Method, system, device and storage medium for adjusting operation of motor based on temperature

Abstract

The application provides a method, system, device and storage medium for adjusting motor operation based on temperature, and belongs to the technical field of motor control. The method comprises the following steps: a controller controls motor operation; a temperature detection device collects real-time temperature t of a motor stator winding; a sampling resistor collects a current signal flowing through the motor; the position of a rotor is calculated according to the collected real-time temperature t and the current signal of the motor; and the controller adjusts motor operation according to the calculated position of the rotor. The method directly collects real-time temperature and current when the motor is running, calculates the position of the electronic rotor, adjusts motor operation according to the position of the rotor, and solves the influence of temperature on electrode operation.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, system, device, and storage medium for adjusting motor operation based on temperature. Background Technology

[0002] In actual motor operation, the motor generates heat, which increases the resistance and inductance of the stator windings. Increased resistance leads to increased copper losses, and changes in resistance also cause changes in the motor's magnetic flux linkage. Increased inductance causes a phase difference in the microcontroller's rotor position detection, resulting in a deviation between the output motor operation signal and the actual rotor position. Ultimately, this leads to decreased motor performance or even abnormal motor operation. Currently, thermal compensation algorithms are often added to the motor's operating system. These algorithms compensate for changes in current across the sampling resistor and theoretically, changes in the stator windings due to temperature variations. This allows the motor to operate normally and maintain required efficiency even at high temperatures.

[0003] However, this compensation is based on the current change of the sampling resistor, and the temperature of the stator winding is indirectly estimated by the current according to theory. The deviation from the actual stator winding temperature is large, which can lead to problems in motor operation or poor efficiency under complex working conditions. Summary of the Invention

[0004] To overcome the problems existing in related technologies, one of the objectives of this invention is to provide a method for adjusting motor operation based on temperature. By directly collecting the real-time temperature and current during motor operation, the position of the electronic rotor is calculated, and the motor operation is adjusted according to the rotor position, thus solving the problem of the influence of temperature on electrode operation.

[0005] A method for adjusting motor operation based on temperature includes the following steps:

[0006] The controller controls the motor's operation;

[0007] The temperature detection device collects the real-time temperature t of the motor stator winding;

[0008] The sampling resistor collects the current signal flowing through the motor;

[0009] The rotor position is calculated based on the collected real-time temperature t and the motor current signal;

[0010] The controller adjusts the motor operation based on the calculated rotor position.

[0011] In a preferred embodiment of the present invention, the step of collecting the real-time temperature R... t Based on the motor's current signal, calculate the rotor position, including:

[0012] Calculate the real-time resistance R of the stator winding based on the real-time temperature t of the motor stator winding.t R t The calculation formula is as follows:

[0013] R t = (T+t) / (T+t0)*R t0

[0014] Where: R t R is the real-time resistance of the stator winding, in Ω; T is the temperature coefficient of the stator winding, which varies depending on the stator winding material, in Ω / ℃; t0 t0 represents the resistance of the stator winding at room temperature, in Ω; t0 represents the room temperature, in °C.

[0015] In a preferred embodiment of the present invention, the step of collecting the real-time resistance value R... t Calculating the rotor position using the motor's current signal also includes:

[0016] Calculate the real-time inductance L of the stator winding based on the real-time temperature t of the motor stator winding. t L t The calculation formula is as follows:

[0017] L t =α×L0+β, where: α=(ke×(t-t0)) / L0+1;

[0018] Where α is the rate of change of inductance with real-time temperature, and α is a constant; L0 is the inductance value of the stator winding at room temperature, in mH; β is an inductance change compensation constant, in mH; and ke is the coefficient of change of electronic winding inductance, in mH / ℃.

[0019] In a preferred embodiment of the present invention, the controller calculates the real-time resistance value R of the stator winding. t Real-time inductance L t Adjustments are made to the operation of the motor.

[0020] In a preferred embodiment of the present invention, the step of calculating the real-time resistance value R of the stator winding... t Real-time inductance L t The operation of the motor is adjusted, and the specific algorithm adjustment is as follows:

[0021] ψqs=L t ×Iqs;

[0022] ψqs=L t ×Iqs+ψm;

[0023] uqs=R t ×Iqs+dψqs / dt+ωr×ψds;

[0024] uqs=R t ×Iqs+dψds / dt+ωr×ψqs;

[0025] Wherein, ψqs is the q-axis value of the magnetic flux linkage, in Wb; ψds is the d-axis value of the magnetic flux linkage, in Wb; Iqs is the q-axis current calculated from the acquired current using coordinates, in mA; Ids is the d-axis current calculated from the acquired current using coordinates, in mA; ψm is the rotor magnetic flux linkage, which varies for different motors, in Wb; uqs is the q-axis value of the space vector voltage, in mV; uds is the d-axis value of the space vector voltage, in mV; ωr is the rotor electric angular velocity, calculated from the acquired current signal.

[0026] In a preferred embodiment of the present invention, the controller calculates the q-axis position and d-axis position of the rotor based on the q-axis value uqs and the d-axis value uds of the space vector voltage, thereby obtaining the rotor position and adjusting the operation of the motor.

[0027] In a preferred embodiment of the present invention, the temperature detection device includes a heat-conducting material and a temperature sensor, the temperature sensor being disposed directly above the stator winding, and the heat-conducting material being disposed between the temperature sensor and the stator winding.

[0028] A second objective of this invention is to provide a system for adjusting motor operation based on temperature. The system includes a controller and a temperature detection device. The controller is electrically connected to the temperature detection device. The temperature detection device is used to detect the real-time temperature of the motor stator winding during operation. The controller is capable of executing the method for adjusting motor operation based on temperature as described above.

[0029] A third objective of this invention is to provide an electronic device, comprising:

[0030] Processor; and

[0031] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0032] A fourth objective of this invention is to provide a non-transitory machine-readable storage medium storing executable code. When the executable code is executed by a processor of an electronic device, the processor performs the temperature-based motor operation method described above. By executing the temperature-based motor operation method, the processor can eliminate the impact of temperature rise on the motor during operation.

[0033] The beneficial effects of this invention are as follows:

[0034] This invention provides a method for adjusting motor operation based on temperature. This method uses a temperature detection device to collect the real-time temperature of the motor stator windings during operation, thus accurately obtaining the real-time temperature of the stator windings. This avoids the drawback of existing technologies that rely on sampling resistor current, resulting in a significant difference between the estimated stator winding temperature and the actual temperature. Therefore, it provides strong data support for the controller to compensate for and control the motor operation based on the real-time temperature of the stator windings. Based on the collected real-time temperature of the stator windings and the motor current collected by the sampling resistor, the controller calculates the actual position of the rotor using an algorithm. This allows the controller to adjust the motor operation according to the actual rotor position, eliminating the influence of temperature on motor operation, improving motor performance, and extending the motor's service life.

[0035] The present invention also provides a system for operating the above-described method for adjusting motor operation based on temperature. This system can adjust the operation of the motor according to the heat generated during motor operation, thus solving the problem of temperature affecting motor operation and improving motor performance. Attached Figure Description

[0036] Figure 1 This is a flowchart of the method for adjusting motor operation based on temperature provided by the present invention;

[0037] Figure 2 This is a flowchart provided by the present invention for calculating the rotor position based on the collected real-time temperature t and the motor current signal;

[0038] Figure 3 This is a side view of the temperature detection device provided by the present invention installed on the motor;

[0039] Figure 4 This is a schematic diagram of the temperature detection device provided by the present invention installed on the motor;

[0040] Figure 5 This is a schematic diagram of the system based on temperature-adjustable motor operation provided by the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0042] Figure label:

[0043] 1. Stator winding; 2. Temperature detection device; 3. Controller; 4. Motor; 5. Sampling resistor; 21. Temperature sensor; 22. Heat-conducting material; 31. Microcontroller; 32. Power module. Detailed Implementation

[0044] Preferred embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0045] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” as used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] like Figure 1-4 As shown, a method for adjusting motor operation based on temperature includes the following steps:

[0048] S100, the controller 3 controls the operation of the motor 4; the controller 3 includes a microcontroller 31 and a power module 32, the microcontroller 31 is electrically connected to the power module 32, and the microcontroller 31 drives the motor 4 to run through the power module 32.

[0049] S200, the temperature detection device 2 collects the real-time temperature t of the stator winding 1 of the motor 4; more specifically, the temperature detection device 2 includes a heat-conducting material 22 and a temperature sensor 21. The temperature sensor 21 is positioned directly above the stator winding 1, and the heat-conducting material 22 is positioned between the temperature sensor 21 and the stator winding 1. The temperature sensor 21 is a device that changes with temperature, such as an NTC resistor, a PTC resistor, or a temperature sensor. The temperature sensor 21 is located directly above the stator winding 1. The heat-conducting material 22 is a material that can better conduct the heat of the object being measured. The material itself is not critical and can be a heat-conducting paste, heat-dissipating patch, or other materials with good thermal conductivity. Simultaneously, the heat-conducting material 22 has good insulation properties, which can protect the electrical safety of the motor 4.

[0050] S300: Sampling resistor 5 collects the current signal flowing through motor 4; sampling resistor 5 samples the current and voltage flowing through motor 4. It should be noted that in actual applications, steps S200 and S300 are run simultaneously.

[0051] S400. Calculate the rotor position based on the collected real-time temperature t and the current signal of motor 4;

[0052] S500 and controller 3 adjust the operation of motor 4 according to the calculated rotor position. Adjusting the operation of motor 4 is mainly done by adjusting the driving algorithm of motor 4 to change the operating condition of motor 4, so as to eliminate the deviation between the motor 4 operation signal output by microcontroller 31 and the actual rotor position.

[0053] The aforementioned method for adjusting motor operation based on temperature uses a temperature detection device 2 to collect the real-time temperature of the stator winding 1 of the motor 4 during operation, thus accurately obtaining the real-time temperature of the stator winding 1. This avoids the drawback of existing technologies that rely on sampling resistor 5 to collect the current, resulting in a significant difference between the estimated stator winding 1 temperature and the actual temperature. This provides strong data support for the controller 3 to compensate for and control the operation of the motor 4 based on the real-time temperature of the stator winding 1. The controller 3 calculates the actual rotor position using an algorithm based on the collected real-time temperature of the stator winding 1 and the motor 4 current collected by sampling resistor 5. This allows the controller to adjust the operation of the motor 4 according to the actual rotor position, eliminating the influence of temperature on the motor 4's operation, improving the performance of the motor 4, and extending its service life.

[0054] Furthermore, the step of calculating the rotor position based on the collected real-time temperature t and the current signal of motor 4 includes the following steps:

[0055] S410. Calculate the real-time resistance R of stator winding 1 based on the real-time temperature t of stator winding 1 of motor 4. t The resistance of stator winding 1 of motor 4 will change with temperature, R t The following relationship exists between temperature and temperature:

[0056] R t = (T+t) / (T+t0)*R t0

[0057] Where: R t R is the real-time resistance of the stator winding, in Ω; T is the temperature coefficient of the stator winding, which varies depending on the stator winding material, in Ω / ℃; t0 t0 represents the resistance of the stator winding at room temperature, in Ω; t0 represents the room temperature, in °C.

[0058] S420. Calculate the real-time inductance L of stator winding 1 based on the real-time temperature t of stator winding 1 of motor 4. t L t The calculation formula is as follows:

[0059] L t =α×L0+β, where: α=(ke×(t-t0)) / L0+1;

[0060] Where α is the rate of change of inductance with real-time temperature, and α is a constant; L0 is the inductance value of the stator winding at room temperature, in mH; β is an inductance change compensation constant, in mH; and ke is the coefficient of change of electronic winding inductance, in mH / ℃.

[0061] S420, Controller 3 calculates the real-time resistance value R of stator winding 1. t The real-time inductor Lt is used to adjust the driving algorithm of motor 4.

[0062] More specifically, the real-time resistance R of stator winding 1 obtained from the calculation t Real-time inductance L t The operation of motor 4 is adjusted, and the specific algorithm adjustment is as follows:

[0063] ψqs=L t ×Iqs;

[0064] ψqs=L t ×Iqs+ψm;

[0065] uqs=R t ×Iqs+dψqs / dt+ωr×ψds;

[0066] uqs=R t ×Iqs+dψds / dt+ωr×ψqs;

[0067] Wherein, ψqs is the q-axis value of the magnetic flux linkage, in Wb; ψds is the d-axis value of the magnetic flux linkage, in Wb; Iqs is the q-axis current calculated from the acquired current using coordinates, in mA; Ids is the d-axis current calculated from the acquired current using coordinates, in mA; ψm is the rotor magnetic flux linkage, which varies for different motors, in Wb; uqs is the q-axis value of the space vector voltage, in mV; uds is the d-axis value of the space vector voltage, in mV; ωr is the rotor electric angular velocity, calculated from the acquired current signal.

[0068] Since voltage is generated during magnetic field motion, it is the integral of flux linkage over time, i.e., u = dψ / dt. Then, ωr is the integral of the rotor electrical angle over time. By using the q-axis and d-axis values ​​of the flux linkage, the mathematical model is transformed into the q- and d-axis coordinate system of motor 4, achieving decoupling of the q- and d-axis, thus obtaining good control characteristics for motor 4. Existing techniques for transforming the q-axis and d-axis values ​​of the flux linkage into the q- and d-axis coordinate system of motor 4 for motor 4 control will not be elaborated here.

[0069] Furthermore, the controller 3 calculates the q-axis position and d-axis position of the rotor based on the q-axis value uqs and the d-axis value uds of the space vector voltage, thereby obtaining the rotor position and adjusting the drive signal to adjust the operation of the motor 4.

[0070] See Figure 5 The present invention also provides a system for operating the above-described method for adjusting motor operation based on temperature. This system includes a controller 3 and a temperature detection device 2, wherein the controller 3 is electrically connected to the temperature detection device 2, and the temperature detection device 2 is used to detect the real-time temperature of the stator winding 1 of the motor 4 during operation. This system can adjust the operation of the motor 4 according to the heat generated during operation, thus solving the problem of temperature affecting the operation of the motor 4 and improving the performance of the motor 4.

[0071] The present invention also provides an electronic device, comprising:

[0072] Processor; and

[0073] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0074] The present invention also provides a non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above for operating the temperature-adjustable motor 4.

[0075] See Figure 6 The electronic device 1000 provided by the present invention includes a memory 1010 and a processor 1020.

[0076] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0077] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0078] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.

[0079] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different emphases; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0080] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0081] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the methods described above according to this application.

[0082] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in connection with the present application can be implemented as electronic hardware, computer software, or a combination of both.

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0084] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for adjusting motor operation based on temperature, characterized in that, include: The controller controls the motor's operation; The temperature detection device collects the real-time temperature t of the motor stator winding; The sampling resistor collects the current signal flowing through the motor; Based on the collected real-time temperature t and motor current signal, the rotor position is calculated; including: Calculate the real-time resistance R of the stator winding based on the real-time temperature t of the motor stator winding. t R t The calculation formula is as follows: ； Where: R t R is the real-time resistance of the stator winding, in Ω; T is the temperature coefficient of the stator winding, which varies depending on the stator winding material, in Ω / ℃; t0 t0 represents the resistance of the stator winding at room temperature, in Ω; t0 represents the room temperature, in °C. Calculate the real-time inductance L of the stator winding based on the real-time temperature t of the motor stator winding. t L t The calculation formula is as follows: ;in: ; Where α is the rate of change of inductance with real-time temperature, and α is a constant; L0 is the inductance value of the stator winding at room temperature, in mH; β is an inductance change compensation constant, in mH; and ke is the coefficient of change of electronic winding inductance, in mH / ℃. The controller calculates the real-time resistance R of the stator winding. t Real-time inductance L t The operation of the motor is adjusted; the specific algorithm adjustment is as follows: ； ； ； ； in, This represents the q-axis value of the magnetic flux linkage, in Wb. Ids is the d-axis value of the magnetic flux linkage, in Wb; Iqs is the q-axis current calculated from the collected current using coordinates, in mA; Ids is the d-axis current calculated from the collected current using coordinates, in mA. ω is the rotor flux linkage, in Wb; uqs is the q-axis value of the space vector voltage, in mV; uds is the d-axis value of the space vector voltage, in mV; ωr is the rotor electric angular velocity, calculated by acquiring the current signal. The controller calculates the rotor's q-axis and d-axis positions based on the space vector voltage q-axis value uqs and the space vector voltage d-axis value uds, thereby obtaining the rotor position and adjusting the motor's operation.

2. The method for operating a motor based on temperature regulation according to claim 1, characterized in that: The temperature detection device includes a heat-conducting material and a temperature sensor. The temperature sensor is positioned directly above the stator winding, and the heat-conducting material is positioned between the temperature sensor and the stator winding.

3. A system for regulating motor operation based on temperature, the system comprising a controller and a temperature detection device, the controller being electrically connected to the temperature detection device, the temperature detection device being used to detect the real-time temperature of the motor stator windings during operation, characterized in that: The controller is capable of executing the method for operating a motor based on temperature adjustment as described in claim 1.

4. An electronic device, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in claim 1.

5. A non-transitory machine-readable storage medium, characterized in that, It stores executable code, which, when executed by the processor of the electronic device, causes the processor to perform the method for operating the motor based on temperature adjustment as described in claim 1.

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