Data processing method and apparatus for motor overload detection

Abstract

The invention discloses a data processing method and apparatus for motor overload detection. The method comprises steps: the heat dissipation power of the motor is determined, and the heat upper limitthreshold of the motor is determined, wherein the heat upper limit threshold is used to determine whether the motor is overloaded; the current heating power of the motor is obtained; and according tothe heating power, the heat dissipation power, and the heat upper limit threshold, whether the motor is overloaded is judged. Missed judgment does not happen easily in comparison with a simple one-size-fits-all judgment mode for maximum current and maximum current holding time, and thus, the technical effects that even if the rated current is exceeded a little, if the duration time is long enough, overload judgment can still be triggered can be realized, and the technical problem that missed judgment is likely to happen when the judgment is carried out by the magnitude of the current is further solved.

Description

Technical field [0001] This application relates to the technical field of robotics, and specifically to a data processing method and device for motor overload detection. Background technique [0002] When the robot encounters a wall or jam during operation, the motor overload will cause permanent damage to the motor. Therefore, it is necessary to judge the motor overload and make corresponding protection control, and restore the motor control when appropriate. The traditional judgment method is based on current detection. The idea is to detect that the current is higher than a certain threshold I_max and hold for a period of time T, then it is judged as overload, such as image 3 Shown: [0003] However, the limitations of this method are as follows: [0004] 1. The judgment model is too simple. For example, when the threshold is set to 9A, when the motor current is 8.9A, no matter how long it is maintained, the overload judgment condition cannot be triggered. However, 8.9A is alread...

AI Technical Summary

Problems solved by technology

[0004] 1. The judgment model is too simple. For example, if the threshold is set to 9A, when the motor current is 8.9A, no matter how long it lasts, the overload judgment condition cannot be triggered. However, 8.9A is very close to 9A. After a period of time, it will cause the motor to burn out;

[0005] 2. It is difficult to set the threshold I_max and the holding time T, because there are two parameters that need to be debugged and the selection of the two parameters is not independent. If the setting is too high or too low, it will cause failure or false triggering, which will add great difficulties to debugging:

[0006] 3. Easily distracted

However, the motor will not be damaged due to a short-term current drop, so overload protection cannot be achieved. Although such effects can be reduced through filtering algorithms, it will cause the real-time performance of current data to decline, and the motor cannot be protected in time.

[0007] For one or more technical problems in related technologies, no effective solutions have been proposed so far

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