CN111162709A - Motor drive control method, device and system and household appliance - Google Patents
Motor drive control method, device and system and household appliance Download PDFInfo
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- CN111162709A CN111162709A CN202010057279.2A CN202010057279A CN111162709A CN 111162709 A CN111162709 A CN 111162709A CN 202010057279 A CN202010057279 A CN 202010057279A CN 111162709 A CN111162709 A CN 111162709A
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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
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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
- 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
- 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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Abstract
The application relates to a motor drive control method, a device, a system and household electrical appliances, wherein a preset resistance threshold range related to the temperature of a motor winding is prestored in a drive controller, when the motor runs to a target rotating speed, the drive controller can obtain a first phase current value and a second phase current value of the motor in real time, and carries out analysis and calculation according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value corresponding to the motor. And finally, controlling the motor to operate in a corresponding mode when the winding resistance value of the motor is in different resistance threshold value ranges. According to the scheme, the driving control of the motor is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor is associated with the temperature of the winding of the motor, the motor control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller is improved on the premise of not increasing the cost.
Description
Technical Field
The present application relates to the field of motor technologies, and in particular, to a motor drive control method, device, system, and home appliance.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation. The permanent magnet is used as a rotor to generate a rotating magnetic field, the three-phase stator winding reacts through an armature under the action of the rotating magnetic field to induce three-phase symmetrical current, and at the moment, the kinetic energy of the rotor is converted into electric energy. When three-phase symmetrical current is introduced to the stator side, the three-phase stator current generates a rotating magnetic field in the space due to the fact that the three-phase stator has a phase difference of 120 degrees in the space position, the rotor rotates under the action of electromagnetic force in the rotating magnetic field, and at the moment, electric energy is converted into kinetic energy. The permanent magnet synchronous motor is applied to household appliances such as an air conditioner and the like due to the advantages of less loss, high efficiency, obvious electricity-saving effect and the like.
However, in the permanent magnet synchronous motor system, the external drive controller and the permanent magnet synchronous motor are mutually independent, and the external drive controller cannot perform motor drive control according to real-time states such as winding temperature of the permanent magnet synchronous motor, so that the operation of the permanent magnet synchronous motor is not matched with the current state of the permanent magnet synchronous motor. Therefore, the conventional permanent magnet synchronous motor has a disadvantage of poor reliability of driving control.
Disclosure of Invention
Accordingly, it is necessary to provide a motor driving control method, device, system and home appliance for solving the problem of poor reliability of the conventional permanent magnet synchronous motor driving control.
A motor drive control method comprising: when the motor runs to a target rotating speed, acquiring a first phase current value and a second phase current value of the motor in real time by taking a preset time length as a period; analyzing according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value of the motor; and comparing and analyzing the winding resistance value and a preset resistance threshold range, controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges, and analyzing the preset resistance threshold range according to the winding temperature and the resistance curve of the motor to obtain the preset resistance threshold range.
In one embodiment, the step of obtaining a winding resistance value of the motor by analyzing according to the first phase current value, the second phase current value and a preset reference current value includes: when a first phase current value and a second phase current value are obtained once, analyzing according to the obtained first phase current value, the obtained second phase current value and a preset reference current value to obtain an initial winding resistance value of the motor, and counting the number of the initial winding resistance values in real time; and when the number of the initial winding resistance values reaches a preset number, performing mean value analysis according to the initial winding resistance values to obtain the winding resistance value of the motor.
In one embodiment, after the steps of analyzing the obtained first phase current value, the second phase current value and a preset reference current value to obtain an initial winding resistance value of the motor and counting the number of the initial winding resistance values in real time each time the first phase current value and the second phase current value are obtained once, the method further includes: and when the number of the initial winding resistance values does not reach the preset number, returning to the step of acquiring the first phase current value and the second phase current value of the motor in real time by taking the preset time length as a period.
In one embodiment, the step of analyzing the obtained first phase current value, the second phase current value and a preset reference current value to obtain an initial winding resistance value of the motor includes: performing Clark transformation and park transformation according to the obtained first phase current value and the second phase current value to obtain a direct-axis current value and a quadrature-axis current value in a corresponding motor reference coordinate system; carrying out proportional integral analysis according to the direct axis current value, the quadrature axis current value and a preset reference current value to obtain a direct axis voltage value and a quadrature axis voltage value in a motor reference coordinate system; and analyzing and calculating according to the direct axis voltage value, the quadrature axis voltage value, the direct axis current value and the quadrature axis current value to obtain an initial winding resistance value of the motor.
In one embodiment, the step of obtaining the first phase current value and the second phase current value of the motor in real time with a preset time period as a cycle includes: acquiring a first voltage of a first sampling resistor connected in series with a first phase winding of the motor and a second voltage of a second sampling resistor connected in series with a second phase winding of the motor in real time by taking a preset time length as a period; and obtaining a first phase current value of the motor according to the first voltage and the resistance value of the first sampling resistor, and obtaining a second phase current value of the motor according to the second voltage and the resistance value of the second sampling resistor.
In one embodiment, the step of performing comparative analysis according to the winding resistance value and a preset resistance threshold range, and controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges includes: performing comparative analysis according to the winding resistance value and a preset resistance threshold range, and controlling the frequency-limited operation of the motor when the winding resistance value is greater than or equal to a preset frequency-limiting resistance threshold and is less than a preset frequency-reducing resistance threshold; when the winding resistance value is greater than or equal to the preset frequency reduction resistance threshold value and less than the preset shutdown resistance threshold value, controlling the motor to operate in a frequency reduction mode; and when the resistance value of the winding is greater than or equal to the shutdown resistance threshold value, controlling the motor to shutdown and outputting fault information.
In one embodiment, before the step of obtaining the first phase current value and the second phase current value of the motor in real time with a preset time period as a period when the motor operates to the target rotation speed, the method further includes: acquiring a winding temperature and resistance curve of a motor, and obtaining a frequency limiting resistance threshold, a frequency reducing resistance threshold and a stopping resistance threshold according to the winding temperature and the resistance curve; and obtaining and storing a corresponding resistance threshold range according to the frequency limiting resistance threshold, the frequency reducing resistance threshold and the shutdown resistance threshold.
A motor drive control device comprising: the current acquisition module is used for acquiring a first phase current value and a second phase current value of the motor in real time by taking a preset time length as a period when the motor runs to a target rotating speed; the winding resistance calculation module is used for analyzing according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value of the motor; and the motor control module is used for carrying out contrastive analysis according to the winding resistance value and a preset resistance threshold range, controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges, and analyzing the preset resistance threshold range according to the winding temperature and the resistance curve of the motor to obtain the preset resistance threshold range.
A motor drive control system comprising: the intelligent power inverter comprises a drive controller, an intelligent power inverter and a motor, wherein the drive controller is connected with the intelligent power inverter and the motor, the intelligent power inverter is connected with the motor, and the drive controller is used for driving and controlling the motor according to the method.
A household appliance comprises the motor drive control system.
According to the motor drive control method, the motor drive control device, the motor drive control system and the household appliance, the preset resistance threshold range related to the temperature of the motor winding is prestored in the drive controller, when the motor runs to the target rotating speed, the drive controller can obtain the first phase current value and the second phase current value of the motor in real time, and carries out analysis and calculation according to the first phase current value, the second phase current value and the preset reference current value, so that the winding resistance value corresponding to the motor is obtained. And finally, controlling the motor to operate in a corresponding mode when the winding resistance value of the motor is in different resistance threshold value ranges. According to the scheme, the driving control of the motor is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor is associated with the temperature of the winding of the motor, the motor control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller is improved on the premise of not increasing the cost.
Drawings
FIG. 1 is a schematic flow chart illustrating a motor driving control method according to an embodiment;
FIG. 2 is a schematic flow chart of a motor driving control method according to another embodiment;
FIG. 3 is a flow chart of a motor drive control method according to an embodiment;
FIG. 4 is a schematic diagram illustrating a process for calculating the initial winding resistance value according to an embodiment;
FIG. 5 is a schematic diagram of a motor drive control system according to an embodiment;
FIG. 6 is a flow chart illustrating a method for sampling national current according to an embodiment;
FIG. 7 is a schematic view of a motor driving scheme according to an embodiment;
FIG. 8 is a flowchart illustrating a motor driving control method according to still another embodiment;
FIG. 9 is a schematic structural diagram of a motor driving control apparatus according to an embodiment;
fig. 10 is a schematic structural diagram of a motor drive control device in another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a motor driving control method includes steps S300, S400, and S500.
And step S300, when the motor runs to the target rotating speed, acquiring a first phase current value and a second phase current value of the motor in real time by taking a preset time length as a period.
Specifically, the target rotation speed is the rotation speed which the motor needs to reach when the motor is applied to actual equipment under the requirement of a specific function. It will be appreciated that the target rotational speed is not unique in magnitude, and may vary from device to device or from functional requirement of the same device. The type of motor is not exclusive, and in order to facilitate understanding of the various embodiments of the present application, the following description will be made with reference to a motor as a permanent magnet synchronous motor. The permanent magnet synchronous motor is powered by a three-phase power supply, and coils with the same three-phase structure are embedded in a stator of the permanent magnet synchronous motor, namely the windings. The three-phase windings are separated by 120 electrical degrees in spatial position and are respectively called as U-phase, V-phase and W-phase. In the application, the drive controller analyzes and calculates by obtaining the current values of two phases, and finally realizes the drive control operation of the motor. Similarly, in order to facilitate understanding of the various embodiments of the present application, the following explanation will be given with the first phase being a U phase and the second phase being a V phase. Therefore, in a specific embodiment, when the permanent magnet synchronous motor operates to the target rotation speed, the drive controller will obtain the U-phase current value (i.e., the first-phase current value) and the V-phase current value (i.e., the second-phase current value) of the permanent magnet synchronous motor by taking the preset time period as the period, so as to perform the subsequent analysis operation.
And S400, analyzing according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value of the motor.
Specifically, after the drive controller obtains the U-phase current value and the V-phase current value of the permanent magnet synchronous motor, the U-phase current value and the V-phase current value are analyzed and calculated with a preset reference current value prestored in the drive controller, and finally, the winding resistance value of the permanent magnet synchronous motor is obtained. It can be understood that, corresponding to the U-phase current value and the V-phase current value, the number of the preset reference current values is also two, which are respectively a reference current value (Idref) for the direct axis PI control of the permanent magnet synchronous motor reference coordinate system and a reference current value (Iqref) for the quadrature axis PI control of the permanent magnet synchronous motor reference coordinate system.
And S500, performing comparative analysis according to the winding resistance value and the preset resistance threshold range, and controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges.
Specifically, the preset resistance threshold range is obtained by analyzing the winding temperature and the resistance curve of the motor. The winding temperature and resistance curve is a curve representing the corresponding relation between the winding resistance value and the winding temperature, and the corresponding winding resistance value when the winding temperature rises to a certain value can be visually obtained from the winding temperature and resistance curve. Therefore, by combining the winding temperature value allowed in different operation states of the permanent magnet synchronous motor and the winding temperature and resistance curve, a corresponding resistance threshold range can be set, and corresponding operation modes exist in different resistance threshold ranges. Namely, under the condition that the winding resistance value is obtained through calculation, the permanent magnet synchronous motor can be controlled to operate in different modes according to the winding resistance value.
Referring to fig. 2, in one embodiment, step S400 includes step S410 and step S420.
And step S410, when the first phase current value and the second phase current value are obtained once, analyzing according to the obtained first phase current value, the second phase current value and a preset reference current value to obtain the initial winding resistance value of the motor, and counting the number of the initial winding resistance values in real time.
Specifically, referring to fig. 3, when the permanent magnet synchronous motor operates to the target rotation speed, the U-phase current value and the V-phase current value are obtained in real time in a preset time period, that is, after the sampling time Ts reaches the sampling period Th, the U-phase current value and the V-phase current value are sampled once, and the corresponding resistors are calculated. In order to obtain an accurate winding resistance value, in this embodiment, after each U-direction current value and V-direction current value is obtained, a resistance value calculation operation is performed, and the calculation operation is recorded as an initial winding resistance value, and finally, a further analysis is performed by combining the obtained preset initial winding resistance value, so as to obtain a more accurate winding resistance value. Meanwhile, the driving controller counts once after each initial winding resistance value is obtained through calculation, and the counted data are compared and analyzed with the preset number in real time, so that the winding resistance can be analyzed and calculated in time after the initial winding resistance values of the preset number are obtained. It should be noted that the size of the sampling period of the first predetermined duration is not exclusive and in one embodiment. Any value between 20ms and 100ms is acceptable as long as the initial winding resistance value calculation can be reasonably performed.
And step S420, when the number of the initial winding resistance values reaches a preset number, performing mean value analysis according to the initial winding resistance values to obtain the winding resistance values of the motor.
Specifically, the average calculation is an averaging calculation, and if the number of the obtained initial winding resistance values R is 5, the 5 initial winding resistance values R are sequentially added, and then divided by 5, so as to obtain the corresponding winding resistance value Ra. When the number Nc of the initial winding resistance values R reaches the preset number N, that is, when the number Nc of the initial winding resistance values R is greater than or equal to the preset number Nc, it indicates that the final winding resistance value Ra obtained by analysis under the initial winding resistance values R of the current number can meet the requirement of the permanent magnet synchronous motor. It should be noted that the preset number Nc is not unique, and may be specifically set in combination with a usage scenario of the permanent magnet synchronous motor, and for a usage scenario with a high precision requirement, the initial winding resistance value should be obtained as much as possible, so that the winding resistance value obtained after the average value calculation can relatively accurately represent the real resistance value of the winding of the permanent magnet synchronous motor. For example, in one embodiment, the preset number Nc may be set to any value of 10-50.
Referring to fig. 2, in an embodiment, after the step S410, the method further includes: and when the number of the initial winding resistance values does not reach the preset number, returning to the step of acquiring the first phase current value and the second phase current value of the motor in real time by taking the preset time length as a period.
Specifically, in the process that the drive controller performs comparative analysis on the counted data and the preset number in real time, the condition that the number of the initial winding resistance values is smaller than the preset number also occurs, and at this time, it is indicated that the acquisition of the U-phase current and the V-phase current does not meet the requirement of the permanent magnet synchronous motor yet. The driving controller returns to the operation of acquiring the first phase current value and the second phase current value of the motor in real time by taking the preset time length as a period, so that more initial winding resistance values are calculated according to the acquired U-phase current value and V-phase current value until the number of the initial winding resistance values reaches the preset number.
Referring to fig. 4, in an embodiment, the step of analyzing the obtained first phase current value, the second phase current value and the preset reference current value to obtain the initial winding resistance value of the motor includes: step S411, step S412, and step S413.
And S411, performing Clark transformation and park transformation according to the acquired first phase current value and the acquired second phase current value to obtain a direct-axis current value and a quadrature-axis current value in a corresponding motor reference coordinate system.
Specifically, Clarke (Clarke) transformation firstly transforms physical quantities in a stator stationary coordinate system based on 3-axis and 2-dimensional into a stator stationary coordinate system of 2-axis, and Park (Park) transformation (also called Park transformation) transforms the motor current vectors in an orthogonal coordinate system of αβ 2-axis into a 2-axis coordinate system rotating synchronously with rotor flux, namely Clarke can transform a three-phase system into a two-phase system, and Park transformation is rotation of a rectangular coordinate system, αβ stationary rotation dq. obtains a rectangular-axis current value Id in a permanent magnet synchronous motor reference coordinate system and a rectangular-axis current value Iq in the permanent magnet synchronous motor reference coordinate system by Clarke transformation and Park transformation of a U-phase current value and a V-phase current value, and further performs subsequent analysis operation according to the rectangular-axis current value Id and the AC current value Tq.
Step S412, carrying out proportional integral analysis according to the direct-axis current value, the quadrature-axis current value and a preset reference current value to obtain a direct-axis voltage value and a quadrature-axis voltage value in a motor reference coordinate system.
Specifically, referring to fig. 5, the preset reference current value includes a reference current value (Idref) for the direct axis PI control of the pm synchronous machine reference frame and a reference current value (Iqref) for the quadrature axis PI control of the pm synchronous machine reference frame. And then, in the actual analysis calculation, PI control calculation is carried out according to the acquired values (namely the direct axis current value Id and the quadrature axis current value Iq), the given value and the actual deviation value, so that the corresponding voltage value can be obtained. Further, two PI (proportional integral) control modules are arranged in the driving controller, wherein one PI control module is used for performing proportional integral calculation according to the direct-axis current value Id, the reference current value Idref controlled by the direct-axis PI of the permanent magnet synchronous motor reference coordinate system and the corresponding actual deviation value to obtain the direct-axis voltage value Vd in the corresponding motor reference coordinate system. And the other PI control module carries out analysis and calculation according to the quadrature axis current value Iq, the reference current value Iqref controlled by the quadrature axis PI of the permanent magnet synchronous motor reference coordinate system and the corresponding actual deviation value to obtain a quadrature axis voltage value Vq in the corresponding motor reference coordinate system.
It should be noted that, in one embodiment, the driving controller is further provided with an SVPWM (space vector pulse Width modulation) module, and the main idea of the SVPWM is to use an ideal flux linkage circle of a stator of a three-phase symmetric motor as a reference standard when the three-phase symmetric sine-wave voltage is supplied, and to properly switch different switching modes of a three-phase inverter, so as to form a PWM wave, and to track the accurate flux linkage circle thereof by using the formed actual flux linkage vector. In this embodiment, a control signal of an Intelligent Power Module (IPM) inverter may be calculated through an SVPWM control algorithm, so as to control the IPM inverter to load Vd and Vq voltage values on the permanent magnet synchronous motor.
And step S413, analyzing and calculating according to the direct-axis voltage value, the quadrature-axis voltage value, the direct-axis current value and the quadrature-axis current value to obtain an initial winding resistance value of the motor.
Specifically, Vd and Id are direct-axis voltage and current components in a permanent magnet synchronous motor reference coordinate system, Vq and Iq are quadrature-axis voltage and current components in the permanent magnet synchronous motor reference coordinate system, in the reference coordinate system, a voltage phasor Us Is a sum of Vd and Vq phasors, a current phasor Is a sum of Id and Iq phasors, and impedance Z Is a division of Us by Is. And when the impedance is obtained through analysis, the real part of the impedance Z is taken, namely the effective value of the three-phase winding resistance of the permanent magnet synchronous motor. Because the three-phase windings of the motor are completely symmetrical, the resistance of each phase winding is always Y-shaped connected at any switching time in the SVPWM control algorithm, and therefore, the winding resistance value of each phase can be converted by the effective value of the resistance of the three-phase windings of the motor. Because the winding resistance of the motor is symmetrical, when the switching tube in the IPM module acts in a non-zero vector mode, the resistance models are two phases of the IPM module which are connected in parallel and then connected with the other phase in series, the effective value of the three-phase winding resistance and each correlation system are 3/2, and if the effective resistance can be calculated, the winding value of each phase can be calculated. It can be understood that in the subsequent process of performing comparative analysis according to the winding resistance value and the preset resistance threshold value range, the comparative analysis can be performed by adopting a single-phase winding, and the comparative analysis can also be performed by adopting a three-phase winding, and only one preset resistance threshold value range is required to be adjusted.
Referring to fig. 6, in an embodiment, the step of acquiring the first phase current value and the second phase current value of the motor in real time with a preset time period as a cycle includes steps S310 and S320.
Step S310, a first voltage of a first sampling resistor connected in series with a first phase winding of the motor and a second voltage of a second sampling resistor connected in series with a second phase winding of the motor are obtained in real time with a preset time length as a period.
Step S320, obtaining a first phase current value of the motor according to the first voltage and the resistance value of the first sampling resistor, and obtaining a second phase current value of the motor according to the second voltage and the resistance value of the second sampling resistor.
Specifically, in this embodiment, a voltage sampling manner is adopted to directly obtain a voltage value of the sampling resistor, and then a corresponding current value is obtained through further analysis according to the voltage value and the resistance value of the sampling resistor. The current value corresponding to the U is acquired and analyzed through a first sampling resistor connected in series with a U-phase winding of the permanent magnet synchronous motor, and the current value corresponding to the V is acquired and analyzed through a second sampling resistor connected in series with a V-phase winding of the permanent magnet synchronous motor. It is to be understood that the manner of acquiring the U-phase current value and the V-phase current value by the driving controller is not exclusive and is not limited to the acquisition manner in this embodiment, and in other embodiments, the U-phase current value and the V-phase current value of the permanent magnet synchronous motor may also be acquired by other manners, such as a current sampling chip, and the like.
Referring to fig. 7, in one embodiment, step S500 includes step S510, step S520, and step S530.
And step S510, carrying out comparison analysis according to the winding resistance value and the preset resistance threshold range, and controlling the frequency-limited operation of the motor when the winding resistance value is larger than or equal to the preset frequency-limiting resistance threshold and smaller than the preset frequency-reducing resistance threshold. And step S520, controlling the motor to perform frequency reduction operation when the winding resistance value is greater than or equal to the preset frequency reduction resistance threshold value and is less than the preset shutdown resistance threshold value. And step S530, when the winding resistance value is greater than or equal to the stop resistance threshold value, controlling the motor to stop and outputting fault information.
Specifically, referring to fig. 3, in the present embodiment, several resistance thresholds representing different operating states of the permanent magnet synchronous motor are obtained by analyzing the winding temperature and the resistance curve of the permanent magnet synchronous motor, which are a frequency limiting resistance threshold R1, a down-conversion resistance threshold Rd, and a shutdown resistance threshold Rf, respectively, where the frequency limiting resistance threshold R1 is smaller than the down-conversion resistance threshold Rd, and the down-conversion resistance threshold Rd is smaller than the shutdown resistance threshold Rf. When the winding resistance value obtained through analysis and calculation is larger than or equal to the frequency limiting resistance threshold value R1 and smaller than the frequency reducing resistance threshold value Rd, the temperature of the permanent magnet synchronous motor at the moment is represented to reach the maximum temperature allowed by normal operation of the motor, and if the rotating speed of the permanent magnet synchronous motor continues to increase, the temperature of the permanent magnet synchronous motor exceeds the maximum temperature allowed by normal operation of the motor. Therefore, in this case, the drive controller will control the frequency-limited operation of the permanent magnet synchronous motor, i.e. the rotation speed (or frequency) of the permanent magnet synchronous motor does not exceed a defined magnitude. It is understood that the limited frequency or rotation speed is not only the rotation speed or rotation speed of the permanent magnet synchronous motor, but also the rotation speed or rotation speed of the permanent magnet synchronous motor when the permanent magnet synchronous motor is currently running, and may be any rotation speed or rotation speed of the permanent magnet synchronous motor set by a user, as long as the rotation speed or rotation speed of the permanent magnet synchronous motor is limited under the current state and does not exceed the limited value.
The frequency reduction operation is to properly reduce a certain rotating speed or frequency to operate the permanent magnet synchronous motor on the basis of controlling the current rotating speed or frequency. When the winding resistance value is greater than or equal to the frequency reduction resistance threshold value Rd and less than the shutdown resistance threshold value Rf, the temperature of the permanent magnet synchronous motor is represented to be higher, if the permanent magnet synchronous motor continues to operate at the current rotating speed or frequency, the permanent magnet synchronous motor is influenced, and therefore in order to guarantee the operation reliability of the permanent magnet synchronous motor, the permanent magnet synchronous motor is controlled to operate in a frequency reduction mode on the basis of the current frequency so as to avoid the temperature of the permanent magnet synchronous motor from continuously rising.
And when the calculated winding resistance value of the permanent magnet synchronous motor is larger than or equal to the shutdown resistance threshold Rf, the temperature of the permanent magnet synchronous motor is higher than the maximum operation temperature at the moment, and the motor is easily burnt under the condition. In order to ensure that the permanent magnet synchronous motor is not damaged, the permanent magnet synchronous motor is directly controlled to stop, and the frequency or the rotating speed of the permanent magnet synchronous motor is directly reduced to 0. Further, when the winding resistance value is larger than or equal to the shutdown resistance threshold value Rf, the driving controller also outputs fault information to prompt a user so that the user can know the fault information in time. It is to be understood that the manner in which the drive controller outputs the failure information is not exclusive, and may be output and notified to the user through an information prompting device in the form of sound, light, or the like.
Referring to fig. 8, in an embodiment, before step S300, the method further includes step S100 and step S200. And S100, acquiring a winding temperature and resistance curve of the motor, and acquiring a frequency limiting resistance threshold, a frequency reducing resistance threshold and a stopping resistance threshold according to the winding temperature and the resistance curve. And step S200, obtaining and storing a corresponding resistance threshold range according to the frequency limiting resistance threshold, the frequency reducing resistance threshold and the shutdown resistance threshold.
Specifically, in this embodiment, before current acquisition is performed on the permanent magnet synchronous motor, different preset resistance threshold ranges are established according to a winding temperature and a resistance curve of the permanent magnet synchronous motor, and the different preset resistance threshold ranges correspond to different motor operation modes, so that a winding resistance value, a permanent magnet synchronous motor temperature, and a permanent magnet synchronous motor operation mode are linked, so that control operation of the driving motor is directly realized according to the winding resistance value in subsequent drive control. Specifically, a frequency limiting resistance value corresponding to the maximum temperature allowed by normal operation of the permanent magnet synchronous motor, a shutdown resistance value corresponding to the maximum temperature allowed by the operation of the permanent magnet synchronous motor and a frequency reducing resistance threshold value corresponding to a temperature value between the maximum temperature allowed by the normal operation and the maximum temperature allowed by the operation are found according to the winding temperature and the resistance curve, and then three different resistance threshold value ranges are set respectively and stored in the drive controller. It can be understood that each resistance threshold range corresponds to a motor operation mode, and when the resistance threshold range is greater than or equal to the frequency limiting resistance threshold and less than the frequency reducing resistance threshold, the corresponding motor operation mode is frequency limiting operation. And when the resistance threshold range is greater than or equal to the frequency reduction resistance threshold and smaller than the shutdown resistance threshold, the corresponding motor operation mode is frequency reduction operation. And when the resistance threshold range is larger than or equal to the stop resistance threshold, the corresponding motor running mode is stop.
It should be noted that steps S100 and S200 may be performed only once when the motor is shipped from the factory, that is, in the present embodiment, the frequency-limiting resistance threshold, the frequency-reducing resistance threshold, the shutdown resistance threshold, and the corresponding preset resistance threshold range are all fixed. Or, the setting can be performed once when the motor is electrified and initialized every time, so that the loss in the running process of the motor and the change of a relation curve between the winding temperature and the resistance are avoided, and the accuracy of a final analysis result is ensured.
According to the motor drive control method, the preset resistance threshold range related to the motor winding temperature is prestored in the drive controller, when the motor runs to the target rotating speed, the drive controller can obtain the first phase current value and the second phase current value of the motor in real time, and carries out analysis and calculation according to the first phase current value, the second phase current value and the preset reference current value, so that the winding resistance value corresponding to the motor is obtained. And finally, controlling the motor to operate in a corresponding mode when the winding resistance value of the motor is in different resistance threshold value ranges. According to the scheme, the driving control of the motor is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor is associated with the temperature of the winding of the motor, the motor control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller is improved on the premise of not increasing the cost.
Referring to fig. 9, a motor driving control device includes: current acquisition module 200, winding resistance calculation module 300, and motor control module 400. The current obtaining module 200 is configured to obtain a first phase current value and a second phase current value of the motor in real time with a preset time period as a period when the motor operates to a target rotation speed. The winding resistance calculation module 300 is configured to analyze the first phase current value, the second phase current value, and a preset reference current value to obtain a winding resistance value of the motor. The motor control module 400 is configured to compare and analyze the winding resistance value with a preset resistance threshold range, and when the winding resistance value is within different preset resistance threshold ranges, control the motor to operate in a corresponding mode, where the preset resistance threshold range is obtained by analyzing a winding temperature and a resistance curve of the motor.
In one embodiment, the winding resistance calculation module 300 is further configured to, when the first phase current value and the second phase current value are obtained once, analyze the obtained first phase current value, the obtained second phase current value, and a preset reference current value to obtain an initial winding resistance value of the motor, and count the number of the initial winding resistance values in real time; and when the number of the initial winding resistance values reaches a preset number, performing mean value analysis according to the initial winding resistance values to obtain the winding resistance value of the motor.
In one embodiment, the winding resistance calculation module 300 is further configured to perform clark transformation and park transformation according to the obtained first phase current value and the obtained second phase current value, so as to obtain a direct-axis current value and a quadrature-axis current value in a reference coordinate system of the corresponding motor; carrying out proportional integral analysis according to the direct axis current value, the quadrature axis current value and a preset reference current value to obtain a direct axis voltage value and a quadrature axis voltage value in a motor reference coordinate system; and analyzing and calculating according to the direct-axis voltage value, the quadrature-axis voltage value, the direct-axis current value and the quadrature-axis current value to obtain the initial winding resistance value of the motor.
In one embodiment, the current obtaining module 200 is further configured to obtain, in real time, a first voltage of a first sampling resistor connected in series to a first phase winding of the motor and a second voltage of a second sampling resistor connected in series to a second phase winding of the motor with a preset time period as a period; and obtaining a first phase current value of the motor according to the first voltage and the resistance value of the first sampling resistor, and obtaining a second phase current value of the motor according to the second voltage and the resistance value of the second sampling resistor.
In one embodiment, the motor control module 400 is further configured to perform a comparative analysis according to the winding resistance value and a preset resistance threshold range, and control the motor to operate in a frequency-limited mode when the winding resistance value is greater than or equal to the preset frequency-limiting resistance threshold and less than the preset frequency-reducing resistance threshold; when the resistance value of the winding is greater than or equal to the preset frequency reduction resistance threshold value and is less than the preset shutdown resistance threshold value, controlling the motor to operate in a frequency reduction mode; and when the resistance value of the winding is greater than or equal to the stop resistance threshold value, controlling the motor to stop and outputting fault information.
Referring to fig. 10, in an embodiment, before the current obtaining module 200, the motor driving control apparatus further includes a resistance threshold range setting module 100. The resistance threshold range setting module 100 is configured to obtain a winding temperature and a resistance curve of the motor, and obtain a frequency-limiting resistance threshold, a frequency-reducing resistance threshold, and a shutdown resistance threshold according to the winding temperature and the resistance curve; and obtaining and storing a corresponding resistance threshold range according to the frequency limiting resistance threshold, the frequency reducing resistance threshold and the shutdown resistance threshold.
For specific limitations of the motor drive control device, reference may be made to the above limitations of the motor drive control method, which are not described herein again. The respective modules in the above-described motor drive control apparatus may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to the motor drive control device, the preset resistance threshold range related to the temperature of the motor winding is prestored in the drive controller, when the motor runs to the target rotating speed, the drive controller can obtain the first phase current value and the second phase current value of the motor in real time, and carries out analysis and calculation according to the first phase current value, the second phase current value and the preset reference current value, so that the winding resistance value corresponding to the motor is obtained. And finally, controlling the motor to operate in a corresponding mode when the winding resistance value of the motor is in different resistance threshold value ranges. According to the scheme, the driving control of the motor is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor is associated with the temperature of the winding of the motor, the motor control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller is improved on the premise of not increasing the cost.
Referring to fig. 5, a motor driving control system includes: the driving control device 10 is connected with the intelligent power inverter 20 and the motor 30, the intelligent power inverter 20 is connected with the motor 30, and the driving control device 10 is used for driving and controlling the motor 30 according to the method.
Specifically, in order to facilitate understanding of the various embodiments of the present application, the motor 30 is explained below as a permanent magnet synchronous motor. The permanent magnet synchronous motor is powered by a three-phase power supply, and coils with the same three-phase structure are embedded in a stator of the permanent magnet synchronous motor, namely the windings. The three-phase windings are separated by 120 electrical degrees in spatial position and are respectively called as U-phase, V-phase and W-phase. In the present application, the drive controller 10 performs analysis and calculation by obtaining the current values of two phases, and finally realizes the drive control operation of the motor 30. Similarly, in order to facilitate understanding of the various embodiments of the present application, the following explanation will be given with the first phase being a U phase and the second phase being a V phase. Therefore, in a specific embodiment, when the permanent magnet synchronous motor operates to the target rotation speed, the drive controller 10 will obtain the U-phase current value (i.e. the first-phase current value) and the V-phase current value (i.e. the second-phase current value) of the permanent magnet synchronous motor by taking the preset time period as the period, so as to perform the subsequent analysis operation.
After the drive controller 10 obtains the U-phase current value and the V-phase current value of the permanent magnet synchronous motor, the U-phase current value and the V-phase current value are analyzed and calculated with a preset reference current value pre-stored in the drive controller 10, and finally, the winding resistance value of the permanent magnet synchronous motor is obtained. It can be understood that, corresponding to the U-phase current value and the V-phase current value, the number of the preset reference current values is also two, which are respectively a reference current value (Idref) for the direct axis PI control of the permanent magnet synchronous motor reference coordinate system and a reference current value (Iqref) for the quadrature axis PI control of the permanent magnet synchronous motor reference coordinate system.
The winding temperature and resistance curve is a curve representing the corresponding relation between the winding resistance value and the winding temperature, and the corresponding winding resistance value when the winding temperature rises to a certain value can be visually obtained from the winding temperature and resistance curve. Therefore, by combining the winding temperature value allowed in different operation states of the permanent magnet synchronous motor and the winding temperature and resistance curve, a corresponding resistance threshold range can be set, and corresponding operation modes exist in different resistance threshold ranges. Namely, under the condition that the winding resistance value is obtained through calculation, the permanent magnet synchronous motor can be controlled to operate in different modes according to the winding resistance value.
In the motor drive control system, the preset resistance threshold range related to the winding temperature of the motor 30 is prestored in the drive controller 10, and when the motor 30 runs to the target rotating speed, the drive controller 10 can obtain the first phase current value and the second phase current value of the motor 30 in real time, and perform analysis and calculation according to the first phase current value, the second phase current value and the preset reference current value to obtain the winding resistance value corresponding to the motor 30. And finally, controlling the motor 30 to operate in a corresponding mode when the winding resistance value of the motor 30 is in different resistance threshold value ranges. According to the scheme, the driving control of the motor 30 is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor 30 is associated with the winding temperature of the motor 30, the motor 30 control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller 10 is improved on the premise of not increasing the cost.
A household appliance comprises the motor drive control system.
Specifically, as shown in the above embodiment, the motor driving control system supplies power to the permanent magnet synchronous motor by using a three-phase power supply, and coils with completely the same three-phase structure are embedded in a stator of the permanent magnet synchronous motor, that is, the coils are windings. The three-phase windings are separated by 120 electrical degrees in spatial position and are respectively called as U-phase, V-phase and W-phase. In the present application, the drive controller 10 performs analysis and calculation by obtaining the current values of two phases, and finally realizes the drive control operation of the motor 30. Similarly, in order to facilitate understanding of the various embodiments of the present application, the following explanation will be given with the first phase being a U phase and the second phase being a V phase. Therefore, in a specific embodiment, when the permanent magnet synchronous motor operates to the target rotation speed, the drive controller 10 will obtain the U-phase current value (i.e. the first-phase current value) and the V-phase current value (i.e. the second-phase current value) of the permanent magnet synchronous motor by taking the preset time period as the period, so as to perform the subsequent analysis operation.
After the drive controller 10 obtains the U-phase current value and the V-phase current value of the permanent magnet synchronous motor, the U-phase current value and the V-phase current value are analyzed and calculated with a preset reference current value pre-stored in the drive controller 10, and finally, the winding resistance value of the permanent magnet synchronous motor is obtained. It can be understood that, corresponding to the U-phase current value and the V-phase current value, the number of the preset reference current values is also two, which are respectively a reference current value (Idref) for the direct axis PI control of the permanent magnet synchronous motor reference coordinate system and a reference current value (Iqref) for the quadrature axis PI control of the permanent magnet synchronous motor reference coordinate system.
The winding temperature and resistance curve is a curve representing the corresponding relation between the winding resistance value and the winding temperature, and the corresponding winding resistance value when the winding temperature rises to a certain value can be visually obtained from the winding temperature and resistance curve. Therefore, by combining the winding temperature value allowed in different operation states of the permanent magnet synchronous motor and the winding temperature and resistance curve, a corresponding resistance threshold range can be set, and corresponding operation modes exist in different resistance threshold ranges. Namely, under the condition that the winding resistance value is obtained through calculation, the permanent magnet synchronous motor can be controlled to operate in different modes according to the winding resistance value.
It should be noted that the type of household appliance is not exclusive, and any household appliance having a three-phase motor drive, such as an inverter air conditioner, an inverter water heater, etc., may be used.
In the household appliance, the preset resistance threshold range related to the winding temperature of the motor 30 is prestored in the drive controller 10 of the motor 30, and when the motor 30 runs to the target rotating speed, the drive controller 10 can obtain the first phase current value and the second phase current value of the motor 30 in real time, and perform analysis and calculation according to the first phase current value, the second phase current value and the preset reference current value to obtain the winding resistance value corresponding to the motor 30. And finally, controlling the motor 30 to operate in a corresponding mode when the winding resistance value of the motor 30 is in different resistance threshold value ranges. According to the scheme, the driving control of the motor 30 is carried out through the relation between the resistance values of the different windings and the preset resistance threshold range, so that the driving control of the motor 30 is associated with the winding temperature of the motor 30, the motor 30 control method based on the on-line detection of the winding resistance is realized, and the driving control reliability of the driving controller 10 is improved on the premise of not increasing the cost.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A motor drive control method characterized by comprising:
when the motor runs to a target rotating speed, acquiring a first phase current value and a second phase current value of the motor in real time by taking a preset time length as a period;
analyzing according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value of the motor;
and comparing and analyzing the winding resistance value and a preset resistance threshold range, controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges, and analyzing the preset resistance threshold range according to the winding temperature and the resistance curve of the motor to obtain the preset resistance threshold range.
2. The motor drive control method according to claim 1, wherein the step of obtaining a winding resistance value of the motor by analyzing the first phase current value, the second phase current value, and a preset reference current value includes:
when a first phase current value and a second phase current value are obtained once, analyzing according to the obtained first phase current value, the obtained second phase current value and a preset reference current value to obtain an initial winding resistance value of the motor, and counting the number of the initial winding resistance values in real time;
and when the number of the initial winding resistance values reaches a preset number, performing mean value analysis according to the initial winding resistance values to obtain the winding resistance value of the motor.
3. The motor driving control method according to claim 2, wherein after the step of analyzing the obtained first phase current value, second phase current value and preset reference current value to obtain the initial winding resistance value of the motor and counting the number of the initial winding resistance values in real time each time the first phase current value and the second phase current value are obtained once, the method further comprises:
and when the number of the initial winding resistance values does not reach the preset number, returning to the step of acquiring the first phase current value and the second phase current value of the motor in real time by taking the preset time length as a period.
4. The motor drive control method according to claim 2, wherein the step of analyzing the obtained first phase current value, second phase current value, and preset reference current value to obtain an initial winding resistance value of the motor includes:
performing Clark transformation and park transformation according to the obtained first phase current value and the second phase current value to obtain a direct-axis current value and a quadrature-axis current value in a corresponding motor reference coordinate system;
carrying out proportional integral analysis according to the direct axis current value, the quadrature axis current value and a preset reference current value to obtain a direct axis voltage value and a quadrature axis voltage value in a motor reference coordinate system;
and analyzing and calculating according to the direct axis voltage value, the quadrature axis voltage value, the direct axis current value and the quadrature axis current value to obtain an initial winding resistance value of the motor.
5. The motor drive control method according to claim 1, wherein the step of obtaining the first phase current value and the second phase current value of the motor in real time with a preset time period as a cycle comprises:
acquiring a first voltage of a first sampling resistor connected in series with a first phase winding of the motor and a second voltage of a second sampling resistor connected in series with a second phase winding of the motor in real time by taking a preset time length as a period;
and obtaining a first phase current value of the motor according to the first voltage and the resistance value of the first sampling resistor, and obtaining a second phase current value of the motor according to the second voltage and the resistance value of the second sampling resistor.
6. The motor drive control method according to claim 1, wherein the step of performing a comparative analysis based on the winding resistance value and a preset resistance threshold range, and controlling the motor to operate in a corresponding mode when the winding resistance value is in a different preset resistance threshold range, comprises:
performing comparative analysis according to the winding resistance value and a preset resistance threshold range, and controlling the frequency-limited operation of the motor when the winding resistance value is greater than or equal to a preset frequency-limiting resistance threshold and is less than a preset frequency-reducing resistance threshold;
when the winding resistance value is greater than or equal to the preset frequency reduction resistance threshold value and less than the preset shutdown resistance threshold value, controlling the motor to operate in a frequency reduction mode;
and when the resistance value of the winding is greater than or equal to the shutdown resistance threshold value, controlling the motor to shutdown and outputting fault information.
7. The motor drive control method according to claim 1, wherein before the step of obtaining the first phase current value and the second phase current value of the motor in real time with a preset time period as a period when the motor is operated to the target rotation speed, the method further comprises:
acquiring a winding temperature and resistance curve of a motor, and obtaining a frequency limiting resistance threshold, a frequency reducing resistance threshold and a stopping resistance threshold according to the winding temperature and the resistance curve;
and obtaining and storing a corresponding resistance threshold range according to the frequency limiting resistance threshold, the frequency reducing resistance threshold and the shutdown resistance threshold.
8. A motor drive control device characterized by comprising:
the current acquisition module is used for acquiring a first phase current value and a second phase current value of the motor in real time by taking a preset time length as a period when the motor runs to a target rotating speed;
the winding resistance calculation module is used for analyzing according to the first phase current value, the second phase current value and a preset reference current value to obtain a winding resistance value of the motor;
and the motor control module is used for carrying out contrastive analysis according to the winding resistance value and a preset resistance threshold range, controlling the motor to operate in a corresponding mode when the winding resistance value is in different preset resistance threshold ranges, and analyzing the preset resistance threshold range according to the winding temperature and the resistance curve of the motor to obtain the preset resistance threshold range.
9. A motor drive control system, comprising: the driving control device is connected with the intelligent power inverter device and the motor, the intelligent power inverter device is connected with the motor, and the driving control device is used for driving and controlling the motor according to the method of any one of claims 1 to 7.
10. A household appliance comprising the motor drive control system of claim 9.
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