it can be known that, when the permanent magnet synchronous motor has the step-out fault, the torque angle of the permanent magnet synchronous motor will oscillate, and therefore, in this embodiment, the attribute characteristic of the permanent magnet synchronous motor is utilized to determine whether the step-out fault occurs in the permanent magnet synchronous motor.
In this embodiment, after the permanent magnet synchronous motor is started at IF, when the rotation speed of the permanent magnet synchronous motor reaches a preset rotation speed, whether the permanent magnet synchronous motor has an out-of-step fault is determined by obtaining a torque angle of the permanent magnet synchronous motor. Specifically, after the torque angle of the permanent magnet synchronous motor is obtained, the oscillation component of the permanent magnet synchronous motor needs to be obtained, then, the target times that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is greater than a first preset threshold value within a first preset time is determined, and if the target times that the amplitude of the oscillation component of the torque angle is greater than the first preset threshold value within the first preset time is greater than or equal to a second preset threshold value, it is indicated that the permanent magnet synchronous motor has a step-out fault.
It should be noted that the first preset time generally does not exceed 2 seconds. Because the permanent magnet synchronous motor is affected by the back electromotive force of the permanent magnet synchronous motor and the nonlinearity of the inverter in the low-speed starting process, the estimation of the torque angle of the permanent magnet synchronous motor is inaccurate, in this embodiment, the torque angle of the permanent magnet synchronous motor needs to be obtained when the rotating speed of the permanent magnet synchronous motor reaches the preset rotating speed, and therefore, the influence of the factors on the step-out fault judgment result of the permanent magnet synchronous motor is avoided. As a preferable embodiment, in practical applications, the preset rotation speed may be set to be greater than or equal to 5% of the rated rotation speed of the permanent magnet synchronous motor.
When the step-out fault of the permanent magnet synchronous motor can be accurately judged, effective protection measures can be taken to avoid the phenomenon of demagnetization of the permanent magnet synchronous motor when the step-out fault of the permanent magnet synchronous motor occurs. In addition, in the step-out fault determination method provided by this embodiment, it can be determined whether the permanent magnet synchronous motor has a step-out fault only by the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, and the actual code number is small, so that the consumption of calculation resources can be greatly reduced.
It can be seen that, in the step-out determining method provided in this embodiment, after the permanent magnet synchronous motor is started in the IF mode, IF the rotation speed of the permanent magnet synchronous motor reaches the preset rotation speed, the torque angle of the permanent magnet synchronous motor is obtained, and the oscillation component amplitude of the torque angle is obtained; and then, determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within a first preset time, and if the target times is greater than or equal to a second preset threshold value, indicating that the permanent magnet synchronous motor has a step-out fault. The method judges whether the permanent magnet synchronous motor has the step-out fault by detecting the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, so that the influence on the judgment result of the step-out fault of the permanent magnet synchronous motor caused by inaccurate motor parameter identification can be avoided, and whether the step-out fault of the permanent magnet synchronous motor occurs can be accurately and reliably judged by the method.
Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the above steps: a process of obtaining a torque angle of a permanent magnet synchronous motor, comprising:
acquiring a torque angle of the permanent magnet synchronous motor by using the target model;
wherein, the expression of the target model is as follows:
the expression for torque angle is:
in the formula, v γ And v δ Speed components i of the permanent magnet synchronous motor on a gamma axis and a delta axis respectively in a gamma delta coordinate system down converter γ And i δ Current components, L, in the gamma and delta axes of the PMSM, respectively d And L q Quadrature axis inductance and direct axis inductance, theta, of the PMSM, respectively err Is a torque angle psi m Amplitude of rotor flux linkage i for a permanent magnet synchronous machine d And i q For permanent magnet synchronous motors in d-axis and q-axis respectivelyComponent of current on the shaft, E ex To extend the magnitude of the back EMF, E exγ And E exδ Respectively the extended back electromotive force of the permanent magnet synchronous motor on the gamma axis and the delta axis, R is the stator winding resistance of the permanent magnet synchronous motor, omega 1 The rotating frequency of the stator magnetic field of the permanent magnet synchronous motor is p, and p is the number of pole pairs of the permanent magnet synchronous motor.
As can be seen from the foregoing analysis, when the permanent magnet synchronous motor has an out-of-step fault, the torque angle of the permanent magnet synchronous motor oscillates repeatedly, and in order to enable a person skilled in the art to detect the phenomenon of the permanent magnet synchronous motor more accurately and reliably, in this embodiment, the torque angle θ of the permanent magnet synchronous motor is calculated by using a target model err And through the torque angle theta of the permanent magnet synchronous motor err And judging whether the torque angle of the permanent magnet synchronous motor has oscillation phenomenon or not according to the calculation result.
The torque angle of the permanent magnet synchronous motor is calculated by using the mathematical model, so that a worker can more intuitively check the oscillation phenomenon of the torque angle of the permanent magnet synchronous motor when the step-out fault occurs through the calculation result of the torque angle of the permanent magnet synchronous motor, and the accuracy and the reliability of the step-out fault determination result of the permanent magnet synchronous motor can be further improved.
Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the above steps: a process for obtaining a magnitude of an oscillating component of a torque angle, comprising:
and sequentially filtering the torque angle by using a high-pass filter and a low-pass filter to obtain the amplitude of the oscillation component of the torque angle.
In this embodiment, in order to more accurately detect the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor may be filtered to avoid the influence of other impurity signals on the detection result of the oscillation component of the torque angle of the permanent magnet synchronous motor.
Specifically, the high-pass filter can be used for filtering the torque angle of the permanent magnet synchronous motor to obtain the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor, and the high-pass filter cannot remove the invalid signal in the torque angle oscillation component of the permanent magnet synchronous motor, so that after the high-pass filter is used for filtering the torque angle of the permanent magnet synchronous motor, the low-pass filter can be used for filtering the torque angle of the permanent magnet synchronous motor, the invalid signal in the torque angle oscillation component of the permanent magnet synchronous motor is filtered, and the torque angle oscillation component without the impurity signal is obtained.
Obviously, by the technical scheme provided by the embodiment, the obtained amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is more stable and reliable, so that the reliability of the step-out fault determination result of the permanent magnet synchronous motor can be further improved.
Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the above steps: after the process of determining whether the target number of times is greater than or equal to the second preset threshold, the method further includes:
if not, continuing to execute the step of determining the target times that the amplitude of the oscillation component of the torque angle is greater than the first preset threshold value within the first preset time after waiting for the second preset time, and judging whether the target times is greater than or equal to the second preset threshold value.
It can be understood that if the target number of times that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is greater than the first preset threshold within the first preset time is less than the second preset threshold, it indicates that the oscillation frequency of the torque angle of the permanent magnet synchronous motor is not very high, and at this time, it can be considered that no step-out fault occurs in the permanent magnet synchronous motor.
In this case, in order to prevent the misjudgment of the step-out failure determination result of the permanent magnet synchronous motor, the step S12 may be further performed after waiting for the second preset time: and determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within a first preset time, and judging whether the target times is greater than or equal to a second preset threshold value or not, so as to judge whether the permanent magnet synchronous motor has the step-out fault or not.
Obviously, the accuracy of the out-of-step fault determination result of the permanent magnet synchronous motor can be further improved through the technical scheme provided by the embodiment.
Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the above steps: before the process of judging that the permanent magnet synchronous motor has the step-out fault, the method further comprises the following steps:
judging whether the torque angle is within a preset range;
if not, continuing to execute the step of judging the out-of-step fault of the permanent magnet synchronous motor.
It can be understood that when the permanent magnet synchronous motor is in a starting state and a low-speed running state, the angle of the permanent magnet synchronous motor fluctuates, and in this case, in order to reduce the misjudgment rate of the out-of-step fault judgment result of the permanent magnet synchronous motor, whether the out-of-step fault occurs in the permanent magnet synchronous motor can be judged by a method of mainly detecting the torque angular oscillation component of the permanent magnet synchronous motor and assisting the angular range of the torque angle.
Specifically, under the condition that it is detected that the target number of times that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is greater than or equal to a first preset threshold within a first preset time is greater than or equal to a second preset threshold, whether the torque angle of the permanent magnet synchronous motor is within a preset range or not can be further judged, and if the torque angle of the permanent magnet synchronous motor is not within the preset range, it is indicated that the permanent magnet synchronous motor has a step-out fault.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a principle of determining whether the permanent magnet synchronous motor has an out-of-step fault by using an amplitude of an oscillation component of a torque angle of the permanent magnet synchronous motor and an angle range of the torque angle. After the torque angle of the permanent magnet synchronous motor is obtained, firstly, a High Pass Filter (HPF) is used for carrying out High Pass filtering processing on the torque angle of the permanent magnet synchronous motor, then, an absolute value is obtained from the torque angle High Pass filtering result of the permanent magnet synchronous motor, and a Low Pass Filter (LPF) is used for carrying out Low Pass filtering processing on the torque of the permanent magnet synchronous motor, so that the oscillation component amplitude of the torque angle of the permanent magnet synchronous motor is obtained.
And then judging whether the target frequency that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is greater than a first preset threshold value within a first preset time is greater than or equal to a second preset threshold value, and if the target frequency is greater than the second preset threshold value, indicating that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor meets the judgment condition that the permanent magnet synchronous motor has the step-out fault. At this time, in order to prevent the misjudgment that the torque angle of the permanent magnet synchronous motor suddenly changes at the starting moment, whether the torque angle of the permanent magnet synchronous motor is within a preset range needs to be further judged, and if the torque angle of the permanent magnet synchronous motor is not within the preset range, the step-out fault of the permanent magnet synchronous motor is indicated. That is, when the target number of times that the amplitude of the oscillation component of the torque angle of the permanent magnet synchronous motor is greater than the first preset threshold within the first preset time is greater than or equal to the second preset threshold, and the torque angle of the permanent magnet synchronous motor is not within the preset range, it can be more accurately determined that the permanent magnet synchronous motor has the step-out fault.
In addition, in practical applications, the preset range of the torque angle may also be set according to the type of the permanent magnet synchronous motor, such as: if the permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor, the preset range can be set to be 80-90 degrees; if the permanent magnet synchronous motor is an embedded permanent magnet synchronous motor, the preset range can be set to 110-120 degrees.
Obviously, by the technical scheme provided by the embodiment, the accuracy and reliability of the out-of-step fault determination result of the permanent magnet synchronous motor can be further improved.
Referring to fig. 4, fig. 4 is a structural diagram of a step-out determining device for a permanent magnet synchronous motor according to an embodiment of the present invention, the device includes:
the component obtaining module 21 is configured to obtain a torque angle of the permanent magnet synchronous motor and obtain an oscillation component amplitude of the torque angle when the permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed;
a frequency judging module 22, configured to determine a target frequency that an amplitude of an oscillation component of the torque angle is greater than a first preset threshold within a first preset time, and judge whether the target frequency is greater than or equal to a second preset threshold;
and the fault determination module 23 is configured to determine that the permanent magnet synchronous motor has an out-of-step fault if the determination result of the frequency determination module is yes.
The device for judging the step-out of the permanent magnet synchronous motor provided by the embodiment of the invention has the beneficial effects of the method for judging the step-out of the permanent magnet synchronous motor disclosed by the invention.
Referring to fig. 5, fig. 5 is a structural diagram of an out-of-step determining device for a permanent magnet synchronous motor according to an embodiment of the present invention, where the device includes:
a memory 31 for storing a computer program;
a processor 32 for implementing the steps of the method for determining the step loss of the permanent magnet synchronous motor as disclosed in the foregoing when executing the computer program.
The device for judging the step-out of the permanent magnet synchronous motor provided by the embodiment of the invention has the beneficial effects of the method for judging the step-out of the permanent magnet synchronous motor disclosed by the embodiment of the invention.
Accordingly, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for determining step loss of a permanent magnet synchronous motor disclosed in the foregoing are implemented.
The computer-readable storage medium provided by the embodiment of the invention has the beneficial effects of the out-of-step judgment method for the permanent magnet synchronous motor disclosed in the foregoing.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
The method, the device, the equipment and the medium for judging the step loss of the permanent magnet synchronous motor provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for judging step loss of a permanent magnet synchronous motor is characterized by comprising the following steps:
when a permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed, acquiring a torque angle of the permanent magnet synchronous motor and acquiring an oscillation component amplitude of the torque angle;
determining the target times that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value within a first preset time, and judging whether the target times is greater than or equal to a second preset threshold value;
and if so, judging that the permanent magnet synchronous motor has an out-of-step fault.
2. The step-out judging method according to claim 1, wherein the process of obtaining the torque angle of the permanent magnet synchronous motor includes:
acquiring the torque angle of the permanent magnet synchronous motor by using a target model;
wherein the expression of the target model is:
the torque angle is expressed as:
in the formula, v γ And v δ The speed components i of the permanent magnet synchronous motor on the gamma axis and the delta axis respectively under the gamma delta coordinate system down converter γ And i δ Current components, L, of the PMSM in the gamma and delta axes, respectively d And L q The quadrature axis inductance and the direct axis inductance of the permanent magnet synchronous motor are respectively theta err For said torque angle, psi m Is the rotor flux linkage amplitude, i, of the PMSM d And i q For the current components of the PMSM in the d-axis and q-axis, respectively, E ex To extend the magnitude of the back EMF, E exγ And E exδ Respectively the extended back electromotive force of the permanent magnet synchronous motor on a gamma axis and a delta axis, R is the stator winding resistance of the permanent magnet synchronous motor, omega 1 And the rotating frequency of the stator magnetic field of the permanent magnet synchronous motor is p, and p is the number of pole pairs of the permanent magnet synchronous motor.
3. The step-out determination method according to claim 1, wherein the process of obtaining the amplitude of the oscillation component of the torque angle includes:
and sequentially filtering the torque angles by using a high-pass filter and a low-pass filter to obtain the amplitude of the oscillation component of the torque angle.
4. The step-out judging method according to claim 1, wherein the preset rotation speed is greater than or equal to 5% of the rated rotation speed of the permanent magnet synchronous motor.
5. The out-of-step determination method according to claim 1, wherein after the process of determining whether the target number of times is greater than or equal to a second preset threshold, the method further comprises:
if not, continuing to execute the step of determining the target times that the amplitude of the oscillation component of the torque angle is greater than the first preset threshold value within the first preset time after waiting for the second preset time, and judging whether the target times is greater than or equal to the second preset threshold value.
6. The step-out judging method according to any one of claims 1 to 5, wherein before the process of determining that the step-out fault occurs in the permanent magnet synchronous motor, the method further comprises:
judging whether the torque angle is within a preset range or not;
if not, continuing to execute the step of judging the out-of-step fault of the permanent magnet synchronous motor.
7. The step-out determination method according to claim 6, wherein the preset range is set according to a type of the permanent magnet synchronous motor.
8. The utility model provides a permanent magnet synchronous motor's device of judging that steps out which characterized in that includes:
the device comprises a component obtaining module, a component obtaining module and a control module, wherein the component obtaining module is used for obtaining a torque angle of a permanent magnet synchronous motor and obtaining an oscillation component amplitude of the torque angle when the permanent magnet synchronous motor is started in an IF mode and the rotating speed of the permanent magnet synchronous motor reaches a preset rotating speed;
the frequency judging module is used for determining the target frequency that the amplitude of the oscillation component of the torque angle is greater than a first preset threshold value in first preset time and judging whether the target frequency is greater than or equal to a second preset threshold value;
and the fault judging module is used for judging that the permanent magnet synchronous motor has the step-out fault when the judging result of the frequency judging module is yes.
9. The device for judging the step loss of a permanent magnet synchronous motor is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of a method for determining loss of synchronism of a permanent magnet synchronous motor according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for determining loss of synchronism of a permanent magnet synchronous machine according to any one of claims 1 to 7.
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| CN202211715296.6A CN115833681A (en) | 2022-12-28 | 2022-12-28 | Method, device, equipment and medium for judging step-out of permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211715296.6A CN115833681A (en) | 2022-12-28 | 2022-12-28 | Method, device, equipment and medium for judging step-out of permanent magnet synchronous motor |
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