Motor device, control system and method and apparatus for detecting operating voltage thereof

Abstract

The application discloses a kind of open-winding motor operating voltage detection method, open-winding motor operating voltage detection device, motor control system and motor equipment, the open-winding motor operating voltage detection method includes the following steps: obtaining the zero-phase voltage when open-winding motor runs, and obtaining the drive voltage of any phase in the three-phase drive voltage output to inverter;According to the zero-phase voltage and the drive voltage of any phase in the three-phase drive voltage output to inverter, the phase voltage of open-winding motor is determined;And according to the phase voltage of the open-winding motor and the preset phase voltage, the operating voltage of the open-winding motor is calculated.The open-winding motor operating voltage detection method of the present application can solve the problem of affecting the control effect of open-winding motor due to the unknown output voltage range of double inverter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of permanent magnet synchronous motor control, and particularly relates to a detection method for working voltage of open-winding motor, a detection device for working voltage of open-winding motor, a motor control system and a motor device. BACKGROUND

[0002] The existing open-winding motor is driven by double inverters, which can theoretically apply 2 times high voltage to the motor to expand the operating range of the motor. However, the double-inverter motor driving circuit in the prior art needs to be assisted by a zero-phase current suppression control mode to more accurately control the neutral point potential of the double inverter and the voltage output from the double inverter to the motor. This driving mode can theoretically apply 2 times high voltage to the motor compared to the original single-inverter driving to expand the operating range of the motor.

[0003] However, in practice, how many times the voltage applied by the double inverter to the motor can actually reach, there is currently no detection method to detect the specific output multiple, so in actual control, the algorithm can only be set conservatively according to the estimated multiple, for example, the output multiple of 1.6 times of the single-inverter driving is usually used to set the algorithm to control the motor. Obviously, since the actual multiple cannot be known, when the actual output voltage of the inverter does not match the multiple set in the algorithm, not only the motor speed, torque and other aspects cannot reach the preset control effect, but also the control effect of the speed, motor current and vibration is reduced. SUMMARY

[0004] The main purpose of the present application is to provide a detection method for working voltage of open-winding motor, which aims to solve the problem of affecting the control effect of open-winding motor due to unknown output voltage range of double inverter.

[0005] To achieve the above-mentioned purpose, the present application provides a detection method for working voltage of open-winding motor. The detection method for working voltage of open-winding motor comprises the following steps:

[0006] Obtaining the zero-phase voltage when the open-winding motor is running, and obtaining the driving voltage of any phase of the three-phase driving voltage output to the inverter;

[0007] Determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter; and

[0008] Calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage.

[0009] Optionally, the step of determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter comprises:

[0010] determining a first amplitude value and a first phase angle of the zero-phase voltage, and determining a second amplitude value and a second phase angle of the driving voltage output to any phase of the three-phase driving voltage of the inverter;

[0011] determining a maximum value of the second amplitude value according to the second amplitude value and the second phase angle, and determining a third phase angle of the driving voltage output to any phase of the three-phase winding by the inverter; and

[0012] calculating the phase voltage of the open-winding motor according to the first amplitude value, the maximum value of the second amplitude value, the third phase angle and a first preset formula, the first preset formula being Vdc-1= • (Vdc-Vz_amp)•sin(θ+nπ);

[0013] wherein Vdc-1 is the phase voltage of the open-winding motor, Vz_amp is the first amplitude value, Vdc is the maximum value of the second amplitude value, θ is the third phase angle, greater than zero and not greater than 1, and nπ is an initial phase angle of the phase voltage.

[0014] Optionally, the step of calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage specifically comprises:

[0015] performing operation on the phase voltage of the open-winding motor, the preset phase voltage and a second preset formula to calculate the working voltage of the open-winding motor, the second preset formula being: .

[0016] Optionally, after the step of calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage, the method for detecting the working voltage of the open-winding motor further comprises:

[0017] acquiring the working voltage of the open-winding motor in the . taking 1 and sin(θ+nπ) taking 1 in the . taking and sin(θ+nπ) taking 1, and configuring the working voltage of the open-winding motor as the upper limit working voltage of the open-winding motor.

[0018] Optionally, the step of determining the first amplitude value and the first phase angle of the zero-phase voltage comprises:

[0019] The zero-phase voltage is substituted into a third preset formula to calculate a first amplitude value and a first phase angle of the zero-phase voltage, the third preset formula being Vz=Bsin(nωt-α), wherein the Vz is the zero-phase voltage, the B is the first amplitude value, the nωt-α is the first phase angle, the α is a phase difference, n is a harmonic component number in the three-phase current, and ωt is an electrical angle of the open-winding motor.

[0020] Optionally, the preset phase voltage is a phase voltage measured in a case where a three-phase winding of a motor in star connection or delta connection is controlled by using the same parameters as the open-winding motor.

[0021] Optionally, before the steps of obtaining the zero-phase voltage of the open-winding motor in operation and obtaining the driving voltage output to any phase of the three-phase driving voltage of the inverter, the method further comprises:

[0022] configuring a three-phase winding of a motor in star connection, and controlling the motor in operation by using the same parameters as the open-winding motor; and

[0023] obtaining a phase voltage of any phase of the three-phase winding of the motor in operation, Vdc-2= • (Vdc / 2) • sin(θ+nπ), and configuring the phase voltage as a preset phase voltage;

[0024] wherein the Vdc-2 is the phase voltage of any phase of the three-phase winding, and nπ is an initial phase angle of the phase voltage.

[0025] Optionally, the step of obtaining the zero-phase voltage required by the open-winding motor in operation comprises:

[0026] obtaining three-phase currents Iu, Iv and Iw for driving the open-winding motor in operation;

[0027] substituting the three-phase currents Iu, Iv and Iw into the following formula: calculating a zero-phase current of the open-winding motor in operation, wherein, the zero-phase current of the open-winding motor in operation; and

[0028] obtaining the zero-phase voltage according to the zero-phase current.

[0029] The application further provides an open-winding motor working voltage detection device, which comprises:

[0030] a memory;

[0031] a processor; and

[0032] A detection program of the open-winding motor stored on the memory and executable on the processor, wherein the processor implements the detection method of the open-winding motor operating voltage as described above when executing the detection program of the open-winding motor.

[0033] The application further provides a motor control system, which comprises:

[0034] a sampling unit configured to sample the open-winding motor and output corresponding sampling signals;

[0035] an inverter unit configured to convert DC power into AC power through inversion and output the AC power to the motor to drive the open-winding motor to operate; and

[0036] a master control unit comprising the detection device of the open-winding motor operating voltage as described above, and connected with the sampling unit and the inverter unit respectively; the master control unit is configured to generate corresponding motor control parameters according to the obtained upper limit value of the open-winding motor operating voltage to drive the inverter unit to control the open-winding motor to operate.

[0037] Optionally, the master control unit further comprises:

[0038] a zero-phase current ripple suppressor configured to obtain the zero-phase voltage of the open-winding motor during operation according to the sampling signals output by the sampling unit and output the zero-phase voltage; and

[0039] a single-phase phase-locked loop configured to receive the zero-phase voltage output by the zero-phase current ripple suppressor, obtain a first amplitude value and a first phase angle, and output the first amplitude value and the first phase angle to the detection device of the open-winding motor operating voltage.

[0040] The application further provides a motor device, which comprises an open-winding motor and the motor control system as described above.

[0041] The three-phase controlled terminals of the open-winding motor are connected with the three-phase output terminals of the motor control system.

[0042] The method for detecting the working voltage of the open-winding motor comprises the following steps: obtaining the zero-phase voltage when the open-winding motor is running, obtaining the driving voltage of any phase of the three-phase driving voltage output to the inverter, determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter, and calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0044] Figure 1 The flowchart of an embodiment of the method for detecting the working voltage of the open-winding motor;

[0045] Figure 2 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor; Figure 1 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor;

[0046] Figure 3 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor;

[0047] Figure 4 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor; Figure 2 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor;

[0048] Figure 5 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor;

[0049] Figure 6 The flowchart of another embodiment of step S200 in the method for detecting the working voltage of the open-winding motor;

[0050] Figure 7 The structural diagram of the hardware running environment of an embodiment of the detection device for the working voltage of the open-winding motor;

[0051] Figure 8 Fig. 1 is a schematic diagram of a hardware structure of an embodiment of the motor device of the present application;

[0052] Figure 9 Fig. 2 is a schematic diagram of a hardware structure of an embodiment of the zero-phase current ripple suppressor of the present application; Figure 8

[0053] Figure 10 Fig. 3 is a schematic diagram of a waveform structure of any one of the three-phase driving voltages output by the detection device of the open-winding motor of the present application under the condition that the working voltage of the open-winding motor fluctuates most.

[0054] Brief Description of the Drawings

[0055]

[0056] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0058] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the accompanying drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0059] In the present application, unless otherwise explicitly specified and limited, the terms “connection”, “fixation” and the like should be understood in a broad sense, for example, “fixation” can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0060] ​In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0061] The present application provides a kind of open-winding motor operating voltage detection method.

[0062] In the embodiment, the open-winding motor operating voltage detection method can be applied to the control system of open-winding motor, and the occurrence stage can be before the formal operation of open-winding motor. The control system of open-winding motor can include a sampling unit for collecting various operating parameters of open-winding motor, an inverter unit for outputting three-phase voltage to drive open-winding motor to work, and a master control unit for controlling the operation of inverter unit according to the operating parameters collected by the sampling unit. The inverter unit can include a main inverter and an auxiliary inverter.

[0063] Referring to Figure 1 In an embodiment of the present application, the open-winding motor operating voltage detection method comprises the following steps:

[0064] Step S100, obtain the zero-phase voltage when the open-winding motor is running, and obtain the driving voltage of any phase of the three-phase driving voltage output to the inverter;

[0065] In the embodiment, since any inverter in the inverter unit outputs three-phase voltage to drive the open-winding motor to work under the control of the master control unit, the master control unit can acquire the sampling value of each phase voltage output by any inverter to the open-winding motor through the sampling unit, and can calculate the three-phase drive voltage (i.e. the three-phase drive voltage after zero-phase voltage compensation) for driving the inverter to output each phase voltage according to the sampling value. At this time, the master control unit can also acquire the three-phase drive voltage (i.e. the three-phase drive voltage before zero-phase voltage compensation) corresponding to the sampling value and output to the inverter according to the hardware short circuit and software program or algorithm integrated for generating the three-phase drive voltage by itself, so that the master control unit can calculate the zero-phase voltage according to the difference between the two. It can be understood that the master control unit can output a plurality of control signals to control the opening / closing of the corresponding switching devices in each inverter according to the integrated hardware short circuit and software program or algorithm, so as to drive the inverter to output three-phase voltage. Therefore, the three-phase voltage output by each inverter to the open-winding motor has a one-to-one correspondence with the plurality of control signals output by the master control unit to each inverter. The embodiment takes the three-phase drive voltage as an example to explain and illustrate the plurality of control signals output by the master control unit to each inverter.

[0066] Step S200, determining the phase voltage of the open-winding motor according to the zero-phase voltage and the drive voltage of any phase of the three-phase drive voltage output to the inverter; and

[0067] In the embodiment, the zero-line voltage can also be divided into three phases to compensate the three-phase drive voltage output by the master control unit to the inverter respectively. Therefore, the master control unit can acquire the three-phase drive voltage actually received by the inverter according to the zero-line voltage and the drive voltage of any phase of the three-phase drive voltage output to the inverter, and then can acquire the three-phase voltage output by the inverter to the open-winding motor and the phase voltage between each phase winding of the inverter by calculating the switching frequency of the inverter in inverter conversion.

[0068] Step S300, calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage.

[0069] In this embodiment, the open-winding motor itself is equivalent to opening the center point of the original motor structure to a separate winding, so the preset phase voltage can be the phase voltage of the motor using the original motor structure. The main control unit can also calculate various parameters of the phase voltage of the original motor structure motor according to the pre-stored various algorithms, such as maximum value, minimum value, or average value, etc. It can be understood that the main control unit can calculate the various parameters of the phase voltage of the open-winding motor by using the phase voltage of the open-winding motor and the various parameters of the preset phase voltage. For example, the main control unit can first obtain the multiple relationship of the average value of the preset phase voltage and the maximum value and the minimum value thereof, and then obtain the multiple relationship of the phase voltage of the open-winding motor and the average value of the preset phase voltage, so that the main control unit can use the above three multiple relationships to reduce or enlarge the relevant data by the same proportion, and then the maximum value and the minimum value of the phase voltage of the open-winding motor can be obtained. Of course, in actual application, the various parameters of the preset phase voltage and the calculation logic between them and the phase voltage of the open-winding motor are determined according to actual needs, which are not limited herein, for example, the calculation logic can also be limit or calculus, etc. After obtaining the maximum value and the minimum value of the phase voltage of the open-winding motor, the working voltage range of the open-winding motor and the voltage range of the three-phase voltage output to the open-winding motor by the inverter can be determined by the person skilled in the art according to the motor principle of the open-winding motor.

[0070] The detection method of the working voltage of the open-winding motor of the present application obtains the zero-phase voltage when the open-winding motor is running, and obtains the driving voltage of any phase of the three-phase driving voltage output to the inverter; and determines the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter; and calculates the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage. The present application can obtain the working voltage range of the open-winding motor and the voltage range of the three-phase voltage output to the open-winding motor by the inverter in advance before controlling the operation of the open-winding motor, so that the person skilled in the art can configure the related algorithm for controlling the operation of the open-winding motor in the main control unit according to the above range, so that the output voltage of the inverter is always within the above range, avoiding the output voltage outside the output range of the inverter, thereby solving the problem that the control effect of the open-winding motor is affected due to the unknown output voltage range of the double inverter.

[0071] Reference Figure 2 In an embodiment of the present application, the step S200 of determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter includes:

[0072] Step S210, determining the first amplitude value and the first phase angle of the zero-phase voltage, and determining the second amplitude value and the second phase angle of the driving voltage output to any phase of the three-phase driving voltage of the inverter;

[0073] In this embodiment, the main control unit can configure the maximum value of the zero-phase voltage obtained in one period as the first amplitude value, and can also determine the time corresponding to one period according to the time at which the maximum value of the zero-phase voltage appears for the second time. It can be understood that the negative of the calculation result obtained by subtracting the time at which the first amplitude value appears for the first time from one-half of the period is the first phase angle. When the main control unit calculates the three-phase driving voltage of the driving inverter outputting each phase voltage through the sampling value, it can also calculate the maximum value of each phase voltage and the corresponding period of time according to the real-time fluctuation state of the sampling value of each phase voltage. The process of determining the second amplitude value and the second phase angle of each phase driving voltage according to the maximum value and the period of time can be consistent with the process of determining the first amplitude value and the first phase angle, which will not be described here.

[0074] Step S220, determining the maximum value of the second amplitude value according to the second amplitude value and the second phase angle, and determining the third phase angle of the driving voltage output to any phase of the three-phase winding of the inverter;

[0075] In this embodiment, the voltage value corresponding to each phase driving voltage output to the inverter fluctuates between 0 and the second amplitude value, so the maximum value of the second amplitude value is the voltage value corresponding to the second amplitude value. The main control unit can obtain the working state of each switching device in the inverter according to the second amplitude value and the second phase angle, and then obtain the phase angle of each phase voltage output by the inverter, i.e., the third phase angle.

[0076] Step S230, calculating the phase voltage of the open-winding motor according to the first amplitude value, the maximum value of the second amplitude value, the third phase angle, and a first preset formula, wherein the first preset formula is Vdc-1= • (Vdc-Vz_amp) • sin(θ+nπ);

[0077] wherein Vdc-1 is the phase voltage of the open-winding motor, Vz_amp is the first amplitude value, Vdc is the maximum value of the second amplitude value, θ is the third phase angle, selected from 0 to 1, and nπ is the initial phase angle of each phase voltage.

[0078] In this embodiment, the first preset formula represents the real-time state of the phase voltage of the open-winding motor; wherein, The amplitude proportional coefficient is represented by (Vdc-Vz_amp), the amplitude of the phase voltage of the open-winding motor is represented by (Vdc-Vz_amp), the real-time fluctuation state of each phase voltage with the third phase angle θ is represented by sin(θ+nπ), nπ can be selected as 0°, 120° or 240° according to the number of phases, and the solution and the reason can be that Vdc is greater than Vz_amp. According to the first preset formula, the detection method of the working voltage of the open-winding motor can obtain the phase voltage of any phase of the open-winding motor under any amplitude proportional coefficient, any amplitude and any phase, so that when detecting, the mutual inspection between different phase detection results can be realized by detecting each phase of the open-winding motor, and then the accuracy of the finally obtained working voltage of the open-winding motor can be ensured.

[0079] With reference to Figure 3 In an embodiment of the present application, the step S300 of calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage is specifically:

[0080] The phase voltage of the open-winding motor, the preset phase voltage and the second preset formula are operated to calculate the working voltage of the open-winding motor, and the second preset formula is: .

[0081] In the embodiment, The specific meanings of the identifiers in the above formula are the same as those in the first preset formula, which will not be repeated here; and in the formula, The amplitude proportional coefficient of the motor with the original motor structure can be represented by (Vd / 2), the amplitude of the phase voltage of the motor with the original motor structure can be represented by (Vd / 2), and the real-time fluctuation state of each phase voltage with each phase angle θ in the motor with the original motor structure can be represented by sin(θ+nπ). nπ can also be selected as 0°, 120° or 240° according to the number of phases. Therefore, the numerator of the second preset formula can represent the phase voltage of the open-winding motor (denoted by Vdc-1 in the embodiment), the denominator can represent the preset phase voltage (denoted by Vdc-2 in the embodiment), and the equation can be obtained:

[0082] And in the case that the original motor structure is consistent with the open-winding motor structure, and the test conditions are the same, it can be simplified as ​In this equation, Vdc in the numerator is the maximum value of the second amplitude, and Vdc in the denominator is the maximum value of any phase amplitude of the three-phase drive voltage output from the motor using the original motor structure to the inverter. Vdc-2 can be selected from various parameters of the phase voltage of the original motor structure motor according to actual conditions. V_amp is the first amplitude. Therefore, the right side of the simplified equation is a constant, and thus, the value of Vdc-1 is also a constant. This invention's method for detecting the operating voltage of an open-winding motor cleverly utilizes the voltage data of the original motor structure motor and its operating voltage to obtain the operating voltage of the open-winding motor by simultaneously solving the phase voltage of the open-winding motor, a preset phase voltage, and a second preset formula. This solves the problem that existing technologies cannot directly measure and obtain the voltage.

[0083] Reference Figure 3 In one embodiment of the present invention, after step S300 of calculating the operating voltage of the open-winding motor based on the phase voltage of the open-winding motor and a preset phase voltage, the method for detecting the operating voltage of the open-winding motor further includes step S400:

[0084] Obtain in middle Take 1 and sin(θ+nπ) take 1 and in the above middle Pick The operating voltage of the open-winding motor when sin(θ+nπ) is 1 is determined, and this operating voltage is configured as the upper limit operating voltage of the open-winding motor.

[0085] In this embodiment, when the molecule is When both sin(θ+nπ) and θ are 1, the phase voltage Vdc-1 of the open-winding motor reaches its maximum value, i.e., Vdc-1 = In the denominator Pick When sin(θ+nπ) is 1, the phase voltage of the motor using the original motor structure also reaches its maximum value. Substituting the above value into the second preset formula, we can obtain... At this point, Vdc-2 can be taken as the maximum value, that is, Vdc-2 = Vdc. Therefore, It is understandable that Vdc-1 is also the maximum value of the operating voltage of the open-winding motor at this moment. It should be noted that since the stage applied in this invention can precede the motor control stage, those skilled in the art can adjust the phase angle in the zero-phase voltage to supplement it and output it to the three-phase drive voltage of the inverter, thereby driving the inverter to control the open-winding motor under different operating conditions. (Refer to...) Figure 10The skilled in the art can adjust the phase angle in the zero-phase voltage to π (in the following embodiment, i.e. α=π), at which the fluctuation of the three-phase voltage output from the inverter to the open-winding motor is the largest, and the maximum value of the measured operating voltage under this test condition is also the maximum operating voltage value in all operating conditions. Thus, the host control unit can configure the maximum value of the operating voltage as an upper limit operating voltage parameter in the software program or algorithm for controlling the three-phase voltage output from the inverter, so that the maximum value of the three-phase voltage output from the inverter to the open-winding motor is less than or equal to the maximum value of the operating voltage.

[0086] Referring to Figure 4 In an embodiment of the present application, the step S210 of determining the first amplitude value and the first phase angle of the zero-phase voltage comprises:

[0087] The zero-phase voltage is substituted into a third preset formula to determine the first amplitude value and the first phase angle of the zero-phase voltage, the third preset formula being: Vz=Bsin(nωt-α), wherein the Vz is the zero-phase voltage, the B is the first amplitude value, the nωt-α is the first phase angle, the α is the phase difference, n is the order of the harmonic component in the three-phase current, and ωt is the electrical angle of the open-winding motor.

[0088] In the embodiment, the host control unit can convert the voltage values of the real-time acquired zero-phase voltages into the form of voltage curves, and can determine the curve expression of the voltage curves; the host control unit can acquire the maximum voltage value of the voltage curves by analyzing the expression of the voltage curves and configure the maximum voltage value as the first amplitude value, and can also acquire the phase difference of the zero-phase voltage, the order of the harmonic component in the three-phase current, and the electrical angle of the open-winding motor to calculate the first phase angle, or the host control unit can directly compare the expression of the voltage curves with the third preset formula to directly acquire the first amplitude value and the first phase angle. In an optional embodiment, n is 3, representing the third harmonic component in the three-phase current. The detection method of the operating voltage of the open-winding motor of the present application represents the real-time fluctuation amplitude of the operating voltage of the open-winding motor by using the amplitude value and the phase angle of the zero-phase voltage, and then acquires the operating voltage range of the open-winding motor according to the represented fluctuation amplitude.

[0089] Referring to Figure 5 In an embodiment of the present application, the preset phase voltage is the phase voltage measured under the condition that the three-phase winding adopts star connection or delta connection and the motor adopts the same parameters as the open-winding motor.

[0090] Further, before the steps S100 of acquiring the zero-phase voltage of the open-winding motor in operation and acquiring the driving voltage of any phase in the three-phase driving voltage output to the inverter are performed, the detection method of the operating voltage of the open-winding motor further comprises:

[0091] Step S500, configure the three-phase winding of the motor to adopt star connection, and control the motor to operate by using the same parameters as the open-winding motor;

[0092] Step S600, obtain the phase voltage of any one phase of the three-phase winding of the motor when the motor is operating, Vdc-2= (Vdc / 2)•sin(θ+nπ), and configure the phase voltage to be a preset phase voltage;

[0093] Vdc-2 is the phase voltage of any one phase of the three-phase winding, nπ is the initial phase angle of each phase voltage.

[0094] In the embodiment, the original structure motor of the open-winding motor can be star connection or delta connection, and the embodiment is explained by taking the star connection as an example. Before testing, a motor in star connection (the motor in star connection is driven by a single inverter) can be configured, and the inverter is driven to control the motor to operate until the zero-phase voltage of the motor is equal to the zero-phase voltage of the open-winding motor, that is, the real-time phase voltage of any one phase of the three-phase voltage of the motor in star connection is obtained under the condition that the parameters are the same as those of the open-winding motor. The real-time phase voltage can be represented by the voltage curve Vdc-2= (Vdc / 2)•sin(θ+nπ), wherein, (Vd / 2) represents the amplitude of the phase voltage of the motor in star connection, sin(θ+nπ) represents the real-time fluctuation state of each phase voltage of the motor in star connection with the phase angle θ, and nπ can be selected as 0°, 120° or 240° according to the number of phases. When the original structure is delta connection, the obtained voltage curve represents a line voltage curve, which can be converted into a phase voltage curve and then the working voltage of the open-winding motor is obtained according to the detection method of the working voltage of the open-winding motor. In this way, before the formal test starts, the original structure motor can obtain various voltage data under the same test conditions, which can be used to configure the preset phase voltage.

[0095] Referring to Figure 6 In an embodiment of the present application, the step of obtaining the zero-phase voltage required for the open-winding motor to operate includes:

[0096] Step S700, obtain the three-phase current Iu, Iv and Iw for driving the open-winding motor to operate;

[0097] Step S800, substitute the three-phase current Iu, Iv and Iw into the following formula: to calculate the zero-phase current of the open-winding motor when the motor is operating, wherein, is the zero-phase current of the open-winding motor when the motor is operating;

[0098] Step S900, calculating zero-phase voltage according to zero-phase current.

[0099] In this embodiment, the main control unit can obtain the three-phase current outputted from the inverter to the open-winding motor through the sampling unit, and can calculate the average compensation value of the zero-phase voltage to the three-phase current according to the formula It can be understood that in the ideal case, i.e. without zero-phase current compensation, Iz=0, so after zero-phase voltage compensation, Iz is equal to 0, and the average value of the sum of the three-phase current represents the average compensation value of the zero-phase voltage to the three-phase current; the main control unit can calculate the size of the zero-phase voltage corresponding to the average compensation value. It should be noted that in actual application, the change of the neutral point potential in the open-winding motor will also affect the upper limit of the three-phase voltage outputted from the inverter to the open-winding motor, and the essence of the zero-phase voltage is the voltage compensation for the change of the neutral point potential in the three-phase voltage, so the present application obtains the working voltage of the open-winding motor through the zero-phase voltage, which can avoid the error of the calculated working voltage of the open-winding motor in actual application due to the change of the neutral point potential.

[0100] The present application also provides a detection device for the working voltage of an open-winding motor, which can be applied in a motor control system.

[0101] Referring to Figure 7 In an embodiment of the present application, the detection device for the working voltage of an open-winding motor comprises:

[0102] a memory 101;

[0103] a processor 102; and

[0104] a detection program for the open-winding motor stored on the memory 101 and executable on the processor 102, wherein the processor 102 implements the detection method for the working voltage of the open-winding motor as described above when executing the detection program for the open-winding motor.

[0105] In this embodiment, the memory 101 can be a high-speed RAM memory, or a stable memory (non-volatile memory) such as a disk memory, and the memory 101 can optionally be a storage device independent of the aforementioned control device; the processor 102 can be a CPU. The memory 101 and the processor 102 are connected through a communication bus 103, which can be a UART bus or an I2C bus. It can be understood that other related programs can also be provided in the detection device to drive other functional units in the motor control system to work.

[0106] The present application also provides a motor control system.

[0107] Referring toFigure 8 In an embodiment of the present application, the motor control system comprises:

[0108] a sampling unit 10 configured to sample the open-winding motor 40 and output corresponding sampling signals;

[0109] an inverter unit 20 configured to convert DC power into AC power and output the AC power to the motor to drive the open-winding motor 40 to work; and

[0110] a master control unit 30, which comprises a detection device for detecting the working voltage of the open-winding motor, and is connected to the sampling unit 10 and the inverter unit 20 respectively; the master control unit 30 is configured to generate corresponding motor control parameters according to the upper limit value of the working voltage of the open-winding motor to drive the inverter unit 20 to control the open-winding motor 40 to work.

[0111] In the embodiment, the sampling unit 10 can be a current / voltage sensor; the inverter unit 20 can be a double-inverter structure, i.e., comprising a main inverter and an auxiliary inverter, both of which are connected in series through a voltage bus and form a power loop with a DC power supply to convert the DC voltage output by the DC power supply into three-phase AC voltage and output the three-phase AC voltage to the open-winding motor 40.

[0112] The master control unit 30 can be an upper computer or a PLC, which can be integrated with corresponding hardware circuits and software programs or algorithms, and can be connected to other functional units in the motor control system through ports and wires to output corresponding control signals to the functional units to control their working states by running the hardware circuits and software programs or algorithms and calling corresponding parameter data, and can accept various signals fed back by the functional units during work to realize overall monitoring of the motor control system. In the embodiment, the master control unit 30 can obtain the upper limit working voltage of the open-winding motor 40, i.e., the upper limit value of the motor working voltage, by the above-mentioned detection method for detecting the working voltage of the open-winding motor, and can configure the upper limit working voltage as a related parameter in the inverter driver program, so that the master control unit 30 will not output an output multiple exceeding the set output multiple in the software program or algorithm when driving the inverter to control the open-winding motor to work, thereby achieving the preset control effect of the open-winding motor 40 in terms of speed, torque, and other aspects, and stabilizing the control effect of the open-winding motor 40 in terms of speed, motor current vibration, and other aspects.

[0113] Reference Figure 8 In an embodiment of the present application, the master control unit 30 further comprises:

[0114] a zero-phase current ripple suppressor 31 configured to obtain the zero-phase voltage of the open-winding motor 40 during work according to the sampling signals output by the sampling unit 10 and output the zero-phase voltage;

[0115] A single-phase phase-locked loop 32 is configured to receive the zero-phase voltage output by the zero-phase current ripple suppressor 31, to obtain a first amplitude value and a first phase angle, and to output the first amplitude value and the first phase angle to the detection device of the operating voltage of the open-winding motor.

[0116] In this embodiment, the sampling unit 10 is configured to sample the three-phase alternating current output by the auxiliary inverter to the open-winding motor 40, and output the current sampling signals to the detection device of the operating voltage of the open-winding motor and the zero-phase current ripple suppressor 31, respectively. The zero-phase current ripple suppressor 31 is configured to determine the zero-phase voltage for compensating the driving voltage of each phase output by the detection device of the operating voltage of the open-winding motor according to the received current sampling signals of each phase of the alternating current, and to superimpose the determined zero-phase voltage to the driving voltage of each phase for compensation.

[0117] The single-phase phase-locked loop 32 can be integrated with an ADC conversion circuit for digital-to-analog conversion, a storage device for storing an analysis program or algorithm, and a processing device for calling the content stored in the storage device. The single-phase phase-locked loop 32 can analyze and process the zero-phase voltage after digital-to-analog conversion by calling the analysis program or algorithm, to obtain a first amplitude value and a first phase angle, and can output the first amplitude value and the first phase angle to the detection device of the operating voltage of the open-winding motor, so that the detection device can calculate the operating voltage of the open-winding motor 40 according to the first amplitude value and the first phase angle. The present application sets the zero-phase current ripple suppressor 31 and the single-phase phase-locked loop 32, and obtains the first amplitude value and the first phase angle of the zero-phase voltage by the single-phase phase-locked loop 32 and outputs them to the detection device, so that the detection device can configure corresponding motor control parameters according to the first amplitude value and the first phase angle, so that the output voltage of the inverter unit 20 can match the set motor control parameters.

[0118] The present application further provides a motor device, which comprises an open-winding motor 40 and a motor control system as described above.

[0119] The three-phase controlled terminals of the open-winding motor 40 are connected to the three-phase output terminals of the motor control system.

[0120] In view of the fact that the motor device comprises the above-described motor control system, the detailed structure of the motor control system can refer to the above-described embodiments, which will not be described herein again. It can be understood that, since the above-described motor control system is used in the motor device, the embodiments of the motor device comprise all the technical solutions of all the embodiments of the above-described motor control system, and the technical effects achieved are also completely the same, which will not be described herein again.

[0121] In this embodiment, the three-phase output terminals of the motor control system are the three-phase output terminals of the inverter unit 20, i.e. the three-phase output terminals of the main inverter and the auxiliary inverter. The three-phase output terminals of the motor control system are connected in one-to-one correspondence with the three-phase controlled terminals of the open-winding motor 40.

[0122] It can be understood that, Figure 8 This does not constitute a limitation on the motor device of the present application, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0123] The above description is only optional embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A method of detecting operating voltage of an open-winding electric machine, characterized by, The method for detecting the working voltage of the open-winding motor comprises the following steps: obtaining the zero-phase voltage when the open-winding motor is running, and obtaining the driving voltage of any phase of the three-phase driving voltage output to the inverter; determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter; and calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and a preset phase voltage; the preset phase voltage is the phase voltage of a corresponding original motor structure of the open-winding motor.

2. The method of claim 1, wherein, The step of determining the phase voltage of the open-winding motor according to the zero-phase voltage and the driving voltage of any phase of the three-phase driving voltage output to the inverter comprises: determining the first amplitude value and the first phase angle of the zero-phase voltage, and determining the second amplitude value and the second phase angle of the driving voltage of any phase of the three-phase driving voltage output to the inverter; determining the maximum value of the second amplitude value according to the second amplitude value and the second phase angle, and determining the third phase angle of the driving voltage of any phase of the three-phase winding output by the inverter; and The phase voltage of the open-winding motor is calculated according to the first amplitude value, the maximum value of the second amplitude value, the third phase angle and a first preset formula, the first preset formula being Vdc-1= • (Vdc-Vz_amp) • sin(θ+nπ); Wherein, Vdc-1 is the phase voltage of the open-winding motor, Vz_amp is the first amplitude value, Vdc is the maximum value of the second amplitude value, θ is the third phase angle, greater than zero and not greater than 1, nπ is the initial phase angle of each phase voltage.

3. The method of claim 2, wherein the open-winding motor operating voltage is detected by: The step of calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage specifically comprises: performing calculation on the phase voltage of the open-winding motor, the preset phase voltage and a second preset formula to obtain the working voltage of the open-winding motor, wherein the second preset formula is: 。 4. The method of claim 3, wherein the open-winding motor operating voltage is detected by: After the step of calculating the working voltage of the open-winding motor according to the phase voltage of the open-winding motor and the preset phase voltage, the method for detecting the working voltage of the open-winding motor further comprises: acquire the operating voltage of the open-winding electric machine when cos(θ + nπ) takes 1 and sin(θ + nπ) takes 1, and configure the operating voltage as the upper limit operating voltage of the open-winding electric machine. in the cos(θ + nπ) takes 1 and sin(θ + nπ) takes 1, and configure the operating voltage as the upper limit operating voltage of the open-winding electric machine. in the cos(θ + nπ) takes 1 and sin(θ + nπ) takes 1, and configure the operating voltage as the upper limit operating voltage of the open-winding electric machine. cos(θ + nπ) takes 1 and sin(θ + nπ) takes 1, and configure the operating voltage as the upper limit 5. The method of claim 2, wherein the open-winding motor operating voltage is detected by: The step of determining the first amplitude value and the first phase angle of the zero-phase voltage comprises: substituting the zero-phase voltage into a third preset formula to determine the first amplitude value and the first phase angle of the zero-phase voltage, wherein the third preset formula is: Vz=Bsin(nωt-α), wherein the Vz is the zero-phase voltage, the B is the first amplitude value, the nωt-α is the first phase angle, the α is a phase difference, the n is the number of harmonic components in the three-phase current, and the ωt is the electrical angle of the open-winding motor.

6. The method of claim 1, wherein, The preset phase voltage is the phase voltage measured under the condition that the three-phase winding adopts star connection or delta connection and the motor with the same parameters as the open-winding motor.

7. The method of claim 4, wherein the open-winding motor operating voltage is detected by: Before the steps of obtaining the zero-phase voltage when the open-winding motor is running, and obtaining the driving voltage of any phase of the three-phase driving voltage output to the inverter are performed, the method for detecting the working voltage of the open-winding motor further comprises: configuring the three-phase winding of a motor to adopt star connection and to control the motor to run with the same parameters as the open-winding motor; and Obtaining the phase voltage of any one phase of the three-phase winding of the motor in operation, Vdc-2= • (Vdc / 2)•sin(θ+nπ), and configuring the phase voltage as a preset phase voltage; wherein Vdc-2 is the phase voltage of any phase of the three-phase winding, and nπ is the initial phase angle of each phase voltage.

8. The method of claim 1, wherein, The step of obtaining the zero-phase voltage required for the open-winding motor to run comprises: obtaining the three-phase current Iu, Iv and Iw for driving the open-winding motor to run; Substitute the three-phase currents Iu, Iv, and Iw into the following equation: Calculate the zero-phase current when the open-winding motor is running, where, is the zero-phase current when the open-winding motor is running; and calculating the zero-phase voltage according to the zero-phase current.

9. A device for detecting the operating voltage of an open-winding electric machine, characterized in that it comprises: The detection device for the working voltage of the open-winding motor comprises: a memory; a processor; and A detection program of the open-winding motor stored on a memory and executable on a processor, the processor implementing the detection method of the operating voltage of the open-winding motor according to any one of claims 1-8 when executing the detection program of the open-winding motor.

10. An electric motor control system characterized by, The motor control system comprises: a sampling unit configured to sample the open-winding motor and output corresponding sampling signals; an inverter unit configured to output alternating current to the motor after inverting and converting direct current connected thereto, so as to drive the open-winding motor to operate; and a master control unit comprising the detection device of the operating voltage of the open-winding motor according to claim 9, the master control unit being connected to the sampling unit and the inverter unit respectively, and configured to generate corresponding motor control parameters according to the obtained upper limit value of the operating voltage of the open-winding motor, so as to drive the inverter unit to control the open-winding motor to operate.

11. The motor control system of claim 10, wherein, The master control unit further comprises: a zero-phase current ripple suppressor configured to obtain the zero-phase voltage of the open-winding motor when operating according to the sampling signals output by the sampling unit and output the zero-phase voltage; and a single-phase phase-locked loop configured to receive the zero-phase voltage output by the zero-phase current ripple suppressor, so as to obtain a first amplitude value and a first phase angle, and output the first amplitude value and the first phase angle to the detection device of the operating voltage of the open-winding motor.

12. An electric machine apparatus, characterized by The motor device comprises the open-winding motor and the motor control system according to any one of claims 10-11. The three-phase controlled terminals of the open-winding motor are connected to the three-phase output terminals of the motor control system.

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