CN117040359A - Motor locked rotor protection control method and device, motor controller and storage medium - Google Patents

Motor locked rotor protection control method and device, motor controller and storage medium Download PDF

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Publication number
CN117040359A
CN117040359A CN202310992665.4A CN202310992665A CN117040359A CN 117040359 A CN117040359 A CN 117040359A CN 202310992665 A CN202310992665 A CN 202310992665A CN 117040359 A CN117040359 A CN 117040359A
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China
Prior art keywords
current
motor
preset
voltage
locked
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Pending
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CN202310992665.4A
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Chinese (zh)
Inventor
周刘远
敖文彬
全威
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202310992665.4A priority Critical patent/CN117040359A/en
Publication of CN117040359A publication Critical patent/CN117040359A/en
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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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • 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
    • H02H7/0833—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 for electric motors with control arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a motor locked rotor protection control method, a motor locked rotor protection control device, a motor controller and a storage medium, wherein the method comprises the following steps: detecting the current speed regulating signal voltage of the motor in real time, and comparing the current speed regulating signal voltage with a preset current limiting voltage; when the current speed regulation signal voltage is lower than a preset current limiting voltage, acquiring a current flux linkage value of the motor; comparing the current flux linkage value with a preset real flux linkage value, and judging whether to trigger locked-rotor protection according to a comparison result; when the current speed regulating signal voltage is higher than or equal to a preset current limiting voltage, a current voltage synthesis vector of the motor is obtained; and comparing the current voltage synthesis vector with a preset voltage synthesis vector, and judging whether to trigger the locked-rotor protection according to a comparison result. According to the invention, the current speed regulation signal voltage and the preset current limiting voltage are compared to judge the locked-rotor state of the motor from different dimensions, so that the reliability of locked-rotor protection is improved, and the product quality and applicability of the motor are improved.

Description

Motor locked rotor protection control method and device, motor controller and storage medium
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor locked rotor protection control method, a motor locked rotor protection control device, a motor controller and a storage medium.
Background
At present, in the application of non-inductive vector control of a direct current brushless motor, the locked rotor protection is an important research object. The main function of the locked rotor protection is that whether the motor is locked or not can be effectively identified in the running process of the motor, and the locked rotor protection can be triggered to stop the running of the motor after the motor is identified to be locked, so that the motor is protected.
The traditional locked rotor protection mode mainly comprises the following steps:
1. the speed calculated by the estimator exceeds the maximum stall speed or the counter electromotive force is smaller than a specific value and exceeds a certain time, and the stall is judged to occur;
2. judging whether the locked rotor occurs or not according to the motor rotating speed estimated by the estimator;
3. judging whether the phase current is locked or not according to the magnitude of the phase current.
However, in practical application, the above locked rotor protection method is either poor in robustness or unable to effectively identify the back electromotive force and current under low-speed conditions, i.e. poor in reliability. Therefore, how to improve the reliability of the locked rotor protection is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides a motor locked rotor protection control method, a motor locked rotor protection control device, a motor controller and a storage medium, aiming at improving the reliability of locked rotor protection.
In a first aspect, an embodiment of the present invention provides a method for controlling locked rotor protection of a motor, including:
detecting the current speed regulating signal voltage of the motor in real time, and comparing the current speed regulating signal voltage with a preset current limiting voltage;
when the current speed regulation signal voltage is lower than a preset current limiting voltage, acquiring a current flux linkage value of the motor;
comparing the current flux linkage value with a preset real flux linkage value, and judging whether to trigger locked-rotor protection according to a comparison result;
when the current speed regulating signal voltage is higher than or equal to a preset current limiting voltage, a current voltage synthesis vector of the motor is obtained;
and comparing the current voltage synthesis vector with a preset voltage synthesis vector, and judging whether to trigger the locked-rotor protection according to a comparison result.
In a second aspect, an embodiment of the present invention provides a motor stall protection control apparatus, including:
the voltage detection unit is used for detecting the current speed regulation signal voltage of the motor in real time and comparing the current speed regulation signal voltage with a preset current limiting voltage;
the current flux linkage acquisition unit is used for acquiring the current flux linkage value of the motor when the current speed regulation signal voltage is lower than a preset current limiting voltage;
the first trigger judging unit is used for comparing the current flux linkage value with a preset real flux linkage value and judging whether to trigger locked-rotor protection according to a comparison result;
the current vector acquisition unit is used for acquiring a current voltage synthesis vector of the motor when the current speed regulation signal voltage is higher than or equal to a preset current limiting voltage;
and the second trigger judging unit is used for comparing the current voltage synthesis vector with a preset voltage synthesis vector and judging whether to trigger locked-rotor protection according to a comparison result.
In a third aspect, an embodiment of the present invention provides a motor controller, where the motor controller includes a memory and a processor, where the memory stores a computer program, and the processor implements the motor locked rotor protection control method according to the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, can implement the motor stall protection control method according to the first aspect.
The embodiment of the invention provides a motor locked rotor protection control method, a motor locked rotor protection control device, a motor controller and a storage medium, wherein the method comprises the following steps: detecting the current speed regulating signal voltage of the motor in real time, and comparing the current speed regulating signal voltage with a preset current limiting voltage; when the current speed regulation signal voltage is lower than a preset current limiting voltage, acquiring a current flux linkage value of the motor; comparing the current flux linkage value with a preset real flux linkage value, and judging whether to trigger locked-rotor protection according to a comparison result; when the current speed regulating signal voltage is higher than or equal to a preset current limiting voltage, a current voltage synthesis vector of the motor is obtained; and comparing the current voltage synthesis vector with a preset voltage synthesis vector, and judging whether to trigger the locked-rotor protection according to a comparison result. The embodiment of the invention firstly confirms whether the current flux linkage value or the current voltage synthesis vector of the motor is obtained by comparing the current speed regulation signal voltage with the preset current limit voltage, and then judges whether the locked rotor protection is triggered according to the comparison result of the current flux linkage value and the preset real flux linkage value or the comparison result of the current voltage synthesis vector and the preset voltage synthesis vector, so that the locked rotor state of the motor can be judged from different dimensions, the reliability of the locked rotor protection is improved, the product quality and the applicability of the motor are improved, and compared with the prior art, the embodiment is simple in configuration, the response time is accelerated, and the universality is enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor locked rotor protection control method according to an embodiment of the present invention;
fig. 2 is a schematic sub-flowchart of step S103 in a motor locked rotor protection control method according to an embodiment of the present invention;
fig. 3 is a schematic sub-flowchart of step S105 in a motor locked rotor protection control method according to an embodiment of the present invention;
fig. 4 is another flow chart of a motor locked rotor protection control method according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a motor locked rotor protection control device according to an embodiment of the present invention;
fig. 6 is a sub-schematic block diagram of a first trigger judgment unit in a motor locked rotor protection control device according to an embodiment of the present invention;
fig. 7 is a sub-schematic block diagram of a second trigger judgment unit in a motor locked rotor protection control device according to an embodiment of the present invention;
FIG. 8 is another schematic block diagram of a motor locked rotor protection control device according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a motor controller according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Referring to fig. 1, fig. 1 is a flow chart of a motor locked rotor protection control method according to an embodiment of the present invention, which specifically includes: steps S101 to S105.
S101, detecting the current speed regulation signal voltage of a motor in real time, and comparing the current speed regulation signal voltage with a preset current limiting voltage;
s102, when the current speed regulation signal voltage is lower than a preset current limiting voltage, acquiring a current flux linkage value of a motor;
s103, comparing the current flux linkage value with a preset real flux linkage value, and judging whether to trigger locked-rotor protection according to a comparison result;
s104, when the voltage of the current speed regulating signal is higher than or equal to a preset current limiting voltage, acquiring a current voltage synthesis vector of the motor;
s105, comparing the current voltage synthesis vector with a preset voltage synthesis vector, and judging whether to trigger locked-rotor protection according to a comparison result.
In this embodiment, the current speed regulation signal voltage of the motor is detected first, then compared with the preset current limiting voltage, and the current flux linkage value or the current voltage synthesis vector of the motor is obtained according to the comparison result. When the current flux linkage value is obtained, the current flux linkage value is compared with a preset real flux linkage value, so that the locked-rotor state of the motor is obtained, and whether the locked-rotor protection is triggered or not is confirmed. When the current voltage synthesis vector is obtained, the current voltage synthesis vector is compared with a preset voltage synthesis vector, so that the locked-rotor state of the motor can be obtained, and whether the locked-rotor protection is triggered or not is confirmed.
The embodiment firstly confirms whether the current flux linkage value or the current voltage synthesis vector of the motor is obtained by comparing the current speed regulation signal voltage with the preset current limit voltage, and then judges whether to trigger the locked-rotor protection according to the comparison result of the current flux linkage value and the preset real flux linkage value or the comparison result of the current voltage synthesis vector and the preset voltage synthesis vector, so that the locked-rotor state of the motor can be judged from different dimensions, the reliability of the locked-rotor protection is improved, and the product quality and the applicability of the motor are improved. Compared with the prior art, the method has the advantages of simple configuration, quick response time and enhanced universality, and solves the problems of poor universal performance and low reliability of the brushless direct current motor in a noninductive vector control locked-rotor protection algorithm.
In one embodiment, the step S102 includes:
collecting a current voltage value and a current value of a motor, and obtaining a resistance value of the motor;
calculating the current flux linkage value in combination with the current voltage value and the current value according to the following formula:
Ψ＝∫(V-R s I)dt；
wherein V represents the current voltage value, I represents the current value, R s Representing the resistance value of the motor.
In this embodiment, when the current flux linkage value of the motor is obtained, the current voltage value and the current value of the motor are collected first, and then the current flux linkage value can be calculated according to the flux linkage calculation formula by combining the resistance value of the motor. The flux linkage value refers to the magnetic flux of the conductive coil or the link to which the current loop is connected.
In an embodiment, the motor locked rotor protection control method further includes:
detecting the lowest speed regulating signal voltage when the motor triggers current limiting in a locked-rotor state;
and setting the lowest speed regulating signal voltage as the preset current limiting voltage.
The embodiment adopts the lowest speed regulating signal voltage when the motor triggers current limiting in the locked-rotor state as the preset current limiting voltage. That is, the calculated current flux linkage value is compared with the lowest speed regulation signal voltage when the motor triggers current limiting in the locked-rotor state, so that whether the locked-rotor protection needs to be triggered is judged.
In one embodiment, as shown in fig. 2, the step S103 includes: steps S201 to S204.
S201, calculating a current deviation value between the current flux linkage value and a preset real flux linkage value, and judging whether the current deviation value exceeds the preset deviation value;
s202, if the current deviation value is judged to exceed a preset deviation value, acquiring a first duration exceeding the preset deviation value, and judging whether the first duration reaches a preset first time threshold;
s203, when the first duration reaches a preset first time threshold, determining that the motor is in a locked-rotor state currently, and triggering locked-rotor protection;
and S204, if the current deviation value is judged not to exceed the preset deviation value, or the first duration time does not reach the preset first time threshold value when the current deviation value is judged to exceed the preset deviation value, the running state of the motor is maintained.
In this embodiment, when determining whether to trigger locked-rotor protection according to a comparison result of a current flux linkage value and a preset real flux linkage value, a current deviation value between the current flux linkage value and the preset real flux linkage value is firstly obtained, that is, an absolute value of a difference value between the current flux linkage value and the preset real flux linkage value, if the current deviation value exceeds the preset deviation value, it is necessary to further determine whether a duration exceeding the preset deviation value reaches a preset first time threshold. If the current deviation value does not exceed the preset deviation value, the time does not need to be compared further, and the motor can be directly confirmed that the motor is not in the locked-rotor state currently, so that the locked-rotor protection does not need to be triggered. When judging whether the first duration reaches the preset first time threshold, if so, the motor can be confirmed to be in a locked-rotor state currently, so that locked-rotor protection is triggeredIf the motor is not in the locked state, the motor can be confirmed to be in the locked state currently, so that the locked protection is not required to be triggered. For example, when the deviation time is not confirmed to reach the preset first time threshold, the preset deviation value is set to be Delta Flx, and the preset first time threshold is set to be T Flx At T Flx In, if the current deviation value is smaller than delta Flx, the time reaches T Flx_rest Then no stall protection is triggered.
In one embodiment, as shown in fig. 3, the step S105 includes: steps S301 to S303.
S301, when the current voltage synthesis vector is smaller than a preset voltage synthesis vector, acquiring a second duration time smaller than the preset voltage synthesis vector, and comparing the second duration time with a preset second time threshold value;
s302, if the second duration reaches a preset second time threshold, judging that the motor is in a locked-rotor state currently, and triggering locked-rotor protection;
and S303, when the current voltage synthesis vector is larger than or equal to a preset voltage synthesis vector, or when the current voltage synthesis vector is smaller than the preset voltage synthesis vector, the second duration does not reach a preset second time threshold, and the running state of the motor is maintained.
In this embodiment, when confirming whether or not to trigger the locked-rotor protection based on the comparison result of the current voltage combining vector and the preset voltage combining vector, if the current voltage combining vector is smaller than the preset voltage combining vector, if the duration of less than the preset voltage combining vector is greater than or equal to the preset voltage combining vector, the motor can be directly determined not to be in the locked-rotor state currently, so that the locked-rotor protection is not required to be triggered. When comparing the second duration time with a preset second time threshold value, if the second duration time is confirmed to reach the preset second time threshold value, the motor can be considered to be in a locked-rotor state currently so as to trigger the locked-rotor protection, and if the second duration time is not confirmed to reach the preset second time threshold value, the motor can be considered to be not in the locked-rotor state currently so as to avoid triggering the locked-rotor protection.
In an embodiment, the motor locked rotor protection control method further includes:
collecting a locked rotor voltage synthesis vector of the motor in a locked rotor state;
the preset voltage synthesis vector is calculated according to the locked rotor voltage synthesis vector according to the following steps:
U lock1 ＝U lock +a；
wherein U is lock1 Representing a composite vector of preset voltages, U lock The locked-rotor voltage synthesis vector is represented, and a represents a set coefficient value.
In this embodiment, the voltage synthesis vector U when the motor is locked is obtained lock The sum of the sum and the set coefficient a is set as the preset voltage combining vector, thereby being compared with the current voltage combining vector. The coefficient a may be 50 or 100, or other values.
It will be appreciated that either the preset voltage combining vector U is here lock1 The preset deviation value delta Flx can be adjusted according to the actual application occasion, so that the control effect of locked rotor protection is further improved.
In an embodiment, as shown in fig. 4, the motor locked rotor protection control method further includes: steps S401 to S403.
S401, detecting third duration time of the locked rotor protection after the locked rotor protection is triggered, and judging whether the third duration time reaches a preset third time threshold value or not;
s402, if the third duration reaches a preset third time threshold, detecting whether the motor meets a triggering condition of locked rotor protection;
and S403, when the motor is detected to not meet the triggering condition of locked-rotor protection, controlling the motor to restart operation.
In this embodiment, after the locked-rotor protection is triggered, it is determined whether the duration of the locked-rotor protection reaches a preset third time threshold. If the duration of the locked rotor protection reaches the preset third time threshold, the motor can be restarted in an attempt to recover the motor, and whether the motor can be restarted is determined to be whether the motor can trigger the locked rotor protection at the moment, if the motor can not trigger the locked rotor protection, the motor can be restarted, if the motor can not trigger the locked rotor protection, the locked rotor protection can be continuously executed if the motor is detected to still trigger the locked rotor protection, and whether the motor meets the triggering condition of the locked rotor protection is continuously judged after the next time period (namely the preset third time threshold). It can be understood that the triggering condition in this embodiment means that if the current speed-adjusting signal voltage is lower than the preset current-limiting voltage, whether to trigger the locked-rotor protection is judged according to the current flux linkage value, and if the current speed-adjusting signal voltage is not lower than the preset current-limiting voltage, whether to trigger the locked-rotor protection is judged according to the current voltage synthesis vector. It should be noted that, in the embodiment, the preset third time threshold is not directly related to the preset first time threshold and the preset second time threshold, and the three may be the same or different, or the two may be the same.
Fig. 5 is a schematic block diagram of a motor locked rotor protection control device 500 according to an embodiment of the present invention, where the device 500 includes:
the voltage detection unit 501 is configured to detect a current speed regulation signal voltage of the motor in real time, and compare the current speed regulation signal voltage with a preset current limiting voltage;
the current flux linkage obtaining unit 502 is configured to obtain a current flux linkage value of the motor when the current speed regulation signal voltage is lower than a preset current limiting voltage;
a first trigger determining unit 503, configured to compare the current flux linkage value with a preset real flux linkage value, and determine whether to trigger locked-rotor protection according to a comparison result;
a current vector obtaining unit 504, configured to obtain a current voltage synthesis vector of the motor when the current speed regulation signal voltage is higher than or equal to a preset current limit voltage;
and the second trigger determining unit 505 is configured to compare the current voltage synthesis vector with a preset voltage synthesis vector, and determine whether to trigger locked-rotor protection according to a comparison result.
In this embodiment, the current speed regulation signal voltage of the motor is detected first, then compared with the preset current limiting voltage, and the current flux linkage value or the current voltage synthesis vector of the motor is obtained according to the comparison result. When the current flux linkage value is obtained, the current flux linkage value is compared with a preset real flux linkage value, so that the locked-rotor state of the motor is obtained, and whether the locked-rotor protection is triggered or not is confirmed. When the current voltage synthesis vector is obtained, the current voltage synthesis vector is compared with a preset voltage synthesis vector, so that the locked-rotor state of the motor can be obtained, and whether the locked-rotor protection is triggered or not is confirmed.
The embodiment firstly confirms whether the current flux linkage value or the current voltage synthesis vector of the motor is obtained by comparing the current speed regulation signal voltage with the preset current limit voltage, and then judges whether to trigger the locked-rotor protection according to the comparison result of the current flux linkage value and the preset real flux linkage value or the comparison result of the current voltage synthesis vector and the preset voltage synthesis vector, so that the locked-rotor state of the motor can be judged from different dimensions, the reliability of the locked-rotor protection is improved, and the product quality and the applicability of the motor are improved. Compared with the prior art, the method has the advantages of simple configuration, quick response time and enhanced universality, and solves the problems of poor universal performance and low reliability of the brushless direct current motor in a noninductive vector control locked-rotor protection algorithm.
In an embodiment, the current flux linkage acquisition unit 502 includes:
the data acquisition unit is used for acquiring the current voltage value and the current value of the motor and acquiring the resistance value of the motor;
the flux linkage value calculation unit is used for calculating the current flux linkage value by combining the current voltage value and the current value according to the following formula:
Ψ＝∫(V-R s I)dt；
wherein V represents the current voltage value, I represents the current value, R s Representing the resistance value of the motor.
In one embodiment, as shown in fig. 6, the first trigger determining unit 503 includes:
a deviation value calculating unit 601, configured to calculate a current deviation value between the current flux linkage value and a preset real flux linkage value, and determine whether the current deviation value exceeds a preset deviation value;
a first time obtaining unit 602, configured to obtain a first duration exceeding a preset deviation value if it is determined that the current deviation value exceeds the preset deviation value, and determine whether the first duration reaches a preset first time threshold;
the first triggering unit 603 is configured to determine that the motor is currently in a locked-rotor state and trigger locked-rotor protection when it is determined that the first duration reaches a preset first time threshold;
the first maintaining unit 604 is configured to maintain the operation state of the motor if it is determined that the current deviation value does not exceed the preset deviation value, or when it is determined that the current deviation value exceeds the preset deviation value, the first duration does not reach the preset first time threshold.
In one embodiment, as shown in fig. 7, the second trigger determining unit 505 includes:
a second time obtaining unit 701, configured to obtain a second duration smaller than a preset voltage synthesis vector when the current voltage synthesis vector is smaller than the preset voltage synthesis vector, and compare the second duration with a preset second time threshold;
the second triggering unit 702 is configured to determine that the motor is currently in a locked-rotor state and trigger locked-rotor protection if the second duration reaches a preset second time threshold;
and a second maintaining unit 703, configured to maintain the operation state of the motor when the current voltage combining vector is greater than or equal to a preset voltage combining vector, or when the current voltage combining vector is less than the preset voltage combining vector, and the second duration does not reach the preset second time threshold.
In an embodiment, the motor stall protection control apparatus 500 further includes:
the lowest detection unit is used for detecting the lowest speed regulating signal voltage when the motor triggers current limiting in a locked-rotor state;
and the voltage setting unit is used for setting the lowest speed regulating signal voltage to be the preset current limiting voltage.
In an embodiment, the motor stall protection control apparatus 500 further includes:
the vector acquisition unit is used for acquiring a locked rotor voltage synthesis vector of the motor in a locked rotor state;
the vector calculation unit is used for calculating the preset voltage synthesis vector according to the locked rotor voltage synthesis vector according to the following formula:
U lock1 ＝U lock +a；
wherein U is lock1 Representing a composite vector of preset voltages, U lock The locked-rotor voltage synthesis vector is represented, and a represents a set coefficient value.
In one embodiment, as shown in fig. 8, the motor stall protection control apparatus 500 further includes:
a third time obtaining unit 801, configured to detect a third duration of the locked-rotor protection after triggering the locked-rotor protection, and determine whether the third duration reaches a preset third time threshold;
a condition judging unit 802, configured to detect whether the motor meets a triggering condition of locked-rotor protection if it is determined that the third duration reaches a preset third time threshold;
and a restarting operation unit 803, configured to control the motor to restart operation when detecting that the motor does not meet the triggering condition of locked rotor protection.
The motor stall protection control may be implemented in the form of a computer program that is executable on a motor controller as shown in fig. 9. Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
Referring to fig. 9, fig. 9 is a schematic block diagram of a motor controller according to an embodiment of the present invention, where the motor controller 900 includes a processor 902, a memory, and a network interface 905 connected through a system bus 901, and the memory may include a nonvolatile storage medium 903 and an internal memory 904.
The non-volatile storage medium 903 may store an operating system 9031 and a computer program 9032. The computer program 9032, when executed, causes the processor 902 to perform a motor stall protection control method.
The processor 902 is operable to provide computing and control capabilities to support the operation of the overall motor controller 900.
The internal memory 904 provides an environment for the execution of a computer program 9032 in the non-volatile storage medium 903, which computer program 9032, when executed by the processor 902, causes the processor 902 to perform a motor stall protection control method.
The network interface 905 is used for network communication with other devices. It will be appreciated by those skilled in the art that the structure shown in fig. 9 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the motor controller 900 to which the present inventive arrangements are applied, and that a particular motor controller 900 may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The processor 902 is configured to execute a computer program 9032 stored in a memory, so as to implement any embodiment of the motor locked rotor protection control method.
It should be appreciated that in an embodiment of the invention, the processor 902 may be a central processing unit (Central Processing Unit, CPU), the processor 902 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Those of ordinary skill in the art will appreciate that all or part of the flow in a method to implement the described embodiments may be accomplished by computer programs to instruct related hardware. The computer program may be stored in a storage medium that is a computer readable storage medium. The computer program is executed by at least one processor in the computer system to implement the flow steps of an embodiment of the method.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer readable storage medium. The storage medium stores a computer program. The computer program, when executed by the processor, causes the processor to perform any embodiment of the motor stall protection control method.
The storage medium may be a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, or other various computer-readable storage media that can store program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs. In addition, each functional unit 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 unit may be stored in a storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention is essentially or partly contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium comprising several instructions for causing a motor controller to perform all or part of the steps of the method according to the embodiments of the present invention.
In the embodiments, the descriptions of the embodiments are focused on, and for the part of one embodiment that is not described in detail, reference may be made to the related descriptions of other embodiments.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (10)

1. The motor locked rotor protection control method is characterized by comprising the following steps of:
detecting the current speed regulating signal voltage of the motor in real time, and comparing the current speed regulating signal voltage with a preset current limiting voltage;
when the current speed regulation signal voltage is lower than a preset current limiting voltage, acquiring a current flux linkage value of the motor;
comparing the current flux linkage value with a preset real flux linkage value, and judging whether to trigger locked-rotor protection according to a comparison result;
when the current speed regulating signal voltage is higher than or equal to a preset current limiting voltage, a current voltage synthesis vector of the motor is obtained;
and comparing the current voltage synthesis vector with a preset voltage synthesis vector, and judging whether to trigger the locked-rotor protection according to a comparison result.
2. The motor stall protection control method of claim 1, wherein when the current speed regulation signal voltage is lower than a preset current limit voltage, obtaining a current flux linkage value of the motor comprises:
collecting a current voltage value and a current value of a motor, and obtaining a resistance value of the motor;
calculating the current flux linkage value in combination with the current voltage value and the current value according to the following formula:
Ψ＝∫(V-R s I)dt；
wherein V represents the current voltage value, I represents the current value, R s Representing the resistance value of the motor.
3. The motor stall protection control method of claim 1, wherein comparing the current flux linkage value with a preset true flux linkage value and determining whether to trigger stall protection according to the comparison result comprises:
calculating a current deviation value between the current flux linkage value and a preset real flux linkage value, and judging whether the current deviation value exceeds a preset deviation value or not;
if the current deviation value is judged to exceed the preset deviation value, acquiring a first duration exceeding the preset deviation value, and judging whether the first duration reaches a preset first time threshold;
when the first duration time is judged to reach a preset first time threshold value, the motor is judged to be in a locked-rotor state currently, and locked-rotor protection is triggered;
and if the current deviation value is judged not to exceed the preset deviation value or the first duration time does not reach the preset first time threshold value when the current deviation value is judged to exceed the preset deviation value, maintaining the running state of the motor.
4. The motor stall protection control method of claim 1, wherein comparing the current voltage combination vector with a preset voltage combination vector and determining whether to trigger stall protection based on the comparison result comprises:
when the current voltage synthesis vector is smaller than a preset voltage synthesis vector, acquiring a second duration time smaller than the preset voltage synthesis vector, and comparing the second duration time with a preset second time threshold value;
if the second duration reaches a preset second time threshold, judging that the motor is in a locked-rotor state currently, and triggering locked-rotor protection;
and when the current voltage synthesis vector is larger than or equal to a preset voltage synthesis vector, or when the current voltage synthesis vector is smaller than the preset voltage synthesis vector, the second duration does not reach a preset second time threshold, and the running state of the motor is maintained.
5. The motor stall protection control method of claim 1, further comprising:
detecting the lowest speed regulating signal voltage when the motor triggers current limiting in a locked-rotor state;
and setting the lowest speed regulating signal voltage as the preset current limiting voltage.
6. The motor stall protection control method of claim 1, further comprising:
collecting a locked rotor voltage synthesis vector of the motor in a locked rotor state;
the preset voltage synthesis vector is calculated according to the locked rotor voltage synthesis vector according to the following steps:
U lock1 ＝U lock +a；
wherein U is lock1 Representing a composite vector of preset voltages, U lock The locked-rotor voltage synthesis vector is represented, and a represents a set coefficient value.
7. The motor stall protection control method of claim 1, further comprising:
after triggering the locked rotor protection, detecting a third duration time of the locked rotor protection, and judging whether the third duration time reaches a preset third time threshold value;
if the third duration time is judged to reach a preset third time threshold value, detecting whether the motor meets the triggering condition of locked rotor protection or not;
and when the motor is detected to not meet the triggering condition of locked-rotor protection, controlling the motor to restart operation.
8. A motor stall protection control apparatus, comprising:
the voltage detection unit is used for detecting the current speed regulation signal voltage of the motor in real time and comparing the current speed regulation signal voltage with a preset current limiting voltage;
the current flux linkage acquisition unit is used for acquiring the current flux linkage value of the motor when the current speed regulation signal voltage is lower than a preset current limiting voltage;
the first trigger judging unit is used for comparing the current flux linkage value with a preset real flux linkage value and judging whether to trigger locked-rotor protection according to a comparison result;
the current vector acquisition unit is used for acquiring a current voltage synthesis vector of the motor when the current speed regulation signal voltage is higher than or equal to a preset current limiting voltage;
and the second trigger judging unit is used for comparing the current voltage synthesis vector with a preset voltage synthesis vector and judging whether to trigger locked-rotor protection according to a comparison result.
9. A motor controller, characterized in that the motor controller comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the motor locked rotor protection control method according to any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the motor stall protection control method of any of claims 1-7.
CN202310992665.4A 2023-08-08 2023-08-08 Motor locked rotor protection control method and device, motor controller and storage medium Pending CN117040359A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310992665.4A CN117040359A (en) 2023-08-08 2023-08-08 Motor locked rotor protection control method and device, motor controller and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310992665.4A CN117040359A (en) 2023-08-08 2023-08-08 Motor locked rotor protection control method and device, motor controller and storage medium

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Publication Number Publication Date
CN117040359A true CN117040359A (en) 2023-11-10

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