Method, device and electronic equipment for controlling motor start

Abstract

Embodiments of the present application disclose a motor starting control method and device and electronic equipment. The method comprises: determining that the motor is at a safe starting temperature; detecting the speed and direction of rotation of the motor; enabling the starting acceleration and starting time of the motor according to the speed and direction of rotation of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the headwind rotation speed of the motor, the starting time of the motor is proportional to the headwind rotation speed of the motor, and the headwind rotation speed of the motor is determined according to the speed and direction of rotation of the motor; and controlling the motor to be in a starting standby state according to the bus voltage of the motor. Through the present application, the technical problem that the motor starting is easily affected by low temperature, headwind and other harsh working conditions in the related art, resulting in the motor being unable to start effectively, is solved, the adaptability of the motor in harsh working conditions is improved, the starting efficiency of the motor is improved, and the technical effect of effectively ensuring the safe and reliable operation of the motor is achieved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a control method, device, and electronic device for starting a motor. Background Technology

[0002] Currently, variable frequency drives are transitioning towards high efficiency and integrated machine control. Using traditional electrolytic capacitors in the variable frequency drive section increases system size and cost, and also has a shorter lifespan compared to film capacitors. Therefore, drive and control systems using film capacitors or small electrolytic capacitors are increasingly favored by the market and represent the future trend. However, using film capacitors or small electrolytic capacitors also presents control challenges, especially during startup.

[0003] As motor systems increasingly move towards group control and integration, the turbulence between fans during operation in a wind-controlled environment makes the fan startup conditions more complex. When there are both normally operating motors and motors that are not yet started in the wind-controlled environment, without a unique group control startup strategy, there is a risk of system startup failure, excessively long startup cycles, or even system damage if a unique group control startup strategy is not adopted for these motors that are about to start.

[0004] At this point, the motor's state during startup is uncertain; it may be stationary, running against the wind, or running with the wind, and there may be high or low speeds depending on whether it's with or against the wind. Because the system uses a thin-film or small electrolytic capacitor design, the bus capacitor value is relatively small. Under sensorless operation conditions, direct braking and starting under high headwind speeds or heavy headwind loads may cause a voltage surge on the bus, potentially leading to high-voltage breakdown of the bus capacitor and the Insulated Gate Bipolar Transistor (IGBT), resulting in damage to the control system. Therefore, effective and rapid starting under headwind conditions, reducing braking time, and improving system startup efficiency presents a new challenge.

[0005] Furthermore, the application areas of current integrated drive and control solutions are becoming increasingly widespread. Coastal areas need to withstand typhoons and salt spray corrosion, while northern regions require resistance to low-temperature starting. If the motor solution uses a ferrite core, special starting measures are required to ensure the motor does not easily lose magnetism. In low-temperature environments, small electrolytic capacitors may also experience internal electrolyte solidification, leading to a decrease in effective capacitance and preventing normal operation.

[0006] No effective solution has yet been proposed to address the above problems. Summary of the Invention

[0007] This invention provides a control method, device, and electronic device for starting a motor, to at least solve the technical problem in the related art that motor starting is easily affected by harsh working conditions such as low temperature and headwind, resulting in the motor failing to start effectively.

[0008] According to one aspect of the present invention, a control method for starting a motor is provided, comprising: determining that the motor is at a safe starting temperature; detecting the speed and direction of the motor; enabling the starting acceleration and starting time of the motor based on the speed and direction of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the reverse wind speed of the motor, the starting time of the motor is directly proportional to the reverse wind speed of the motor, and the reverse wind speed of the motor is determined based on the speed and direction of the motor; and controlling the motor to be in a ready-to-start state based on the bus voltage of the motor, wherein the ready-to-start state includes at least one of the following: a low-speed state and a stationary state.

[0009] Optionally, before determining that the motor is at a safe starting temperature, the method further includes: acquiring the winding temperature and capacitor temperature of the motor; determining whether the winding temperature of the motor is less than a first temperature threshold and whether the capacitor temperature of the motor is less than a second temperature threshold; if the winding temperature of the motor is less than the first temperature threshold and / or the capacitor temperature of the motor is less than the second temperature threshold, then controlling the motor to reach a safe starting temperature; if the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, then determining that the motor has reached a safe starting temperature.

[0010] Optionally, obtaining the winding temperature and capacitor temperature of the motor includes: obtaining the sensor temperature collected at the controller of the motor; and querying the correspondence arrays between sensor temperature and winding temperature and between sensor temperature and capacitor temperature according to the sensor temperature collected at the controller of the motor to obtain the winding temperature and capacitor temperature of the motor.

[0011] Optionally, controlling the motor to reach a safe starting temperature includes: obtaining the rotor position of the motor; and heating the motor according to the rotor position until the motor reaches a safe starting temperature.

[0012] Optionally, detecting the speed and direction of the motor includes: detecting the motor based on a direct stator flux linkage observer and a high-frequency injection (HFI) algorithm to obtain the speed and direction of the motor.

[0013] Optionally, controlling the motor to be in a standby state based on the motor's bus voltage includes: determining whether the motor's bus voltage is greater than a predetermined threshold; if the bus voltage is greater than the predetermined threshold, adjusting the motor's operating parameters until the motor is in a standby state; if the bus voltage is less than or equal to the bus voltage threshold, controlling the motor to be in a standby state.

[0014] Optionally, the operating parameters of the motor include the motor's torque output value. Adjusting the operating parameters of the motor includes: calling a voltage suppression function, wherein the expression of the voltage suppression function is as follows:

[0015] T 输出 =k p ·ΔU+∫(k i ·ΔU)+T0

[0016] Among them, T 输出 This represents the torque output value of the motor, ΔU represents the difference between the upper limit of the motor's bus voltage and the real-time value of the motor's bus voltage, and k p k represents the proportionality coefficient. i The integral coefficient is represented by T0, which represents the last torque output value of the motor before overvoltage. The torque output value of the motor is controlled according to the voltage suppression function.

[0017] Optionally, the expression for the inverse relationship between the starting acceleration of the motor and the reverse wind speed of the motor is: w∞k1 / a 2 The expression for the motor's start-up time being directly proportional to its counter-wind speed is: w∞k2*t; where w represents the motor's counter-wind speed, a 2 Let t represent the starting acceleration of the motor, t represent the starting time of the motor, k1 represent the proportionality coefficient that is inversely proportional to the starting acceleration of the motor and the motor speed against the wind, and k2 represent the proportionality coefficient that is directly proportional to the starting time of the motor and the motor speed against the wind.

[0018] According to another aspect of the present invention, a motor starting control device is also provided, comprising: a determining module for determining a temperature at which the motor is safe to start; a detecting module for detecting the speed and direction of the motor; a monitoring module for enabling the starting acceleration and starting time of the motor based on the speed and direction of the motor, and monitoring the bus voltage of the motor, wherein the starting acceleration of the motor is inversely proportional to the reverse wind speed of the motor, the starting time of the motor is directly proportional to the reverse wind speed of the motor, and the reverse wind speed of the motor is determined based on the speed and direction of the motor; and a controlling module for controlling the motor to be in a ready-to-start state based on the bus voltage of the motor, wherein the ready-to-start state includes at least one of the following: a low-speed state and a stationary state.

[0019] According to another aspect of the present invention, an electronic device is also provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method steps described in any one of the preceding embodiments.

[0020] In this embodiment of the invention, the following steps are taken: determining the temperature at which the motor is safe to start; detecting the speed and direction of the motor; enabling the starting acceleration and starting time of the motor based on the speed and direction of the motor, and monitoring the motor bus voltage; wherein the starting acceleration of the motor is inversely proportional to the motor's reverse wind speed, and the starting time of the motor is directly proportional to the motor's reverse wind speed, and the reverse wind speed of the motor is determined based on the speed and direction of the motor; and controlling the motor to be in a ready-to-start state based on the motor bus voltage, wherein the ready-to-start state includes at least one of the following: low speed state, stationary state. In other words, the embodiments of the present invention first determine that the motor is at a safe starting temperature, then detect the motor speed and direction of rotation, and then enable the motor's starting acceleration and starting time based on the motor speed and direction of rotation, and monitor the motor's bus voltage. The motor's starting acceleration is inversely proportional to the motor's upwind speed, and the motor's starting time is directly proportional to the motor's upwind speed. The upwind speed is determined based on the motor's speed and direction of rotation. Finally, based on the motor's bus voltage, the motor is controlled to be in a ready-to-start state, which includes at least one of the following: low-speed state and stationary state. This solves the technical problem in related technologies where motor starting is easily affected by harsh working conditions such as low temperature and upwind, resulting in the motor's inability to start effectively. It achieves the technical effect of improving the motor's adaptability under harsh working conditions, improving the motor's starting efficiency, and effectively ensuring the safe and reliable operation of the motor. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 A flowchart of a motor starting control method provided in an embodiment of the present invention;

[0023] Figure 2 A flowchart of a motor starting control method provided in an optional embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a motor starting control device provided in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish different objects, rather than to limit a specific order.

[0027] According to one aspect of the present invention, a control method for starting a motor is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0028] Figure 1 A flowchart of the motor starting control method provided in the embodiments of the present invention is shown below. Figure 1 As shown, the method includes the following steps:

[0029] Step S102: Determine that the motor is at a safe starting temperature;

[0030] It should be noted that if the motor winding temperature is greater than or equal to the first temperature threshold and the motor capacitor temperature is greater than or equal to the second temperature threshold, then the motor can be determined to be at a safe starting temperature.

[0031] Step S104: Detect the speed and direction of the motor;

[0032] Step S106: Based on the speed and direction of the motor, enable the starting acceleration and starting time of the motor, and monitor the bus voltage of the motor. The starting acceleration of the motor is inversely proportional to the motor's reverse speed, and the starting time of the motor is directly proportional to the motor's reverse speed. The reverse speed of the motor is determined based on the speed and direction of the motor.

[0033] In one alternative implementation, the expression for the inverse relationship between the motor's starting acceleration and its counter-wind speed is: w∞k1 / a 2 The expression for the motor's starting time being directly proportional to its reverse wind speed is: w∞k2*t; where w represents the motor's reverse wind speed, a 2 t represents the starting acceleration of the motor, k1 represents the starting time of the motor, k2 represents the proportionality coefficient that is inversely proportional to the starting acceleration of the motor and the reverse speed of the motor, and k2 represents the proportionality coefficient that is directly proportional to the starting time of the motor and the reverse speed of the motor.

[0034] It should be noted that by utilizing the speed and direction of the motor, the starting acceleration and starting time of the motor can be improved. This can solve the problem of starting with or against the wind caused by eddy current disturbances between motor loads under group control conditions, thereby increasing the success rate of motor starting, reducing starting time, improving starting efficiency, and ensuring the safety and reliability of the motor.

[0035] Step S108: Based on the bus voltage of the motor, control the motor to be in a standby state, wherein the standby state includes at least one of the following: low speed state, stationary state.

[0036] The aforementioned low-speed state refers to a motor speed greater than zero and less than a preset speed threshold. This preset speed threshold can be set according to the needs of the application scenario; for example, it can be set to 10 rpm, 15 rpm, or 20 rpm. The stationary state refers to a motor speed equal to zero. In practical implementation, whether in a low-speed or stationary state, the motor can be considered to be in a ready-to-start state. After power-on, the motor will operate at low speed or in a stationary state, ensuring the motor's safety and reliability under both tailwind and headwind conditions.

[0037] In an optional implementation, after controlling the motor to a ready-to-start state based on the motor's bus voltage, the method further includes: receiving a motor control command, wherein the motor control command is used to instruct the motor to adjust its operating state; controlling the motor's operating state according to the motor control command, wherein the operating state includes, but is not limited to, acceleration, deceleration, braking, and stopping. After the motor completes the above-mentioned low-temperature start-up and active braking anti-reverse process, the motor operates at low speed or in a stationary state, while simultaneously receiving the motor control command and ensuring the motor operates normally as required.

[0038] The aforementioned motors include, but are not limited to, permanent magnet synchronous motors and ferrite motors.

[0039] In this embodiment of the invention, the following steps are taken: determining the temperature at which the motor is safe to start; detecting the speed and direction of the motor; enabling the starting acceleration and starting time of the motor based on the speed and direction of the motor, and monitoring the motor bus voltage; wherein the starting acceleration of the motor is inversely proportional to the motor's reverse wind speed, and the starting time of the motor is directly proportional to the motor's reverse wind speed, and the reverse wind speed of the motor is determined based on the speed and direction of the motor; and controlling the motor to be in a ready-to-start state based on the motor bus voltage, wherein the ready-to-start state includes at least one of the following: low speed state, stationary state. In other words, the embodiments of the present invention first determine that the motor is at a safe starting temperature, then detect the motor speed and direction of rotation, and then enable the motor's starting acceleration and starting time based on the motor speed and direction of rotation, and monitor the motor's bus voltage. The motor's starting acceleration is inversely proportional to the motor's upwind speed, and the motor's starting time is directly proportional to the motor's upwind speed. The upwind speed is determined based on the motor's speed and direction of rotation. Finally, based on the motor's bus voltage, the motor is controlled to be in a ready-to-start state, which includes at least one of the following: low-speed state and stationary state. This solves the technical problem in related technologies where motor starting is easily affected by harsh working conditions such as low temperature and upwind, resulting in the motor's inability to start effectively. It achieves the technical effect of improving the motor's adaptability under harsh working conditions, improving the motor's starting efficiency, and effectively ensuring the safe and reliable operation of the motor.

[0040] In an optional implementation, before determining that the motor is at a safe starting temperature, the method further includes: acquiring the winding temperature and capacitor temperature of the motor; determining whether the winding temperature of the motor is less than a first temperature threshold and whether the capacitor temperature of the motor is less than a second temperature threshold; if the winding temperature of the motor is less than the first temperature threshold and / or the capacitor temperature of the motor is less than the second temperature threshold, then controlling the motor to reach a safe starting temperature; if the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, then determining that the motor has reached a safe starting temperature.

[0041] Optionally, it is first necessary to obtain the winding temperature and capacitor temperature of the motor, and then determine whether the winding temperature is less than a first temperature threshold and whether the capacitor temperature is less than a second temperature threshold. This will lead to the following different application scenarios: 1) If any of the following situations occurs: the winding temperature is less than the first temperature threshold, the capacitor temperature is less than the second temperature threshold, or both the winding temperature and capacitor temperature are less than the first and second temperature thresholds, it indicates that the motor has not reached the safe starting temperature. In this case, it is necessary to control the motor to reach the safe starting temperature; 2) If the winding temperature is greater than or equal to the first temperature threshold and the capacitor temperature is greater than or equal to the second temperature threshold, it indicates that the motor has reached the safe starting temperature.

[0042] In the above embodiments of the present invention, by comparing the winding temperature of the motor with a first temperature threshold and the capacitor temperature of the motor with a second temperature threshold, two application scenarios are determined: the motor has not reached the safe starting temperature and the motor has reached the safe starting temperature. This ensures that the motor is always at the safe starting temperature, thereby overcoming the limitations of starting and running the motor in low-temperature environments, expanding the operating environment range of the motor, increasing the motor's adaptability, meeting the harsh operating conditions of starting and running in low-temperature environments, and preventing the motor from losing magnetism.

[0043] It should be noted that the first temperature threshold and the second temperature threshold mentioned above can be set according to the needs of the application scenario, and will not be elaborated on here; in addition, the first temperature threshold and the second temperature threshold can be the same or different.

[0044] In one optional implementation, obtaining the winding temperature and capacitor temperature of the motor includes: obtaining the sensor temperature collected at the motor controller; and querying the correspondence arrays between sensor temperature and winding temperature and between sensor temperature and capacitor temperature based on the sensor temperature collected at the motor controller to obtain the winding temperature and capacitor temperature of the motor.

[0045] Optionally, before starting the motor, the temperature of the built-in temperature sensor on the motor's printed circuit board (PCB) can be detected, which is the sensor temperature collected by the motor controller. Then, the sensor temperature collected by the motor controller is used to look up the correspondence array between the sensor temperature and the winding temperature, and the correspondence array between the sensor temperature and the capacitor temperature, so that the winding temperature and the capacitor temperature of the motor can be obtained from the above corresponding relationship arrays.

[0046] It should be noted that the above-mentioned correspondence arrays between sensor temperature and winding temperature, and between sensor temperature and capacitor temperature, can be determined based on experimental data under characteristic conditions. For example, the correspondence array between sensor temperature and winding temperature is obtained by averaging multiple tests for different sensor temperatures corresponding to different winding temperatures, and the correspondence array between sensor temperature and capacitor temperature is obtained by averaging multiple tests for different sensor temperatures corresponding to different capacitor temperatures. Optionally, a temperature sensor needs to be installed on the windings of the sample motor and on the capacitor of the sample motor's controller. Then, the sample motor and its controller are placed in a low-temperature environment for winding current testing, while simultaneously reading the winding temperature, capacitor temperature, and sensor temperature. This test is repeated multiple times. The data relationship between these three temperatures in the low-temperature environment is then analyzed and integrated into corresponding relationship arrays [An,Bn] and [An,Cn], where An represents the sensor temperature (its initial temperature is approximately the ambient temperature), Bn represents the winding temperature, Cn represents the capacitor temperature, and n represents the number of sample motors. Finally, based on the corresponding relationship arrays obtained from the sample motors and their controllers, this information can be directly used on batch motors and controllers with the same parameter configuration. This eliminates the need to install temperature sensors on the windings of mass-produced motors and the capacitors of mass-produced controllers. The power module can directly read the sensor temperature at the motor's controller and query the corresponding relationship array to obtain the motor's winding temperature and capacitor temperature. It should be noted that the power module mentioned above has a built-in NTC temperature sensor.

[0047] In the above embodiments of the present invention, the corresponding arrays of sensor temperature and winding temperature and sensor temperature and capacitor temperature can be used to quickly and accurately obtain the motor winding temperature and motor capacitor temperature corresponding to the sensor temperature collected at the motor controller.

[0048] In one alternative implementation, controlling the motor to reach a safe starting temperature includes: obtaining the rotor position of the motor; and heating the motor according to the rotor position until the motor reaches a safe starting temperature.

[0049] Optionally, if the motor has not reached the safe starting temperature, for example, if the sensor temperature is too low (e.g., -40℃), then the motor winding temperature is considered insufficient for safe starting. In this case, the rotor position can be estimated using a high-frequency injection (HFI) algorithm, and a constant current can be output at this constant rotor position to keep the motor rotor stationary while heating until the motor reaches the safe starting temperature, thus preventing rotor damage. This low-temperature heating is particularly important for the motor, protecting it from demagnetization. Similarly, once both the motor capacitor temperature and the motor winding temperature meet the safe starting temperature requirements, the next starting strategy can be implemented, effectively ensuring capacitor lifespan and motor reliability.

[0050] In the above embodiments of the present invention, the motor can be heated by utilizing the rotor position of the motor until the motor reaches a safe starting temperature, thereby effectively ensuring the safety and reliability of the motor starting.

[0051] In one alternative implementation, detecting the speed and direction of the motor includes: detecting the motor based on a direct stator flux linkage observer and a high-frequency injection algorithm to obtain the motor speed and direction of rotation.

[0052] Optionally, after the low-temperature start-up process is completed, the direct stator flux linkage (DFVC) observer and the high-frequency injection algorithm (HFI) can be combined to track the rotor position and estimate the rotor speed in real time. This allows the motor's direction of rotation to be determined based on the rotor position, and the rotor speed to be used as the motor speed. It should be noted that the high-frequency injection algorithm (HFI) can estimate the rotor position and speed at extremely low speeds (below 20 rpm) or zero speed to obtain the motor's speed and direction of rotation; the direct stator flux linkage (DFVC) observer can estimate the rotor position and speed at low and higher speeds to obtain the motor's speed and direction of rotation. Both methods enable the motor to operate in a closed-loop manner across the entire speed range, preventing start-up failures.

[0053] In one optional implementation, controlling the motor to be in a standby state based on the motor bus voltage includes: determining whether the motor bus voltage is greater than a predetermined threshold; if the bus voltage is greater than the predetermined threshold, adjusting the motor's operating parameters until the motor is in a standby state; and if the bus voltage is less than or equal to the bus voltage threshold, controlling the motor to be in a standby state.

[0054] Optionally, the starting acceleration and starting time of the motor can be enabled according to the speed and direction of the motor, and the bus voltage of the motor can be monitored in real time. The operating parameters of the motor can be adjusted to ensure that the motor does not experience overcurrent or overvoltage during braking.

[0055] It should be noted that the above-mentioned motor operating parameters include, but are not limited to, the motor torque output value; the above-mentioned predetermined threshold value ranges from 680 to 800V.

[0056] In one optional implementation, the operating parameters of the motor are the motor's torque output value. Adjusting the motor's operating parameters includes: calling a voltage suppression function, wherein the expression of the voltage suppression function is as follows:

[0057] T 输出 =k p ·ΔU+∫(k i ·ΔU)+T0

[0058] Among them, T 输出This represents the motor's torque output value; ΔU represents the difference between the upper limit of the motor's bus voltage and the real-time value of the motor's bus voltage; k p k represents the proportionality coefficient. i The integral coefficient is represented by T0, which represents the last torque output value of the motor before overvoltage. The torque output value of the motor is controlled according to the voltage suppression function.

[0059] In the above embodiments of the present invention, by calling the voltage suppression function to control the torque output value of the motor, it is possible to ensure that the motor does not experience overcurrent or overvoltage, and to eliminate the irreversible impact caused by a sudden rise in the motor's bus voltage.

[0060] Figure 2 A flowchart of a motor starting control method provided in an optional embodiment of the present invention is shown below. Figure 2 As shown, the method includes the following steps:

[0061] First, the motor is powered on, and the temperature of the built-in sensor on the PCB is sampled (corresponding to the sensor temperature collected at the motor controller mentioned above). The empirical arrays, i.e., the correspondence arrays between sensor temperature and winding temperature, and sensor temperature and capacitor temperature, are then consulted. It is then determined whether both the motor winding temperature and the motor capacitor temperature meet the safe starting temperature (this temperature depends on the motor's permanent magnet material and capacitor value). If they are below this temperature, the rotor position is estimated using a high-frequency injection algorithm. A constant current is output at a constant rotor position to keep the motor rotor heated while it is stationary, preventing rotor damage. Once the windings heat up and the rotor temperature rises rapidly above the set operable value, the rotor position and speed are detected in real time using an algorithm combining a direct stator flux linkage (DFVC) observer and a high-frequency injection algorithm (HFI). Then, based on the detected motor speed and direction of rotation, the motor's starting acceleration and starting time are enabled. The motor's starting acceleration is inversely proportional to the headwind speed. 2 The motor's start-up time is directly proportional to the reverse wind speed (w∞k2*t). Simultaneously, the motor's bus voltage is monitored in real time. When the motor's bus voltage does not exceed a predetermined threshold, closed-loop control using an outer speed loop and an inner maximum torque-to-current ratio loop is employed. When the motor's bus voltage rises and exceeds the predetermined threshold, a voltage suppression function is invoked.

[0062] T 输出 =k p ·ΔU+∫(k i ·ΔU)+T0, dynamically adjust the torque output value, where ΔU=U 上限值 -U 实时值 T0 refers to the final torque output value before overvoltage, ensuring that the motor does not experience overcurrent or overvoltage, and eliminating the irreversible impact of sudden bus voltage surges on the motor. After startup is complete, wait for the start command input.

[0063] According to another aspect of the present invention, a control device for starting a motor is also provided. Figure 3 A schematic diagram of a motor starting control device provided in an embodiment of the present invention is shown below. Figure 3 As shown, the control device for starting the motor includes: a determination module 32, a detection module 34, a monitoring module 36, and a control module 38. The control device for starting the motor will be described in detail below.

[0064] Module 32 is used to determine the temperature at which the motor is safe to start.

[0065] It should be noted that if the motor winding temperature is greater than or equal to the first temperature threshold and the motor capacitor temperature is greater than or equal to the second temperature threshold, then the motor can be determined to be at a safe starting temperature.

[0066] The detection module 34 is connected to the determination module 32 and is used to detect the speed and direction of the motor.

[0067] Monitoring module 36, connected to the above-mentioned detection module 34, is used to enable the starting acceleration and starting time of the motor according to the speed and direction of the motor, and to monitor the bus voltage of the motor. The starting acceleration of the motor is inversely proportional to the reverse speed of the motor, and the starting time of the motor is directly proportional to the reverse speed of the motor. The reverse speed of the motor is determined according to the speed and direction of the motor.

[0068] It should be noted that by utilizing the speed and direction of the motor, the starting acceleration and starting time of the motor can be improved. This can solve the problem of starting with or against the wind caused by eddy current disturbances between motor loads under group control conditions, thereby increasing the success rate of motor starting, reducing starting time, improving starting efficiency, and ensuring the safety and reliability of the motor.

[0069] The control module 38 is connected to the monitoring module 36 and is used to control the motor to be in a ready-to-start state according to the motor bus voltage. The ready-to-start state includes at least one of the following: low speed state and stationary state.

[0070] The aforementioned low-speed state refers to a motor speed greater than zero and less than a preset speed threshold. This preset speed threshold can be set according to the needs of the application scenario; for example, it can be set to 10 rpm, 15 rpm, or 20 rpm. The stationary state refers to a motor speed equal to zero. In practical implementation, whether in a low-speed or stationary state, the motor can be considered to be in a ready-to-start state. After power-on, the motor will operate at low speed or in a stationary state, ensuring the motor's safety and reliability under both tailwind and headwind conditions.

[0071] In an optional embodiment, the above-mentioned device further includes: a receiving module, configured to receive a control command from the motor after controlling the motor to be in a ready-to-start state based on the motor's bus voltage, wherein the motor control command is used to instruct the motor to adjust its operating state; and a third processing module, configured to control the operating state of the motor according to the motor control command, wherein the operating state includes, but is not limited to, acceleration, deceleration, braking, and stopping. After the motor completes the above-mentioned low-temperature start-up and active braking anti-reverse process, the motor operates at low speed or in a stationary state, while simultaneously receiving the motor control command and ensuring the motor operates normally as required.

[0072] The aforementioned motors include, but are not limited to, permanent magnet synchronous motors and ferrite motors.

[0073] It should be noted that the above-mentioned determining module 32, detection module 34, monitoring module 36 and control module 38 correspond to steps S102 to S108 in the method embodiment. The examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above method embodiment.

[0074] In this embodiment of the invention, the motor starting control device determines that the motor is at a safe starting temperature; detects the motor speed and direction of rotation; enables the motor's starting acceleration and starting time based on the motor speed and direction of rotation, and monitors the motor's bus voltage, wherein the motor's starting acceleration is inversely proportional to the motor's upwind speed, and the motor's starting time is directly proportional to the motor's upwind speed, the upwind speed of which is determined based on the motor's speed and direction of rotation; and controls the motor to be in a ready-to-start state based on the motor's bus voltage, wherein the ready-to-start state includes at least one of the following: low-speed state, stationary state. In other words, the embodiments of the present invention first determine that the motor is at a safe starting temperature, then detect the motor speed and direction of rotation, and then enable the motor's starting acceleration and starting time based on the motor speed and direction of rotation, and monitor the motor's bus voltage. The motor's starting acceleration is inversely proportional to the motor's upwind speed, and the motor's starting time is directly proportional to the motor's upwind speed. The upwind speed is determined based on the motor's speed and direction of rotation. Finally, based on the motor's bus voltage, the motor is controlled to be in a ready-to-start state, which includes at least one of the following: low-speed state and stationary state. This solves the technical problem in related technologies where motor starting is easily affected by harsh working conditions such as low temperature and upwind, resulting in the motor's inability to start effectively. It achieves the technical effect of improving the motor's adaptability under harsh working conditions, improving the motor's starting efficiency, and effectively ensuring the safe and reliable operation of the motor.

[0075] In an optional embodiment, the method further includes: an acquisition module, configured to acquire the winding temperature and capacitor temperature of the motor before determining that the motor is at a safe starting temperature; a judgment module, configured to determine whether the winding temperature of the motor is less than a first temperature threshold and whether the capacitor temperature of the motor is less than a second temperature threshold; a first processing module, configured to control the motor to reach a safe starting temperature if the winding temperature of the motor is less than the first temperature threshold and / or the capacitor temperature of the motor is less than the second temperature threshold; and a second processing module, configured to determine that the motor has reached a safe starting temperature if the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold.

[0076] In one optional implementation, the acquisition module includes: a first acquisition unit, used to acquire sensor temperatures collected at the motor controller; and a query unit, used to query the correspondence arrays between sensor temperatures and winding temperatures and between sensor temperatures and capacitor temperatures based on the sensor temperatures collected at the motor controller, to obtain the motor winding temperature and the motor capacitor temperature.

[0077] In one optional implementation, the first processing module includes: a second acquisition unit for acquiring the rotor position of the motor; and a processing unit for heating the motor according to the rotor position until the motor reaches a safe starting temperature.

[0078] In one optional implementation, the detection module 34 includes a detection unit for detecting the motor based on a direct stator flux linkage observer and a high-frequency injection algorithm to obtain the motor's speed and direction of rotation.

[0079] In one optional implementation, the control module 38 includes: a judgment unit for judging whether the bus voltage of the motor is greater than a predetermined threshold; an adjustment unit for adjusting the operating parameters of the motor when the bus voltage is greater than the predetermined threshold until the motor is in a ready-to-start state; and a control unit for controlling the motor to be in a ready-to-start state when the bus voltage is less than or equal to the bus voltage threshold.

[0080] In one optional implementation, the motor's operating parameters include the motor's torque output value, and the aforementioned adjustment unit includes: a calling subunit for calling a voltage suppression function, wherein the expression of the voltage suppression function is as follows:

[0081] T 输出 =k p ·ΔU+∫(k i ·ΔU)+T0

[0082] Among them, T 输出This represents the motor's torque output value; ΔU represents the difference between the upper limit of the motor's bus voltage and the real-time value of the motor's bus voltage; k p k represents the proportionality coefficient. i The integral coefficient is represented by T0, which represents the last torque output value of the motor before overvoltage. The control subunit is used to control the torque output value of the motor according to the voltage suppression function.

[0083] In one alternative implementation, the expression for the inverse relationship between the motor's starting acceleration and its counter-wind speed is: w∞k1 / a 2 The expression for the motor's starting time being directly proportional to its reverse wind speed is: w∞k2*t; where w represents the motor's reverse wind speed, a 2 t represents the starting acceleration of the motor, k1 represents the starting time of the motor, k2 represents the proportionality coefficient that is inversely proportional to the starting acceleration of the motor and the reverse speed of the motor, and k2 represents the proportionality coefficient that is directly proportional to the starting time of the motor and the reverse speed of the motor.

[0084] According to another aspect of the present invention, an electronic device is also provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method steps of any of the above.

[0085] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method steps described above.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A control method for starting a motor, characterized in that, Applications include integrated drive and control units that use film capacitors or small electrolytic capacitors, including: Determine that the motor is at a safe starting temperature; Detect the speed and direction of the motor; Based on the speed and direction of the motor, the starting acceleration and starting time of the motor are enabled, and the bus voltage of the motor is monitored. The starting acceleration of the motor is inversely proportional to the motor's upwind speed, and the starting time of the motor is directly proportional to the motor's upwind speed. The upwind speed of the motor is determined based on the speed and direction of the motor. Based on the bus voltage of the motor, the motor is controlled to be in a ready-to-start state, wherein the ready-to-start state includes at least one of the following: low-speed state, stationary state; wherein, Controlling the motor to a standby state based on the motor's bus voltage includes: determining whether the motor's bus voltage is greater than a predetermined threshold; if the bus voltage is greater than the predetermined threshold, adjusting the motor's operating parameters until the motor is in a standby state; if the bus voltage is less than or equal to the predetermined threshold, controlling the motor to be in a standby state. The operating parameters of the motor include the motor's torque output value. Adjusting the operating parameters of the motor includes: Call the voltage suppression function; wherein the expression of the voltage suppression function is as follows: in, This represents the torque output value of the motor. This represents the difference between the upper limit of the motor's bus voltage and the real-time value of the motor's bus voltage. Represents the proportionality coefficient. Represents the integral coefficient. This represents the last torque output value of the motor before overvoltage; the torque output value of the motor is controlled according to the voltage suppression function.

2. The method according to claim 1, characterized in that, Before determining that the motor is at a safe starting temperature, the method further includes: Obtain the winding temperature and capacitor temperature of the motor; Determine whether the winding temperature of the motor is less than a first temperature threshold and whether the capacitor temperature of the motor is less than a second temperature threshold; If the winding temperature of the motor is less than the first temperature threshold and / or the capacitor temperature of the motor is less than the second temperature threshold, then the motor is controlled to reach the temperature for safe start-up. If the winding temperature of the motor is greater than or equal to the first temperature threshold and the capacitor temperature of the motor is greater than or equal to the second temperature threshold, then the motor is determined to have reached the temperature for safe start-up.

3. The method according to claim 2, characterized in that, Obtain the winding temperature and capacitor temperature of the motor, including: Acquire the sensor temperature collected at the controller of the motor; Based on the sensor temperatures collected at the motor controller, the corresponding arrays of sensor temperature and winding temperature, and the corresponding arrays of sensor temperature and capacitor temperature are queried to obtain the winding temperature and capacitor temperature of the motor.

4. The method according to claim 2, characterized in that, Controlling the motor to reach a safe starting temperature includes: Obtain the rotor position of the motor; The motor is heated according to its rotor position until it reaches a temperature suitable for safe startup.

5. The method according to claim 1, characterized in that, Detecting the speed and direction of the motor includes: The motor is detected using a direct stator flux linkage observer and a high-frequency injection algorithm to obtain the motor's speed and direction of rotation.

6. The method according to any one of claims 1 to 5, characterized in that, The expression for the inverse relationship between the starting acceleration of the motor and the motor's speed against the wind is: The expression that the starting time of the motor is directly proportional to the motor's speed against the wind is: ;in, This indicates the motor's speed against the wind. This indicates the starting acceleration of the motor. This indicates the start-up time of the motor. This represents a proportionality coefficient that indicates the inverse relationship between the motor's starting acceleration and its speed against the wind. The proportionality coefficient indicates that the starting time of the motor is directly proportional to the motor's speed against the wind.

7. A control device for starting a motor, characterized in that, The drive and control integrated machine, which is installed using film capacitors or small electrolytic capacitors, includes: The determination module is used to determine the temperature at which the motor is safe to start. The detection module is used to detect the speed and direction of the motor; The monitoring module is used to enable the starting acceleration and starting time of the motor according to the speed and direction of the motor, and to monitor the bus voltage of the motor. The starting acceleration of the motor is inversely proportional to the reverse speed of the motor, and the starting time of the motor is directly proportional to the reverse speed of the motor. The reverse speed of the motor is determined according to the speed and direction of the motor. The control module is configured to control the motor to be in a ready-to-start state based on the motor's bus voltage, wherein the ready-to-start state includes at least one of the following: a low-speed state and a stationary state; wherein, The control module includes: a judgment unit for judging whether the bus voltage of the motor is greater than a predetermined threshold; an adjustment unit for adjusting the operating parameters of the motor until the motor is in a ready-to-start state when the bus voltage is greater than the predetermined threshold; and a control unit for controlling the motor to be in a ready-to-start state when the bus voltage is less than or equal to the predetermined threshold. The operating parameters of the motor include the motor's torque output value. The adjustment unit includes a calling subunit for calling a voltage suppression function; wherein the expression of the voltage suppression function is as follows: in, This represents the torque output value of the motor. This represents the difference between the upper limit of the motor's bus voltage and the real-time value of the motor's bus voltage. Represents the proportionality coefficient. Represents the integral coefficient. This represents the last torque output value of the motor before overvoltage; the control subunit is used to control the torque output value of the motor according to the voltage suppression function.

8. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method steps of any one of claims 1 to 6.

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