CN116938059A - Galloping stall protection method and device for closed-loop control of permanent magnet synchronous motor - Google Patents
Galloping stall protection method and device for closed-loop control of permanent magnet synchronous motor Download PDFInfo
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the field of motor control protection, and provides a galloping stall protection method and device for closed-loop control of a permanent magnet synchronous motor, which can acquire and calculate the product of the output of a speed loop and the speed feedback of the target permanent magnet synchronous motor in real time to obtain a first value, calculate the product of the speed feedback change rate and the speed feedback of the target permanent magnet synchronous motor when the output of the speed loop reaches a first condition and the first value reaches a second condition to obtain a second value, start a configuration timer to calculate the duration of the current running state of the target permanent magnet synchronous motor when the target permanent magnet synchronous motor reaches a third condition according to the second value, determine that the target permanent magnet synchronous motor has a galloping stall fault when the duration reaches a fourth condition, execute protection processing on the target permanent magnet synchronous motor, further combine the characteristics of multiple dimensions of the galloping stall of the permanent magnet synchronous motor, judge the galloping stall more accurately and timely, and execute effective protection.
Description
Technical Field
The invention relates to the technical field of motor control protection, in particular to a galloping stall protection method and device for closed-loop control of a permanent magnet synchronous motor.
Background
A closed loop FOC (Field Oriented Control ) vector control system for a permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) typically requires accurate motor rotor position information to be obtained, which otherwise not only affects the control performance of the motor, but may also risk runaway stall due to rotor position errors.
The runaway stall of the motor may cause damage to the drive and equipment and even personal injury. However, at present, each driver manufacturer generally only judges whether the galloping stall occurs according to the out-of-tolerance speed, misjudgment is easy to occur, and judgment is not timely, so that effective protection of the galloping stall of the closed-loop control of the permanent magnet synchronous motor cannot be realized.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a device for protecting the galloping stall of the closed-loop control of the permanent magnet synchronous motor, which aim to solve the problem of the galloping stall protection of the closed-loop control of the permanent magnet synchronous motor.
A galloping stall protection method for closed-loop control of a permanent magnet synchronous motor comprises the following steps:
responding to a protection instruction of a target permanent magnet synchronous motor, and acquiring the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time;
calculating the product of the speed loop output and the speed feedback to obtain a first numerical value;
when the speed loop output reaches a first condition and the first value reaches a second condition, calculating the speed feedback change rate of the target permanent magnet synchronous motor;
calculating the product of the speed feedback change rate and the speed feedback to obtain a second value;
when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second value, starting a configuration timer to calculate the duration time of the current running state of the target permanent magnet synchronous motor;
and when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, determining that the target permanent magnet synchronous motor has a vehicle stall fault, and executing protection treatment on the target permanent magnet synchronous motor.
According to a preferred embodiment of the invention, the method further comprises:
acquiring torque amplitude limitation of closed-loop control of the target permanent magnet synchronous motor;
determining that the speed loop output reaches the first condition when the speed loop output reaches the torque limiter; or alternatively
And when the speed loop output does not reach the moment amplitude limiting, determining that the speed loop output does not reach the first condition.
According to a preferred embodiment of the invention, the method further comprises:
when the first numerical value is smaller than zero, determining that the given torque direction of the closed-loop control of the target permanent magnet synchronous motor is opposite to the speed feedback direction, and determining that the first numerical value reaches the second condition; or alternatively
And when the first value is greater than or equal to zero, determining that the given torque direction of the target permanent magnet synchronous motor closed-loop control is the same as the speed feedback direction, and determining that the first value does not reach the second condition.
According to a preferred embodiment of the present invention, the calculating the speed feedback change rate of the target permanent magnet synchronous motor includes:
and calculating the differential of the speed feedback relative to time to obtain the speed feedback change rate.
According to a preferred embodiment of the invention, the method further comprises:
when the second value is greater than zero, determining that the running state of the target permanent magnet synchronous motor is a first state;
acquiring a preconfigured first time;
and when the speed of the target permanent magnet synchronous motor continuously rises in the first time, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
According to a preferred embodiment of the invention, the method further comprises:
acquiring a second time which is preset;
when the duration of the current running state of the target permanent magnet synchronous motor is longer than the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition; or alternatively
And when the duration of the current running state of the target permanent magnet synchronous motor is smaller than or equal to the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor does not reach the fourth condition.
According to a preferred embodiment of the present invention, the performing protection processing on the target permanent magnet synchronous motor includes:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
and blocking pulse width modulation output of a servo driver controlling the target permanent magnet synchronous motor.
The utility model provides a permanent magnet synchronous motor closed-loop control's galloping stall protection device, permanent magnet synchronous motor closed-loop control's galloping stall protection device includes:
the acquisition unit is used for responding to a protection instruction of the target permanent magnet synchronous motor and acquiring the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time;
the calculating unit is used for calculating the product of the speed loop output and the speed feedback to obtain a first numerical value;
the calculating unit is further used for calculating the speed feedback change rate of the target permanent magnet synchronous motor when the speed loop output reaches a first condition and the first numerical value reaches a second condition;
the calculating unit is further used for calculating the product of the speed feedback change rate and the speed feedback to obtain a second value;
the timing unit is used for starting a configuration timer to calculate the duration time of the current running state of the target permanent magnet synchronous motor when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second numerical value;
and the protection unit is used for determining that the target permanent magnet synchronous motor has a vehicle stall fault when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, and executing protection treatment on the target permanent magnet synchronous motor.
According to a preferred embodiment of the present invention, the calculating unit calculates the rate of change of the speed feedback of the target permanent magnet synchronous motor includes:
and calculating the differential of the speed feedback relative to time to obtain the speed feedback change rate.
According to a preferred embodiment of the invention, the protection unit is specifically configured to:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
and blocking pulse width modulation output of a servo driver controlling the target permanent magnet synchronous motor.
According to the technical scheme, the method and the device can combine the characteristics of multiple dimensions of the permanent magnet synchronous motor during the galloping stall, judge the galloping stall more accurately and timely, and further execute effective protection.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of the fly-away stall protection method of the present invention for closed-loop control of a permanent magnet synchronous motor.
Fig. 2 is a functional block diagram of a preferred embodiment of the galloping stall protection device of the present invention for closed loop control of a permanent magnet synchronous motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flow chart of a preferred embodiment of the fly-away stall protection method of the present invention for closed-loop control of a permanent magnet synchronous motor. The order of the steps in the flowchart may be changed and some steps may be omitted according to various needs.
The galloping stall protection method for the closed-loop control of the permanent magnet synchronous motor is applied to servo driver equipment.
For example: the servo driver apparatus includes: the main control board module is responsible for sending out instructions and receiving signals and processing various faults; the main control board module comprises an MCU minimum system taking STM32F407 as a core; the driving board module mainly comprises a rectifying unit, a filtering unit and an inversion unit taking a power device IGBT module as a core; the MCU minimal system may include: an EEPROM memory storing at least one instruction; and the MCU processor executes the instructions stored in the memory to realize the galloping stall protection method for the closed-loop control of the permanent magnet synchronous motor.
S10, responding to a protection instruction of a target permanent magnet synchronous motor, and acquiring the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time.
In this embodiment, when it is detected that the target permanent magnet synchronous motor is started, or when it is detected that closed-loop control is performed on the target permanent magnet synchronous motor, it is determined that a protection instruction for the target permanent magnet synchronous motor is received.
In this embodiment, the target permanent magnet synchronous motor may be applied to the fields of numerically controlled machine tools, machining centers, industrial robots, papermaking, petrochemical industry, textiles, medical instruments, electric automobiles, and the like.
The speed loop output refers to moment given of a moment loop in double closed loop control.
The speed feedback is used for reflecting the actual running speed of the target permanent magnet synchronous motor through a position sensor arranged on the rotating shaft of the target permanent magnet synchronous motor.
S11, calculating the product of the speed loop output and the speed feedback to obtain a first numerical value.
For example: when the speed loop output is denoted Tref, the speed feedback is denoted ω fb The first value is expressed as: omega fb *Tref。
And S12, calculating the speed feedback change rate of the target permanent magnet synchronous motor when the speed loop output reaches a first condition and the first numerical value reaches a second condition.
In at least one embodiment of the invention, the method further comprises:
acquiring torque amplitude limitation of closed-loop control of the target permanent magnet synchronous motor;
determining that the speed loop output reaches the first condition when the speed loop output reaches the torque limiter; or alternatively
And when the speed loop output does not reach the moment amplitude limiting, determining that the speed loop output does not reach the first condition.
The torque amplitude limiting can be configured in a self-defining mode according to the performance of the target permanent magnet synchronous motor.
In connection with the above example, the torque limiter is denoted Tlim, and when the speed loop output Tref reaches the torque limiter Tlim, it is determined that the first condition is reached.
It can be understood that when the rotor position feedback of the permanent magnet synchronous motor is wrong and the phase difference between the rotor position feedback and the actual rotor position of the motor is larger than 180 degrees, the closed-loop control system of the target permanent magnet synchronous motor is changed from negative feedback to positive feedback, the motor rotating speed can quickly fly up, and at the moment, the PI regulator of the speed ring can saturate output, so that the moment amplitude limitation is achieved.
In the above embodiment, whether the speed loop output reaches the moment limiting is taken as a first judgment condition to preliminarily judge whether the galloping stall occurs.
In at least one embodiment of the invention, the method further comprises:
when the first numerical value is smaller than zero, determining that the given torque direction of the closed-loop control of the target permanent magnet synchronous motor is opposite to the speed feedback direction, and determining that the first numerical value reaches the second condition; or alternatively
And when the first value is greater than or equal to zero, determining that the given torque direction of the target permanent magnet synchronous motor closed-loop control is the same as the speed feedback direction, and determining that the first value does not reach the second condition.
The above example is followed, the first value (ω fb *Tref)<And 0, determining that the first value reaches the second condition.
In the above embodiment, whether the given torque direction of the closed-loop control of the target permanent magnet synchronous motor is the same as the feedback direction of the speed is further used as the second judging condition, so as to further judge whether the galloping stall occurs.
In at least one embodiment of the present invention, the calculating the rate of change of the speed feedback of the target permanent magnet synchronous motor includes:
and calculating the differential of the speed feedback relative to time to obtain the change rate (namely acceleration) of the speed feedback.
In this embodiment, when the first condition and the second condition are not reached at the same time, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
S13, calculating the product of the speed feedback change rate and the speed feedback to obtain a second value.
The above example is followed, the rate of change of the velocity feedback being expressed as Δω fb The second value may be expressed as: omega fb *Δω fb 。
And S14, when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second numerical value, starting a configuration timer to calculate the duration of the current running state of the target permanent magnet synchronous motor.
In at least one embodiment of the invention, the method further comprises:
when the second value is greater than zero, determining that the running state of the target permanent magnet synchronous motor is a first state, namely the speed of the target permanent magnet synchronous motor is accelerating;
acquiring a preconfigured first time;
and when the speed of the target permanent magnet synchronous motor continuously rises in the first time, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
The first time can be configured in a self-defined manner according to actual requirements.
The above example is followed when the second value (ω fb *Δω fb )>And 0, determining the running state of the target permanent magnet synchronous motor as the first state, and assuming that the first time is T1, if the speed of the target permanent magnet synchronous motor continuously rises in T1, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
It will be appreciated that the speed will fly up rapidly when the vehicle stalls.
In the above embodiment, further judgment is performed from the dimension of whether the speed of the target permanent magnet synchronous motor continuously flies in a certain time, so that the accuracy of judgment is improved.
In this embodiment, when the third condition is not met, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
And S15, when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, determining that the target permanent magnet synchronous motor has a vehicle stall fault, and executing protection treatment on the target permanent magnet synchronous motor.
When the first condition, the second condition, and the third condition are simultaneously reached, it is indicated that the vehicle has been characterized as having galloping stall.
Further, the method further comprises:
acquiring a second time which is preset;
when the duration of the current running state of the target permanent magnet synchronous motor is longer than the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition; or alternatively
And when the duration of the current running state of the target permanent magnet synchronous motor is smaller than or equal to the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor does not reach the fourth condition.
The second time may be configured in a customized manner, for example: the second time may be a galloping protection action time set according to field working condition experience.
For example: the second time may be denoted as T3, and the duration of the current operating state of the target permanent magnet synchronous motor may be denoted as T2, where T1 and T2 are clocked by different timers.
And when T2 is larger than T3, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition.
It can be understood that under normal speed control, when the speed command suddenly changes, the speed loop adopts PI control, through PI adjustment control, the running rotating speed of the target permanent magnet synchronous motor can possibly generate certain overshoot and then converge to the speed command, and when the overshoot occurs, the running characteristic of the motor is similar to the characteristic of the motor galloping stall, but the duration is shorter than that of the galloping stall. Therefore, the present embodiment further uses the configured galloping protection time as a judgment condition to avoid erroneous judgment.
By integrating all conditions, the occurrence of the galloping stall fault can be determined.
In this embodiment, when the fourth condition is not met, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
In at least one embodiment of the present invention, the performing a protection process on the target permanent magnet synchronous motor includes:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
a pulse width modulated (Pulse Width Modulation, PWM) output of a servo driver controlling the target permanent magnet synchronous motor is blocked.
By the implementation mode, timely alarm can be carried out when the galloping stall occurs, and further damage to equipment is avoided by closing the enabling of the servo driver for controlling the target permanent magnet synchronous motor and blocking pulse width modulation output.
Specifically, in this embodiment, when the permanent magnet synchronous motor is operated by closed-loop vector control with encoder feedback, the speed loop output (i.e. torque set of the torque loop) of the closed-loop control system is calculated in real time, the motor operation speed fed back by the motor encoder (i.e. the speed feedback) and the acceleration of the motor operation speed (i.e. the speed feedback change rate of the target permanent magnet synchronous motor) are calculated in real time, the speed change trend is reflected, and when the speed loop output reaches the torque limiter preset by the driver, the speed loop output is taken as the condition one;
meanwhile, the product of the output of the speed ring (namely, the moment given by the moment ring) and the speed feedback is calculated as the first numerical value, and whether the first numerical value is larger than zero or smaller than zero is judged to judge whether the target permanent magnet synchronous motor is operated in an electric state or a power generation state, because the operation state when the motor is in a galloping stall is similar to the power generation state, and when the motor is operated in the power generation state, the condition is two;
when the first condition and the second condition are met at the same time, further judging the positive and negative of the product (namely the second numerical value) of the acceleration (namely the speed feedback change rate) and the running speed (namely the speed feedback), and when the product of the acceleration and the running speed is larger than zero, indicating that the speed of the motor is accelerated and rises to be used as a third condition;
when the condition III is reached, starting a first timer to calculate the duration of the current running state of the target permanent magnet synchronous motor, and when the duration exceeds the preset safety duration T1 of the driver, taking the duration as the condition IV and determining that the running state of the motor at the moment is not caused by the overshoot of the PI control of the speed loop, but the motor possibly stalls. Because the running state of the motor is similar to the running state of the motor when the galloping stall is caused by the speed loop PI control, the misjudgment of the stall protection function of the motor is prevented by the judgment, and the stall protection accuracy is improved;
and when the condition IV is reached, the characteristic of galloping stall is provided, at the moment, the other timer is started to calculate the duration of the current running state of the target permanent magnet synchronous motor, and when the duration exceeds the stall protection action time T3 set by the driver parameters, the condition IV is taken as the condition V, and the galloping stall fault is judged.
And by increasing the judgment of the fifth condition, the stall protection action time is set according to the actual working condition experience, and the accuracy and timeliness of the galloping stall protection function are improved. When the target permanent magnet synchronous motor is determined to have the flying vehicle stall fault, the driver accurately and timely judges the flying vehicle stall through the characteristics of the dimensions when the permanent magnet synchronous motor flies and stalls, and further effective protection is executed.
According to the technical scheme, the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor can be obtained in real time in response to the protection instruction of the target permanent magnet synchronous motor, the product of the speed loop output and the speed feedback is calculated to obtain a first numerical value, when the speed loop output reaches a first condition and the first numerical value reaches a second condition, the speed feedback change rate of the target permanent magnet synchronous motor is calculated, the product of the speed feedback change rate and the speed feedback is calculated to obtain a second numerical value, when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second numerical value, a configuration timer is started to calculate the duration of the current running state of the target permanent magnet synchronous motor, when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, the occurrence of a flying stall fault of the target permanent magnet synchronous motor is determined, the protection processing is further carried out on the target permanent magnet synchronous motor, the characteristics of multiple dimensions in the flying stall of the permanent magnet synchronous motor are combined, the flying stall is further accurately judged, and further, the flying stall is effectively protected.
Fig. 2 is a functional block diagram of a preferred embodiment of the galloping stall protection device for closed-loop control of a permanent magnet synchronous motor according to the present invention. The galloping stall protection device 11 for closed-loop control of the permanent magnet synchronous motor comprises an acquisition unit 110, a calculation unit 111, a timing unit 112 and a protection unit 113. The module/unit referred to in the present invention refers to a series of computer program segments capable of being executed by the processor 13 and of performing a fixed function, which are stored in the memory 12. In the present embodiment, the functions of the respective modules/units will be described in detail in the following embodiments.
In response to a protection instruction for the target permanent magnet synchronous motor, the acquisition unit 110 acquires a speed loop output and a speed feedback of closed-loop control of the target permanent magnet synchronous motor in real time.
In this embodiment, when it is detected that the target permanent magnet synchronous motor is started, or when it is detected that closed-loop control is performed on the target permanent magnet synchronous motor, it is determined that a protection instruction for the target permanent magnet synchronous motor is received.
In this embodiment, the target permanent magnet synchronous motor may be applied to the fields of numerically controlled machine tools, machining centers, industrial robots, papermaking, petrochemical industry, textiles, medical instruments, electric automobiles, and the like.
The speed loop output refers to moment given of a moment loop in double closed loop control.
The speed feedback is used for reflecting the actual running speed of the target permanent magnet synchronous motor through a position sensor arranged on the rotating shaft of the target permanent magnet synchronous motor.
The calculation unit 111 calculates the product of the speed loop output and the speed feedback to obtain a first value.
For example: when the speed loop output is denoted Tref, the speed feedback is denoted ω fb The first value is expressed as: omega fb *Tref。
When the speed loop output reaches a first condition and the first value reaches a second condition, the calculation unit 111 calculates a speed feedback change rate of the target permanent magnet synchronous motor.
In at least one embodiment of the invention, torque limiting of the closed-loop control of the target permanent magnet synchronous motor is obtained;
determining that the speed loop output reaches the first condition when the speed loop output reaches the torque limiter; or alternatively
And when the speed loop output does not reach the moment amplitude limiting, determining that the speed loop output does not reach the first condition.
The torque amplitude limiting can be configured in a self-defining mode according to the performance of the target permanent magnet synchronous motor.
In connection with the above example, the torque limiter is denoted Tlim, and when the speed loop output Tref reaches the torque limiter Tlim, it is determined that the first condition is reached.
It can be understood that when the rotor position feedback of the permanent magnet synchronous motor is wrong and the phase difference between the rotor position feedback and the actual rotor position of the motor is larger than 180 degrees, the closed-loop control system of the target permanent magnet synchronous motor is changed from negative feedback to positive feedback, the motor rotating speed can quickly fly up, and at the moment, the PI regulator of the speed ring can saturate output, so that the moment amplitude limitation is achieved.
In the above embodiment, whether the speed loop output reaches the moment limiting is taken as a first judgment condition to preliminarily judge whether the galloping stall occurs.
In at least one embodiment of the present invention, when the first value is less than zero, determining that a given torque direction of the target permanent magnet synchronous motor closed-loop control is opposite to a direction of the speed feedback, and determining that the first value reaches the second condition; or alternatively
And when the first value is greater than or equal to zero, determining that the given torque direction of the target permanent magnet synchronous motor closed-loop control is the same as the speed feedback direction, and determining that the first value does not reach the second condition.
The above example is followed, the first value (ω fb *Tref)<And 0, determining that the first value reaches the second condition.
In the above embodiment, whether the given torque direction of the closed-loop control of the target permanent magnet synchronous motor is the same as the feedback direction of the speed is further used as the second judging condition, so as to further judge whether the galloping stall occurs.
In at least one embodiment of the present invention, the calculating unit 111 calculates a speed feedback change rate of the target permanent magnet synchronous motor includes:
and calculating the differential of the speed feedback relative to time to obtain the change rate (namely acceleration) of the speed feedback.
In this embodiment, when the first condition and the second condition are not reached at the same time, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
The calculating unit 111 calculates a product of the rate of change of the velocity feedback and the velocity feedback to obtain a second value.
The above example is followed, the rate of change of the velocity feedback being expressed as Δω fb The second value may be expressed as: omega fb *Δω fb 。
When the closed-loop control of the target permanent magnet synchronous motor reaches the third condition according to the second value, the timing unit 112 starts a configuration timer to calculate the duration of the current running state of the target permanent magnet synchronous motor.
In at least one embodiment of the present invention, when the second value is greater than zero, determining that the operation state of the target permanent magnet synchronous motor is a first state, that is, that the speed of the target permanent magnet synchronous motor is accelerating;
acquiring a preconfigured first time;
and when the speed of the target permanent magnet synchronous motor continuously rises in the first time, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
The first time can be configured in a self-defined manner according to actual requirements.
The above example is followed when the second value (ω fb *Δω fb )>And 0, determining the running state of the target permanent magnet synchronous motor as the first state, and assuming that the first time is T1, if the speed of the target permanent magnet synchronous motor continuously rises in T1, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
It will be appreciated that the speed will fly up rapidly when the vehicle stalls.
In the above embodiment, further judgment is performed from the dimension of whether the speed of the target permanent magnet synchronous motor continuously flies in a certain time, so that the accuracy of judgment is improved.
In this embodiment, when the third condition is not met, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
And when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, determining that the target permanent magnet synchronous motor has a galloping stall fault, and performing protection processing on the target permanent magnet synchronous motor by the protection unit 113.
When the first condition, the second condition, and the third condition are simultaneously reached, it is indicated that the vehicle has been characterized as having galloping stall.
Further, a second time which is preset is obtained;
when the duration of the current running state of the target permanent magnet synchronous motor is longer than the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition; or alternatively
And when the duration of the current running state of the target permanent magnet synchronous motor is smaller than or equal to the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor does not reach the fourth condition.
The second time may be configured in a customized manner, for example: the second time may be a galloping protection action time set according to field working condition experience.
For example: the second time may be denoted as T3, and the duration of the current operating state of the target permanent magnet synchronous motor may be denoted as T2, where T1 and T2 are clocked by different timers.
And when T2 is larger than T3, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition.
It can be understood that under normal speed control, when the speed command suddenly changes, the speed loop adopts PI control, through PI adjustment control, the running rotating speed of the target permanent magnet synchronous motor can possibly generate certain overshoot and then converge to the speed command, and when the overshoot occurs, the running characteristic of the motor is similar to the characteristic of the motor galloping stall, but the duration is shorter than that of the galloping stall. Therefore, the present embodiment further uses the configured galloping protection time as a judgment condition to avoid erroneous judgment.
By integrating all conditions, the occurrence of the galloping stall fault can be determined.
In this embodiment, when the fourth condition is not met, the method returns to continuously obtain the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time, so as to realize real-time monitoring and protection of the target permanent magnet synchronous motor.
In at least one embodiment of the present invention, the protection unit 113 performs a protection process on the target permanent magnet synchronous motor, including:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
a pulse width modulated (Pulse Width Modulation, PWM) output of a servo driver controlling the target permanent magnet synchronous motor is blocked.
Through the implementation mode, timely early warning can be carried out when the galloping stall occurs, and further damage to equipment is avoided by closing and controlling the enabling of the servo driver of the target permanent magnet synchronous motor and blocking pulse width modulation output.
Specifically, in this embodiment, when the permanent magnet synchronous motor is operated by closed-loop vector control with encoder feedback, the speed loop output (i.e. torque set of the torque loop) of the closed-loop control system is calculated in real time, the motor operation speed fed back by the motor encoder (i.e. the speed feedback) and the acceleration of the motor operation speed (i.e. the speed feedback change rate of the target permanent magnet synchronous motor) are calculated in real time, the speed change trend is reflected, and when the speed loop output reaches the torque limiter preset by the driver, the speed loop output is taken as the condition one;
meanwhile, the product of the output of the speed ring (namely, the moment given by the moment ring) and the speed feedback is calculated as the first numerical value, and whether the first numerical value is larger than zero or smaller than zero is judged to judge whether the target permanent magnet synchronous motor is operated in an electric state or a power generation state, because the operation state when the motor is in a galloping stall is similar to the power generation state, and when the motor is operated in the power generation state, the condition is two;
when the first condition and the second condition are met at the same time, further judging the positive and negative of the product (namely the second numerical value) of the acceleration (namely the speed feedback change rate) and the running speed (namely the speed feedback), and when the product of the acceleration and the running speed is larger than zero, indicating that the speed of the motor is accelerated and rises to be used as a third condition;
when the condition III is reached, starting a first timer to calculate the duration of the current running state of the target permanent magnet synchronous motor, and when the duration exceeds the preset safety duration T1 of the driver, taking the duration as the condition IV and determining that the running state of the motor at the moment is not caused by the overshoot of the PI control of the speed loop, but the motor possibly stalls. Because the running state of the motor is similar to the running state of the motor when the galloping stall is caused by the speed loop PI control, the misjudgment of the stall protection function of the motor is prevented by the judgment, and the stall protection accuracy is improved;
and when the condition IV is reached, the characteristic of galloping stall is provided, at the moment, the other timer is started to calculate the duration of the current running state of the target permanent magnet synchronous motor, and when the duration exceeds the stall protection action time T3 set by the driver parameters, the condition IV is taken as the condition V, and the galloping stall fault is judged.
And by increasing the judgment of the fifth condition, the stall protection action time is set according to the actual working condition experience, and the accuracy and timeliness of the galloping stall protection function are improved. When the target permanent magnet synchronous motor is determined to have the flying vehicle stall fault, the driver accurately and timely judges the flying vehicle stall through the characteristics of the dimensions when the permanent magnet synchronous motor flies and stalls, and further effective protection is executed.
According to the technical scheme, the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor can be obtained in real time in response to the protection instruction of the target permanent magnet synchronous motor, the product of the speed loop output and the speed feedback is calculated to obtain a first numerical value, when the speed loop output reaches a first condition and the first numerical value reaches a second condition, the speed feedback change rate of the target permanent magnet synchronous motor is calculated, the product of the speed feedback change rate and the speed feedback is calculated to obtain a second numerical value, when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second numerical value, a configuration timer is started to calculate the duration of the current running state of the target permanent magnet synchronous motor, when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, the occurrence of a flying stall fault of the target permanent magnet synchronous motor is determined, the protection processing is further carried out on the target permanent magnet synchronous motor, the characteristics of multiple dimensions in the flying stall of the permanent magnet synchronous motor are combined, the flying stall is further accurately judged, and further, the flying stall is effectively protected.
The data in this case were obtained legally.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be other manners of division when actually implemented.
In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. The units or means stated in the invention may also be implemented by one unit or means, either by software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. The galloping stall protection method for the closed-loop control of the permanent magnet synchronous motor is characterized by comprising the following steps of:
responding to a protection instruction of a target permanent magnet synchronous motor, and acquiring the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time;
calculating the product of the speed loop output and the speed feedback to obtain a first numerical value;
when the speed loop output reaches a first condition and the first value reaches a second condition, calculating the speed feedback change rate of the target permanent magnet synchronous motor;
calculating the product of the speed feedback change rate and the speed feedback to obtain a second value;
when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second value, starting a configuration timer to calculate the duration time of the current running state of the target permanent magnet synchronous motor;
and when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, determining that the target permanent magnet synchronous motor has a vehicle stall fault, and executing protection treatment on the target permanent magnet synchronous motor.
2. The method of claim 1, further comprising:
acquiring torque amplitude limitation of closed-loop control of the target permanent magnet synchronous motor;
determining that the speed loop output reaches the first condition when the speed loop output reaches the torque limiter; or alternatively
And when the speed loop output does not reach the moment amplitude limiting, determining that the speed loop output does not reach the first condition.
3. The method of claim 1, further comprising:
when the first numerical value is smaller than zero, determining that the given torque direction of the closed-loop control of the target permanent magnet synchronous motor is opposite to the speed feedback direction, and determining that the first numerical value reaches the second condition; or alternatively
And when the first value is greater than or equal to zero, determining that the given torque direction of the target permanent magnet synchronous motor closed-loop control is the same as the speed feedback direction, and determining that the first value does not reach the second condition.
4. The method for protecting a galloping stall of a closed-loop control of a permanent magnet synchronous motor according to claim 1, wherein the calculating the rate of change of the speed feedback of the target permanent magnet synchronous motor comprises:
and calculating the differential of the speed feedback relative to time to obtain the speed feedback change rate.
5. The method of claim 1, further comprising:
when the second value is greater than zero, determining that the running state of the target permanent magnet synchronous motor is a first state;
acquiring a preconfigured first time;
and when the speed of the target permanent magnet synchronous motor continuously rises in the first time, determining that the closed-loop control of the target permanent magnet synchronous motor reaches the third condition.
6. The method of claim 1, further comprising:
acquiring a second time which is preset;
when the duration of the current running state of the target permanent magnet synchronous motor is longer than the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor reaches the fourth condition; or alternatively
And when the duration of the current running state of the target permanent magnet synchronous motor is smaller than or equal to the second time, determining that the duration of the current running state of the target permanent magnet synchronous motor does not reach the fourth condition.
7. The method for protecting the galloping stall of the closed-loop control of the permanent magnet synchronous motor according to claim 1, wherein the performing the protection process on the target permanent magnet synchronous motor comprises:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
and blocking pulse width modulation output of a servo driver controlling the target permanent magnet synchronous motor.
8. The utility model provides a permanent magnet synchronous motor closed-loop control's galloping stall protection device which characterized in that, permanent magnet synchronous motor closed-loop control's galloping stall protection device includes:
the acquisition unit is used for responding to a protection instruction of the target permanent magnet synchronous motor and acquiring the speed loop output and the speed feedback of the closed-loop control of the target permanent magnet synchronous motor in real time;
the calculating unit is used for calculating the product of the speed loop output and the speed feedback to obtain a first numerical value;
the calculating unit is further used for calculating the speed feedback change rate of the target permanent magnet synchronous motor when the speed loop output reaches a first condition and the first numerical value reaches a second condition;
the calculating unit is further used for calculating the product of the speed feedback change rate and the speed feedback to obtain a second value;
the timing unit is used for starting a configuration timer to calculate the duration time of the current running state of the target permanent magnet synchronous motor when the closed-loop control of the target permanent magnet synchronous motor reaches a third condition according to the second numerical value;
and the protection unit is used for determining that the target permanent magnet synchronous motor has a vehicle stall fault when the duration of the current running state of the target permanent magnet synchronous motor reaches a fourth condition, and executing protection treatment on the target permanent magnet synchronous motor.
9. The galloping stall protection device of claim 8, wherein the computing unit to calculate a rate of change of speed feedback of the target permanent magnet synchronous motor comprises:
and calculating the differential of the speed feedback relative to time to obtain the speed feedback change rate.
10. The galloping stall protection device of closed-loop control of a permanent magnet synchronous motor according to claim 8, wherein the protection unit is specifically configured to:
sending out a galloping stall alarm;
executing a shutdown enabling process on a servo driver controlling the target permanent magnet synchronous motor;
and blocking pulse width modulation output of a servo driver controlling the target permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370094.6A CN116938059A (en) | 2022-04-08 | 2022-04-08 | Galloping stall protection method and device for closed-loop control of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370094.6A CN116938059A (en) | 2022-04-08 | 2022-04-08 | Galloping stall protection method and device for closed-loop control of permanent magnet synchronous motor |
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| CN116938059A true CN116938059A (en) | 2023-10-24 |
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|---|---|---|---|
| CN202210370094.6A Pending CN116938059A (en) | 2022-04-08 | 2022-04-08 | Galloping stall protection method and device for closed-loop control of permanent magnet synchronous motor |
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| Country | Link |
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| CN (1) | CN116938059A (en) |
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2022
- 2022-04-08 CN CN202210370094.6A patent/CN116938059A/en active Pending
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