CN111371358B - Running state determining method and system, motor, water pump, vehicle and storage medium - Google Patents
Running state determining method and system, motor, water pump, vehicle and storage medium Download PDFInfo
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- CN111371358B CN111371358B CN201811506664.XA CN201811506664A CN111371358B CN 111371358 B CN111371358 B CN 111371358B CN 201811506664 A CN201811506664 A CN 201811506664A CN 111371358 B CN111371358 B CN 111371358B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention provides an operation state determining method, an operation state determining system, a motor, a water pump, a vehicle and a computer readable storage medium. The operation state determining method comprises the following steps: acquiring operation parameters and motor parameters of a motor; determining a command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and determining the running state of the motor as the locked rotor state based on a comparison result that the difference value meets a preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in the locked-rotor state or not can be judged through calculation according to the obtained running parameters and the pre-stored motor parameters, so that the system cost is not increased, and further the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Description
Technical Field
The present invention relates to the field of motor control technology, and in particular, to an operating state determining method, an operating state determining system, a motor, a water pump, a vehicle, and a computer-readable storage medium.
Background
Generally, an electronic water pump of an automobile may not operate due to a blockage of a motor shaft by foreign matters during use. When the water pump motor is in a locked state, if the water pump motor can not be found and processed in time, the motor can be burnt out, and the water pump is damaged.
Therefore, there is a need for a motor stall detection method that can be simply implemented and accurately.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the invention proposes a method of operating state determination.
A second aspect of the present invention proposes an operation state determination system.
A third aspect of the present invention proposes an electric machine.
A fourth aspect of the present invention provides a water pump.
A fifth aspect of the invention proposes a vehicle.
A sixth aspect of the invention proposes a computer readable storage medium.
In view of this, a first aspect of the present invention provides an operation state determining method for determining whether a motor is in a locked-rotor state, the operation state determining method including: acquiring operation parameters and motor parameters of a motor; determining a command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and determining the running state of the motor as the locked rotor state based on a comparison result that the difference value meets a preset condition.
In the technical scheme, the operation parameters of the water pump motor are obtained in real time through a control circuit, and simultaneously, the motor parameters prestored in a memory are obtained; the command voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile, the actual locked-rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. And calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and judging that the current motor is in the locked rotor state when the difference value meets the preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in the locked-rotor state or not can be judged through calculation according to the obtained running parameters and the pre-stored motor parameters, and additional sensors are not required to be arranged in a control circuit and the motor, so that the system cost is not increased, and further the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Specifically, the motor is a permanent magnet synchronous motor, is applied to an electronic water pump of an automobile, and is started in a control mode of a speed ring open loop and a current ring closed loop. After the motor is started, the control circuit detects the operation parameters of the motor in real time, and calculates the command voltage amplitude of the motor according to the operation parameters; meanwhile, motor parameters which are inherited in a storage medium of the main control board are obtained, and the current motor locked-rotor theoretical voltage amplitude is calculated by combining the operation parameters and the motor parameters; and calculating the difference value between the current command voltage amplitude and the current running voltage amplitude in real time, and when the difference value meets the preset condition, indicating that the current motor is in a locked-rotor state, sending a warning prompt to a vehicle main control system by a motor control circuit, and acquiring a corresponding solution.
In addition, the method for determining the running state in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, further, before the step of determining the command voltage amplitude of the motor and determining the locked-rotor theoretical voltage amplitude of the motor, the running state determining method further includes: controlling the motor to start to operate by adopting a control method of speed open loop and current closed loop; establishing an assumed coordinate axis of the motor, wherein the assumed coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees along the anticlockwise direction; controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In the technical scheme, the motor is started by adopting a control method of speed open loop and current closed loop, an assumed coordinate axis of the motor is established, the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees along the anticlockwise direction. The current value of the q axis on the assumed coordinate axis is controlled to be a first preset current value, the current value of the d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of the rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be calculated and judged through the operation parameters of the motor and the motor parameters, so that locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In any of the above technical solutions, further, the step of determining the command voltage amplitude of the motor according to the operation parameter specifically includes: acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis; and calculating the command voltage amplitude according to the first voltage value and the second voltage value.
In the technical scheme, after the operation parameters are acquired, acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis according to the operation parameters, and calculating an instruction voltage amplitude through the following formula:
wherein, |u s I is the command voltage amplitude, u d At a first voltage value, u q Is the second voltage value.
In any of the above solutions, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the method comprises the steps of determining the locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters, and specifically comprises the following steps: and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In the technical scheme, the pre-stored motor parameters specifically comprise an inductance value and a resistance value of the motor, and the locked-rotor theoretical voltage amplitude is calculated through the following formula:
wherein,,
to block the theoretical voltage amplitude, i cmd For a first preset current value omega t For preset rotation speed L s R is the inductance value of the motor s Is the resistance value of the motor.
In any of the above technical solutions, further, the preset conditions are: the absolute value of the difference value is continuously smaller than a preset threshold value within a preset duration.
In the technical scheme, according to the operation parameters acquired in real time and the prestored motor parameters, calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude in real time, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time for the establishment of the above-mentioned method exceeds the preset duration time, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, |u s The i is the command voltage amplitude value,
and epsilon is a preset threshold value for blocking the theoretical voltage amplitude.
A second aspect of the present invention provides an operation state determination system for determining whether a motor is in a locked-rotor state, the operation state determination system including: the acquisition module is used for acquiring the operation parameters and the motor parameters of the motor; the control module is used for determining the command voltage amplitude of the motor according to the operation parameters; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and determining the running state of the motor as the locked rotor state based on a comparison result that the difference value meets a preset condition.
In the technical scheme, the operation parameters of the water pump motor are obtained in real time through a control circuit, and simultaneously, the motor parameters prestored in a memory are obtained; the command voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile, the actual locked-rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. And calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and judging that the current motor is in the locked rotor state when the difference value meets the preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in the locked-rotor state or not can be judged through calculation according to the obtained running parameters and the pre-stored motor parameters, and additional sensors are not required to be arranged in a control circuit and the motor, so that the system cost is not increased, and further the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In the above technical solution, further, the control module is further configured to: controlling the motor to start to operate by adopting a control method of speed open loop and current closed loop; establishing an assumed coordinate axis of the motor, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees along the anticlockwise direction; controlling the current value of the q-axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d-axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In the technical scheme, the motor is started by adopting a control method of speed open loop and current closed loop, an assumed coordinate axis of the motor is established, the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees along the anticlockwise direction. The current value of the q axis on the assumed coordinate axis is controlled to be a first preset current value, the current value of the d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of the rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be calculated and judged through the operation parameters of the motor and the motor parameters, so that locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In any of the above technical solutions, further, the obtaining module is further configured to obtain a first voltage value of the d-axis and a second voltage value of the q-axis on the assumed coordinate axis; the control module is also used for calculating the command voltage amplitude according to the first voltage value and the second voltage value.
In the technical scheme, after the operation parameters are acquired, acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis according to the operation parameters, and calculating an instruction voltage amplitude through the following formula:
wherein, |u s I is the command voltage amplitude, u d At a first voltage value, u q Is the second voltage value.
In any of the above solutions, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the control module is also used for calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In the technical scheme, the pre-stored motor parameters specifically comprise an inductance value and a resistance value of the motor, and the locked-rotor theoretical voltage amplitude is calculated through the following formula:
wherein,,
to block the theoretical voltage amplitude, i cmd For a first preset current value omega t For preset rotation speed L s R is the inductance value of the motor s Is the resistance value of the motor. />
In any of the above technical solutions, further, the preset conditions are: the absolute value of the difference value is continuously smaller than a preset threshold value within a preset duration.
In the technical scheme, according to the operation parameters acquired in real time and the prestored motor parameters, calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude in real time, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time for the establishment of the above-mentioned method exceeds the preset duration time, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, |u s The i is the command voltage amplitude value,
and epsilon is a preset threshold value for blocking the theoretical voltage amplitude.
A third aspect of the invention provides an electric machine comprising an operating state determining system as described in any of the preceding claims, whereby the electric machine comprises all the advantages of an operating state determining system as described in any of the preceding claims.
A fourth aspect of the present invention provides a water pump comprising an operation state determination system as described in any one of the above aspects; and/or an electric machine as described in any of the above claims, the water pump thus comprises all the advantages of the operating state determining system as described in any of the above claims and/or the electric machine as described in any of the above claims.
A fifth aspect of the present invention provides a vehicle comprising the running state determination system as set forth in any one of the above-described aspects; and/or a water pump as described in any of the above claims, the vehicle thus comprises all the advantages of the operating state determining system as described in any of the above claims and/or the water pump as described in any of the above claims.
A sixth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the operating state determining method as described in any of the above-mentioned aspects, and therefore, the computer-readable storage medium comprises all the advantageous effects of the operating state determining method as described in any of the above-mentioned aspects.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 illustrates a flow chart of a method of operating state determination according to one embodiment of the invention;
FIG. 2 illustrates a flow chart of a method of operating state determination according to another embodiment of the present invention;
FIG. 3 shows a flow chart of a method of operating state determination according to yet another embodiment of the present invention;
fig. 4 shows a block diagram of an operational status determination system according to yet another embodiment of the present invention.
FIG. 5 shows a schematic diagram of an operational status determination system according to one embodiment of the present invention;
FIG. 6 illustrates a motor voltage schematic during normal rotation of a motor rotor according to one embodiment of the invention;
FIG. 7 illustrates a hypothetical coordinate axis vector diagram of motor voltage when the motor rotor is rotating normally, according to one embodiment of the present invention;
FIG. 8 shows a schematic diagram of motor voltage when the motor is in a locked state according to one embodiment of the invention;
fig. 9 shows a hypothetical coordinate axis vector diagram of motor voltage when the motor is in a locked state according to one embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An operation state determining method, an operation state determining system, a motor, a water pump, a vehicle, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 9.
As shown in fig. 1, in an embodiment of the first aspect of the present invention, there is provided an operation state determining method for determining whether a motor is in a locked state, the operation state determining method including:
s102, acquiring operation parameters and motor parameters of a motor;
s104, determining the command voltage amplitude of the motor according to the operation parameters;
s106, determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters;
s108, calculating a difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and determining the running state of the motor as the locked rotor state based on a comparison result that the difference value meets a preset condition.
In the embodiment, the operation parameters of the water pump motor are obtained in real time through the control circuit, and meanwhile, the motor parameters prestored in the memory are obtained; the command voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile, the actual locked-rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. And calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and judging that the current motor is in the locked rotor state when the difference value meets the preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in the locked-rotor state or not can be judged through calculation according to the obtained running parameters and the pre-stored motor parameters, and additional sensors are not required to be arranged in a control circuit and the motor, so that the system cost is not increased, and further the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Specifically, the motor is a permanent magnet synchronous motor, is applied to an electronic water pump of an automobile, and is started in a control mode of a speed ring open loop and a current ring closed loop. After the motor is started, the control circuit detects the operation parameters of the motor in real time, and calculates the command voltage amplitude of the motor according to the operation parameters; meanwhile, motor parameters which are inherited in a storage medium of the main control board are obtained, and the current motor locked-rotor theoretical voltage amplitude is calculated by combining the operation parameters and the motor parameters; and calculating the difference value between the current command voltage amplitude and the current running voltage amplitude in real time, and when the difference value meets the preset condition, indicating that the current motor is in a locked-rotor state, sending a warning prompt to a vehicle main control system by a motor control circuit, and acquiring a corresponding solution.
In one embodiment of the present invention, further, as shown in fig. 2, before the step of determining the command voltage amplitude of the motor and determining the stall theoretical voltage amplitude of the motor, the operation state determining method includes:
s202, controlling a motor to start to operate by adopting a control method of a speed open loop and a current closed loop;
s204, establishing an assumed coordinate axis of the motor;
s206, controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In this embodiment, the motor is started by adopting a control method of speed open loop and current closed loop, an assumed coordinate axis of the motor is established, the assumed coordinate axis comprises a d axis and a q axis, the q axis leads the d axis by 90 degrees along the anticlockwise direction, the current value of the q axis on the assumed coordinate axis is controlled to be a first preset current value, the current value of the d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of the rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked state or not can be calculated and judged through the operation parameters of the motor, so that the locked judgment with low cost, simple calculation, accurate judgment and high judgment reliability can be realized.
Preferably, the second preset current value is 0.
In one embodiment of the present invention, further, as shown in fig. 3, the step of determining the command voltage amplitude of the motor according to the operation parameter is specifically:
s302, acquiring a first voltage value of a d axis and a second voltage value of a q axis on an assumed coordinate axis;
s304, calculating the instruction voltage amplitude according to the first voltage value and the second voltage value.
In this embodiment, after the operation parameter is acquired, the first voltage value of the d-axis and the second voltage value of the q-axis on the assumed coordinate axis are acquired according to the operation parameter, and the command voltage amplitude is calculated by the following formula:
wherein, |u s I is the command voltageAmplitude, u d At a first voltage value, u q Is the second voltage value.
In one embodiment of the present invention, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the method comprises the steps of determining the locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters, and specifically comprises the following steps: and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In this embodiment, the pre-stored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked-rotor theoretical voltage amplitude is calculated by the following formula:
wherein,,
to block the theoretical voltage amplitude, i cmd For a first preset current value omega t For preset rotation speed L s R is the inductance value of the motor s Is the resistance value of the motor.
In one embodiment of the present invention, further, the preset conditions are: the absolute value of the difference value is continuously smaller than a preset threshold value within a preset duration.
In this embodiment, according to the operation parameter obtained in real time and the prestored motor parameter, the difference between the command voltage amplitude and the locked-rotor theoretical voltage amplitude is calculated in real time, and if the difference is smaller than the preset threshold, the following formula is established:
and the duration time for the establishment of the above-mentioned method exceeds the preset duration time, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, |u s The i is the command voltage amplitude value,
and epsilon is a preset threshold value for blocking the theoretical voltage amplitude.
As shown in fig. 4, in an embodiment of the fourth aspect of the present invention, there is provided an operation state determining system 400 for determining whether a motor is in a locked state, the operation state determining system 400 including: the system comprises an acquisition module 402 and a control module 404, wherein the acquisition module 402 is used for acquiring the operation parameters and the motor parameters of the motor; the control module 404 is configured to determine a command voltage magnitude of the motor based on the operating parameter; determining a locked-rotor theoretical voltage amplitude of the motor according to the operation parameters and the motor parameters; and calculating a difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and determining the running state of the motor as the locked rotor state based on a comparison result that the difference value meets a preset condition.
In the embodiment, the operation parameters of the water pump motor are obtained in real time through the control circuit, and meanwhile, the motor parameters prestored in the memory are obtained; the command voltage amplitude of the current motor can be determined according to the operation parameters of the motor, and meanwhile, the actual locked-rotor theoretical voltage amplitude of the current motor can be determined by combining the motor parameters and the operation parameters of the motor. And calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude, and judging that the current motor is in the locked rotor state when the difference value meets the preset condition. By applying the technical scheme provided by the invention, the running parameters of the water pump motor are obtained in real time, and whether the water pump motor is in the locked-rotor state or not can be judged through calculation according to the obtained running parameters and the pre-stored motor parameters, and additional sensors are not required to be arranged in a control circuit and the motor, so that the system cost is not increased, and further the locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
In one embodiment of the invention, further, the control module is further configured to: controlling the motor to start to operate by adopting a control method of speed open loop and current closed loop; establishing an assumed coordinate axis of the motor, wherein the coordinate axis comprises a d axis and a q axis, and the q axis leads the d axis by 90 degrees along the anticlockwise direction; controlling the current value of the q axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
In this embodiment, the motor is started using a control method of speed open loop and current closed loop, and an assumed coordinate axis of the motor is established, the coordinate axis including a d-axis and a q-axis, wherein the q-axis leads the d-axis by 90 degrees in the counterclockwise direction. The current value of the q axis on the assumed coordinate axis is controlled to be a first preset current value, the current value of the d axis is controlled to be a second preset current value, the rotating speed corresponding to the assumed coordinate axis is controlled to be increased to a preset rotating speed, and after the rotating speed of the rotor corresponding to the assumed coordinate axis reaches the preset speed, whether the current motor is in a locked-rotor state or not can be calculated and judged through the operation parameters of the motor and the motor parameters, so that locked-rotor judgment with low cost, simple calculation, accurate judgment and high judgment reliability is realized.
Preferably, the second preset current value is 0.
In one embodiment of the present invention, further, the obtaining module is further configured to obtain a first voltage value of the d-axis and a second voltage value of the q-axis on the assumed coordinate axis; the control module is also used for calculating the command voltage amplitude according to the first voltage value and the second voltage value.
In this embodiment, after the operation parameter is acquired, the first voltage value of the d-axis and the second voltage value of the q-axis on the assumed coordinate axis are acquired according to the operation parameter, and the command voltage amplitude is calculated by the following formula:
wherein, |u s I is the command voltage amplitude, u d At a first voltage value, u q Is the second voltage value.
In one embodiment of the present invention, further, the motor parameters include: an inductance value of the motor and a resistance value of the motor; the control module is also used for calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
In this embodiment, the pre-stored motor parameters specifically include an inductance value and a resistance value of the motor, and the locked-rotor theoretical voltage amplitude is calculated by the following formula:
wherein,,
to block the theoretical voltage amplitude, i cmd For a first preset current value omega t For preset rotation speed L s R is the inductance value of the motor s Is the resistance value of the motor.
In one embodiment of the present invention, further, the preset conditions are: the absolute value of the difference value is continuously smaller than a preset threshold value within a preset duration.
In the technical scheme, according to the operation parameters acquired in real time and the prestored motor parameters, calculating the difference value between the command voltage amplitude and the locked rotor theoretical voltage amplitude in real time, and if the difference value is smaller than a preset threshold value, the following formula is established:
and the duration time for the establishment of the above-mentioned method exceeds the preset duration time, namely, the current water pump motor is judged to be in the locked-rotor state. Wherein, |u s The i is the command voltage amplitude value,
and epsilon is a preset threshold value for blocking the theoretical voltage amplitude.
In one embodiment of the present invention, further, the operating state control system is specifically shown in FIG. 5, wherein the d-axis current is controlled to be 0 and the q-axis current is controlled to be i cmd To make the motor omega t Is operated at a rotational speed of (2). The control system acquires the operation parameters of the motor in real time, and specifically comprises q-axis current i cmd D-axis voltage u d And q-axis voltage u q The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, pre-stored motor parameters are obtained from a storage medium, and the motor parameters comprise an inductance value L of a motor s And a resistance value R s . After thatBy formula (1):
calculating the current command voltage amplitude |u of the motor s I, and further by formula (2):
calculating the current locked-rotor theoretical voltage amplitude of the motor
Further, the absolute value of the difference between (1) and (2) is calculated, and whether the difference satisfies the following formula is judged:
and when the duration time of the establishment of the above method exceeds the preset duration time T, judging that the current water pump motor is in the locked-rotor state. Wherein epsilon is a preset threshold.
Specifically, in the above calculation process, if the rotor rotates normally, a counter electromotive force e as shown in fig. 6 is generated in the motor 0 At this time, on the assumed coordinate axis, at the electromotive force e 0 Under the action of (a) the voltage u of the motor s As shown in fig. 7, is subjected to ωl at the same time s i s 、R s i s 、i s And e 0 Four component effects in total.
When the rotor is locked, no back electromotive force is generated, as shown in FIG. 8, and the voltage u of the motor is equal to s As shown in fig. 9, receives only ωl s i s 、R s i s And i s Is included in the three components of the composition.
Thus, according to the voltage u in the motor when the rotor is rotating normally and is in locked-rotor s Can accurately judge the current electricityWhether the machine is in a locked state.
In an embodiment of the third aspect of the invention, there is provided an electric machine comprising an operating state determining system as described in any of the embodiments above, whereby the electric machine comprises all the advantages of an operating state determining system as described in any of the embodiments above.
In an embodiment of a fourth aspect of the present invention, there is provided a water pump comprising the operating state determining system as described in any of the embodiments above; and/or an electric machine as in any of the embodiments described above, the water pump thus comprises all of the benefits of the operating condition determining system as in any of the embodiments described above and/or the electric machine as in any of the embodiments described above.
In an embodiment of a fifth aspect of the invention, there is provided a vehicle comprising an operating state determining system as described in any of the embodiments above; and/or a water pump as in any of the above embodiments, the vehicle thus includes all of the benefits of the operating condition determining system as in any of the above embodiments and/or the water pump as in any of the above embodiments.
In an embodiment of the sixth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the operating state determining method as described in any of the above embodiments, and therefore, the computer-readable storage medium includes all the advantageous effects of the operating state determining method as described in any of the above embodiments.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. An operation state determining method for determining whether a motor is in a locked-rotor state, the operation state determining method comprising:
establishing an assumed coordinate axis of the motor, and acquiring operation parameters and motor parameters of the motor, wherein the operation parameters comprise current values and voltage values in the assumed coordinate axis;
determining the command voltage amplitude of the motor according to the voltage value in the assumed coordinate axis;
determining a locked-rotor theoretical voltage amplitude of the motor according to the current value in the assumed coordinate axis and the motor parameter;
and calculating a difference value between the command voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
2. The operation state determining method according to claim 1, characterized in that, before the step of determining the command voltage amplitude of the motor and determining the stall theoretical voltage amplitude of the motor, the operation state determining method further comprises:
controlling the motor to start to run by adopting a control method of speed open loop and current closed loop;
the hypothetical coordinate axis includes a d-axis and a q-axis, wherein the q-axis leads the d-axis by 90 degrees in a counterclockwise direction;
and controlling the current value of the q-axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d-axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
3. The operation state determination method according to claim 2, wherein the step of determining the command voltage amplitude of the motor from the voltage values in the assumed coordinate axes is specifically:
acquiring a first voltage value of the d axis and a second voltage value of the q axis on the assumed coordinate axis;
and calculating the instruction voltage amplitude according to the first voltage value and the second voltage value.
4. The operating state determination method according to claim 2, wherein the motor parameters include: the inductance value of the motor and the resistance value of the motor;
the step of determining the locked-rotor theoretical voltage amplitude of the motor according to the current value in the assumed coordinate axis and the motor parameter specifically comprises the following steps:
and calculating the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotating speed.
5. The operation state determination method according to any one of claims 1 to 4, characterized in that the preset condition is:
and within a preset duration, the absolute value of the difference value is continuously smaller than a preset threshold value.
6. An operating condition determining system for determining whether an electric motor is in a locked-rotor condition, the operating condition determining system comprising:
the acquisition module is used for establishing an assumed coordinate axis of the motor, and acquiring operation parameters and motor parameters of the motor, wherein the operation parameters comprise current values and voltage values in the assumed coordinate axis;
the control module is used for determining the command voltage amplitude of the motor according to the voltage value in the assumed coordinate axis; and
determining a locked-rotor theoretical voltage amplitude of the motor according to the current value in the assumed coordinate axis and the motor parameter;
and calculating a difference value between the command voltage amplitude and the locked-rotor theoretical voltage amplitude, and determining the running state of the motor as the locked-rotor state based on a comparison result that the difference value meets a preset condition.
7. The operational status determination system of claim 6, wherein the control module is further configured to:
controlling the motor to start to run by adopting a control method of speed open loop and current closed loop;
establishing an assumed coordinate axis of the motor by taking the magnetic field direction of a rotor of the motor as a q-axis and taking any direction perpendicular to the magnetic field direction as a d-axis, wherein the assumed coordinate axis comprises a d-axis and a q-axis, and the q-axis leads the d-axis by 90 degrees along the anticlockwise direction;
and controlling the current value of the q-axis to be a first preset current value on the assumed coordinate axis, simultaneously controlling the current value of the d-axis to be a second preset current value, and controlling the rotating speed corresponding to the assumed coordinate axis to be increased to a preset rotating speed.
8. The operational state determination system of claim 7, further comprising:
the acquisition module is further used for acquiring a first voltage value of the d axis and a second voltage value of the q axis on the assumed coordinate axis;
the control module is further configured to calculate the command voltage amplitude according to the first voltage value and the second voltage value.
9. The operating condition determining system according to claim 7, wherein,
the motor parameters include: the inductance value of the motor and the resistance value of the motor; and
the control module is further configured to calculate the locked-rotor theoretical voltage amplitude according to the first preset current value, the inductance value, the resistance value and the preset rotation speed.
10. The operation state determination system according to any one of claims 6 to 9, wherein the preset condition is:
and within a preset duration, the absolute value of the difference value is continuously smaller than a preset threshold value.
11. An electric machine, characterized in that it comprises an operating state determination system according to any one of claims 6 to 10.
12. A water pump, characterized in that the water pump comprises an operation state determination system according to any one of claims 6 to 10; and/or
The electric machine of claim 11.
13. A vehicle, characterized in that the vehicle comprises an operation state determination system according to any one of claims 6 to 10; and/or
The water pump of claim 12.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the operating state determination method according to any one of claims 1 to 5.
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| CN101150294A (en) * | 2007-09-21 | 2008-03-26 | 艾默生网络能源有限公司 | A stall parameter identification method and device for an asynchronous motor |
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| JPS62112596A (en) * | 1985-11-11 | 1987-05-23 | 松下電器産業株式会社 | Electric control type washing machine |
| CN103344916B (en) * | 2013-06-28 | 2015-09-09 | 江苏浩峰汽车附件有限公司 | Motor rotation blockage detection method |
| CN105599894B (en) * | 2016-02-25 | 2017-08-25 | 南京航空航天大学 | A kind of stick force control method of aircraft master end lever system |
| CN105897082A (en) * | 2016-05-24 | 2016-08-24 | 天津平高智能电气有限公司 | Chassis/earthing switch control circuit of medium-voltage switch cabinet |
| CN106374434B (en) * | 2016-10-21 | 2019-01-29 | 广州视源电子科技股份有限公司 | Motor locked-rotor protection method and device |
| CN106452258B (en) * | 2016-11-11 | 2019-06-11 | 福建睿能科技股份有限公司 | A kind of three-phase induction motor parameter detection method and device |
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| CN101150294A (en) * | 2007-09-21 | 2008-03-26 | 艾默生网络能源有限公司 | A stall parameter identification method and device for an asynchronous motor |
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