A method for estimating and protecting motor winding temperature

Abstract

The invention discloses a motor winding temperature estimation and protection method, comprising the following steps: S1, acquiring a BP neural network heat dissipation model of the motor winding; S2, calculating the temperature of the motor winding; S3, protecting the motor winding. Since the neural network can accurately model the heat dissipation process under complex heat dissipation conditions, the present invention is more suitable for application scenarios with relatively complex heat dissipation conditions; the motor winding current is used to calculate the winding heating temperature change rate caused by loss; the winding heat dissipation The temperature change rate and the winding heating temperature change rate are used to calculate the winding temperature; the calculated winding temperature is used to limit the motion control output to the motor by using a multi-section temperature cut-off curve to protect the winding temperature to prevent damage caused by excessive winding temperature.

Description

technical field [0001] The invention belongs to the field of motors, and relates to a method for estimating and protecting the temperature of motor windings. Background technique [0002] In the field of robotics, motors are playing an increasingly important role as electromechanical energy conversion devices. With the advancement of robot technology, the volume and quality of robots are becoming smaller and smaller, which requires high-power-density motors as drive mechanisms. Traditional It is difficult for the current protection technology to make the motor run beyond the maximum sustainable current, so that it cannot provide high peak torque to improve the transient response capability of the robot joints. However, when the motor is running, a temperature sensor is placed on the winding to detect the winding temperature in real time and monitor Protection usually leads to an increase in the size of the motor, so when the motor is running, the temperature sensor is often ...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, the estimation of the motor winding temperature is mainly divided into the following two methods. The first method uses the relationship between the motor winding resistance and the winding temperature to calculate the winding temperature based on the winding resistance. This method needs to detect the relationship between voltage and current Calculating the resistance value of the winding requires voltage injection, which may cause malfunction of the motor and decrease the control accuracy, so it is difficult to apply to the servo system with high precision requirements. The second type uses the calculation of the equivalent thermal resistance from the winding to the outer surface of the heat dissipation shell and Copper loss and other stator losses are used to calculate the winding temperature, using either a thermodynamic model or a thermal circuit method. This method requires more accurate prior information of the winding heat dissipation model. However, this method is complex and uncertain when the heat dissipation device is relatively large in the actual application process. It is relatively difficult, so this method is difficult to apply to the winding temperature calculation under the complex heat dissipation structure under which the thermodynamic model is difficult to obtain accurately

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