A thermal management control method for deep-sea robot drive motor

Abstract

The present invention discloses a thermal management control method for a deep-sea robot driving motor, comprising the following steps: step S1, constructing a continuous-time state space model of the motor; step S2, setting the temperature adjustment variables and adjustment rules of each armature in the motor; step S3, detecting the temperature of each armature at a certain period and updating the temperature adjustment variables in real time; step S4, updating the control gain when the value of the temperature adjustment variable changes; step S5, calculating the control signal in real time and acting on the motor according to the set speed signal and gain matrix that the motor needs to track. The present invention automatically adjusts the current distribution according to the real-time temperature and load conditions of each armature through the dynamic current adjustment mechanism of multiple modular stators, avoiding performance degradation or motor damage caused by local overheating, and ensuring the speed tracking accuracy of the multi-modular deep-sea robot driving motor and the thermal balance performance of each armature therein.

Description

Technical Field

[0001] The present invention relates to the field of deep-sea motor control technology, and more specifically, to a thermal management control method for a deep-sea robot drive motor. Background Art

[0002] With the rapid development of deep-sea exploration, marine engineering and seabed resource mining, the application of deep-sea motors is increasing. DC motors are widely used in deep-sea equipment due to their high control accuracy, large starting torque and low energy consumption. Such motors often need to operate under high load and for a long time in a closed deep-sea environment, so the heat dissipation problem becomes particularly prominent.

[0003] At present, the thermal management of deep-sea DC motors mainly relies on the following two methods:

[0004] 1. Active heat dissipation equipment, that is, using a water cooling system or an oil cooling system, such as the Chinese invention patent publication number CN118868502A discloses a disc-type motor cooling device with both internal and external cooling. Although it can effectively reduce the temperature of the motor, the additional cooling device will increase the cost and take up space;

[0005] Second, passive heat dissipation optimization, that is, reducing the temperature by increasing the heat dissipation area of ​​the motor housing or optimizing the internal structure. For example, the Chinese invention patent with publication number CN118971492A discloses a motor rear bearing cooling fan blade and structure. In high-power applications, the effect of passive heat dissipation is limited and cannot meet the needs of efficient thermal management.

[0006] In addition to the above methods, thermal management control methods can be considered, that is, controlling the heating of the motor by reducing the current, avoiding overload and reducing the temperature. However, such methods need to meet the dual requirements of load balance and temperature control at the same time, which is difficult to design, and the relevant literature has limited discussion on this issue. In particular, for deep-sea robot drive motors with multi-modular stators, that is, the heat dissipation system is optimized through multi-module stator structure design, multiple armatures are used to drive the same rotor, and impellers are added between the armatures to improve the heat dissipation efficiency inside the motor, how to implement targeted thermal management control methods has not been discussed.

[0007] Therefore, it is necessary to propose a new thermal management control method for deep-sea robot drive motors with multi-modular stators. Summary of the invention

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a thermal management control method for a deep-sea robot drive motor.

[0009] In order to achieve the above object, the present invention adopts the following technical solution:

[0010] A thermal management control method for a deep-sea robot driving motor, which dynamically adjusts a temperature regulating variable for calculating a control gain based on the real-time temperature of the armature, adjusts the armature current, and balances the armature heat, comprises the following steps:

[0011] Step S1, constructing a continuous-time state space model of the motor;

[0012] Step S2, setting the temperature adjustment variables and adjustment rules of each armature in the motor;

[0013] Step S3, detecting the temperature of each armature at a certain period and updating the temperature adjustment variable in real time;

[0014] Step S4, when the value of the temperature adjustment variable changes, update the control gain;

[0015] Step S5, according to the set speed signal and gain matrix that the motor needs to track, the control signal is calculated in real time and acts on the motor.

[0016] Further, in step S1, for a motor using n armatures to drive the same shaft, electrical and mechanical equations for each armature are established, and a continuous-time state-space model of the motor is constructed using the armature current and the shaft speed as state variables;

[0017] In step S2, a temperature adjustment variable and upper and lower temperature thresholds are set for each armature, and an initial value and an adjustment step length are specified for the temperature adjustment variable;

[0018] In step S3, the real-time temperature of each armature is regularly detected, and the corresponding temperature adjustment variable is dynamically adjusted according to the temperature deviation;

[0019] In step S4, when the temperature adjustment variable is updated, it is brought into a specific matrix equation to calculate the control gain, ensuring that when the temperature adjustment variable of a certain armature increases, its corresponding armature current decreases, thereby reducing the armature temperature, and vice versa;

[0020] In step S5, the target speed of the shaft is set, and the control signal is calculated based on the control gain and the target speed, and applied to the motor control in real time.

[0021] Furthermore, the step S1 includes the following steps:

[0022] Step S101, use n armatures to drive a motor with the same rotating shaft, and for the jth (j=1, 2, ..., n) armature, write its electrical equation and mechanical equation:

[0023] (1)

[0024] (2)

[0025] In formula (1), is the armature voltage, is the armature resistance, is the armature current, is the armature inductance, is the time variable, is the electromotive force constant of the jth armature, is the rotor speed;

[0026] In formula (2), is the moment of inertia, is the load torque, is the friction coefficient, is the torque constant of the jth armature;

[0027] Step S102: Based on equations (1) and (2), it can be obtained that when the motor is unloaded ( )’s continuous-time state-space model:

[0028] (3)

[0029] In formula (3), is the state of the model, is the input voltage, is the controlled speed output, matrix ,

[0030] matrix ,matrix , superscript is the symbol for the matrix transpose operation.

[0031] Furthermore, step S2 includes the following steps:

[0032] Step S201, setting the temperature adjustment variable of the armature j (j=1, 2, ..., n) in the motor to a positive real number , and assign appropriate initial values;

[0033] Step S202, setting the temperature adjustment variable of armature j (j=1, 2, ..., n) The adjustment step size is a positive real number ;

[0034] Step S203, setting the upper temperature threshold of armature j (j=1, 2, ..., n) ;

[0035] Step S204, setting the lower temperature threshold of armature j (j=1, 2, ..., n) .

[0036] Further, step S3 includes the following steps:

[0037] If the armature temperature is detected to exceed the set upper limit threshold , then select the armature j (j=1,2,…,n) with the largest temperature deviation, and increase its corresponding temperature adjustment variable so that ;

[0038] If the armature temperature is detected to be lower than the set lower limit threshold , then select the armature j (j=1,2,…,n) with the largest temperature deviation, and reduce its corresponding temperature adjustment variable so that .

[0039] Furthermore, the step S4 includes the following steps:

[0040] Step S401, based on the matrix A, matrix B, matrix C in step S1 and the temperature adjustment variable in step S3 , solve the following matrix equation:

[0041] (4)

[0042] In formula (4), is the unknown solution matrix of the equation, Indicates A diagonal matrix with elements on the main diagonal, with superscript is the matrix inversion operator symbol;

[0043] Step S402, based on the solution matrix obtained in equation (4) Calculating Control Gains ;

[0044] Step S403, based on the solution matrix obtained in equation (4) Calculating Control Gains

[0045] .

[0046] Furthermore, the step S5 comprises the following steps:

[0047] Step S501, setting the speed signal that the motor needs to track ;

[0048] Step S502, real-time calculation of the control signal in equation (3)

[0049] ;

[0050] Step S503: Use the control signal to control the motor in real time.

[0051] The beneficial effects of the present invention are: the present invention automatically adjusts the current distribution according to the real-time temperature and load conditions of each armature through the dynamic current regulation mechanism of multiple modular stators, thereby avoiding performance degradation or motor damage due to local overheating, ensuring the speed tracking accuracy of the deep-sea robot drive motor with multiple modular stators and the thermal balance performance of each armature therein, thereby ensuring the working stability and reliability of the motor in the deep-sea environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a control structure block diagram of the thermal management control method for the deep-sea robot drive motor in this embodiment;

[0053] Figure 2 This is an effect diagram of the thermal management control of the deep-sea robot drive motor in this embodiment. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Embodiment: A thermal management control method for a deep-sea robot drive motor, such as Figure 1 As shown, the following steps are included:

[0056] Step S1, constructing a continuous-time state space model of the motor;

[0057] Specifically, step S1 includes the following steps:

[0058] Step S101, use n armatures to drive a motor with the same rotating shaft, and for the jth (j=1, 2, ..., n) armature, write its electrical equation and mechanical equation:

[0059] (1)

[0060] (2)

[0061] In formula (1), is the armature voltage, is the armature resistance, is the armature current, is the armature inductance, is the time variable, is the electromotive force constant of the jth armature, is the rotor speed;

[0062] In formula (2), is the moment of inertia, is the load torque, is the friction coefficient, is the torque constant of the jth armature;

[0063] The electrical equations describe the relationship between current and input voltage, while the mechanical equations describe the motor's dynamics and torque output;

[0064] Step S102: Based on equations (1) and (2), it can be obtained that when the motor is unloaded ( )’s continuous-time state-space model:

[0065] (3)

[0066] In formula (3), is the state of the model, is the input voltage, is the controlled speed output, matrix ,

[0067] matrix ,matrix , superscript is the symbol for the matrix transpose operation.

[0068] Step S2, setting the temperature adjustment variables and adjustment rules of each armature in the motor;

[0069] Specifically, step S2 includes the following steps:

[0070] Step S201, setting the temperature adjustment variable of the armature j (j=1, 2, ..., n) in the motor to a positive real number , and assign appropriate initial values ​​(such as );

[0071] Step S202, setting the temperature adjustment variable of armature j (j=1, 2, ..., n) The adjustment step size is a positive real number (like );

[0072] Step S203, setting the upper temperature threshold of armature j (j=1, 2, ..., n) (e.g. 80°C);

[0073] Step S204, setting the lower temperature threshold of armature j (j=1, 2, ..., n) (such as 30℃).

[0074] Step S3, detecting the temperature of each armature at a certain period and updating the temperature adjustment variable in real time;

[0075] Specifically, step S3 includes the following steps:

[0076] If the armature temperature is detected to exceed the set upper limit threshold , then select the armature j (j=1,2,…,n) with the largest temperature deviation, and increase its corresponding temperature adjustment variable so that ;

[0077] If the armature temperature is detected to be lower than the set lower limit threshold , then select the armature j (j=1,2,…,n) with the largest temperature deviation, and reduce its corresponding temperature adjustment variable so that .

[0078] Step S4, when the value of the temperature adjustment variable changes, update the control gain;

[0079] Specifically, step S4 includes the following steps:

[0080] Step S401, based on the matrix A, matrix B, matrix C in step S1 and the temperature adjustment variable in step S3 , solve the following matrix equation:

[0081] (4)

[0082] In formula (4), is the unknown solution matrix of the equation, Indicates A diagonal matrix with elements on the main diagonal, with superscript is the matrix inversion operator symbol;

[0083] Step S402, based on the solution matrix obtained in equation (4) Calculating Control Gains ;

[0084] Step S403, based on the solution matrix obtained in equation (4) Calculating Control Gains

[0085] .

[0086] Step S5, according to the set speed signal and gain matrix that the motor needs to track, the control signal is calculated in real time and acts on the motor;

[0087] Specifically, step S5 includes the following steps:

[0088] Step S501, setting the speed signal that the motor needs to track ;

[0089] Step S502, real-time calculation of the control signal in equation (3)

[0090] ;

[0091] Step S503: Use the control signal to control the motor in real time.

[0092] In this embodiment, a motor with three armatures driving the same rotor is considered, that is, , the characteristic parameters in the electrical equation (1) and the mechanical equation (2) are set as: , , , , , , the specific matrix parameters in the continuous-time state-time model (3) of the motor are as follows:

[0093] , ;

[0094] In this embodiment, the speed signal that the motor needs to track is set as follows:

[0095] ,

[0096] The temperature adjustment variables of the three armatures are set as follows:

[0097] ,

[0098] Solve the control gain matrix according to step S4, and calculate the control signal according to step S5 and act on the motor to obtain the control effect of the motor as shown in Figure 2 As shown, it can be seen that initially, the temperature adjustment variables are T1=3, T2=2, T3=1, and the corresponding current distribution is: i3>i2>i1 (armature 3>armature 2>armature 1). After 10 seconds, the temperature adjustment variables are adjusted to T1=1, T2=2, T3=3, and the current distribution is: i1>i2>i3 (armature 1>armature 2>armature 3). After 20 seconds, the temperature adjustment variables are adjusted to T1=2, T2=3, T3=1, and the current distribution is: i3>i1>i2 (armature 3>armature 1>armature 2). It can be seen that as the temperature adjustment variable of a certain armature increases relatively, its armature current decreases accordingly, thereby reducing the heat generation of the armature, and vice versa. From the results, it can be seen that the thermal management control method can control the common output torque of each armature to control the motor speed to track the set speed signal in real time while achieving the heat balance of each armature.

[0099] like Figure 1As shown, the method of this embodiment requires real-time detection of the armature temperature and dynamic adjustment of the temperature adjustment variable to calculate the control gain. The main hardware modules required include a temperature sensor module, a data processing module and a motor drive module. The temperature sensor should have sufficient accuracy and fast response capability, and be able to work stably in a high-temperature environment of the motor; the data processing module can use a microcontroller or a digital signal processor, which is responsible for data processing, calculation of temperature adjustment variables and control gain and other functions. The current sensor monitors the current of the armature in real time and transmits the signal to the data processing module; after receiving the temperature data, the data processing module calculates the temperature adjustment variable and control gain according to the steps described in this embodiment, and generates a control signal, and finally controls the motor operation through the drive module.

[0100] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A thermal management control method for a deep-sea robot drive motor, characterized in that: Dynamically adjusting the temperature adjustment variable for calculating the control gain based on the real-time temperature of the armature, adjusting the armature current, and making the armature heat balanced, includes the following steps: Step S1, constructing a continuous-time state space model of the motor; Step S2, setting the temperature adjustment variables and adjustment rules of each armature in the motor; Step S3, detecting the temperature of each armature at a certain period, and updating the temperature adjustment variable in real time according to the detected temperature; Step S4, solving the algebraic Riccati matrix equation according to the coefficient matrix in the continuous-time state-space model of the motor and the temperature adjustment variable to obtain control gains K1 and K2 for calculating the motor control signal; Step S5, according to the set speed signal that the motor needs to track, control gains K1 and K2, calculate the control signal in real time and act on the motor.

2. A deep-sea robot drive motor thermal management control method according to claim 1, characterized in that: In step S1, for a motor using n armatures to drive the same shaft, electrical and mechanical equations for each armature are established, and a continuous-time state-space model of the motor is constructed using the armature current and the shaft speed as state variables; In step S2, a temperature adjustment variable and upper and lower temperature thresholds are set for each armature, and an initial value and an adjustment step length are specified for the temperature adjustment variable; In step S3, the real-time temperature of each armature is regularly detected, and the corresponding temperature adjustment variable is dynamically adjusted according to the temperature deviation; In step S4, when the temperature adjustment variable is updated, it is brought into the algebraic Riccati matrix equation to calculate the control gains K1 and K2, ensuring that when the temperature adjustment variable of a certain armature increases, its corresponding armature current decreases, thereby reducing the armature temperature, and vice versa; In step S5, the target rotation speed of the shaft is set, and a control signal is calculated based on the control gain and the target rotation speed, and applied to the motor control in real time.

3. A deep-sea robot drive motor thermal management control method according to claim 2, characterized in that: The step S1 comprises the following steps: Step S101, use n armatures to drive a motor with the same rotating shaft. For the j-th armature, j=1,2,…,n, write its electrical equation and mechanical equation: (1) (2) In formula (1), is the armature voltage, is the armature resistance, is the armature current, is the armature inductance, is the time variable, is the electromotive force constant of the jth armature, is the rotor speed; In formula (2), is the moment of inertia, is the load torque, is the friction coefficient, is the torque constant of the jth armature; Step S102: Based on equations (1) and (2), the continuous-time state space model of the motor when it is unloaded can be obtained: (3) In formula (3), is the state of the model, is the input voltage, is the controlled speed output, matrix , matrix ,matrix , superscript is the symbol for the matrix transpose operation.

4. A deep-sea robot drive motor thermal management control method according to claim 3, characterized in that: The step S2 comprises the following steps: Step S201, setting the temperature adjustment variable of the armature j in the motor to a positive real number , and assign appropriate initial values; Step S202, setting the temperature adjustment variable of armature j The adjustment step size is a positive real number ; Step S203, setting the upper temperature threshold of the armature j ; Step S204, setting the lower limit threshold of the temperature of the armature j .

5. A deep-sea robot drive motor thermal management control method according to claim 4, characterized in that: Step S3 includes the following steps: If the armature temperature is detected to exceed the set upper limit threshold , then select the armature j with the largest temperature deviation and increase its corresponding temperature adjustment variable so that ; If the armature temperature is detected to be lower than the set lower limit threshold , then select the armature j with the largest temperature deviation and reduce its corresponding temperature adjustment variable so that .

6. A deep-sea robot drive motor thermal management control method according to claim 5, characterized in that: The step S4 comprises the following steps: Step S401, based on the matrix A, matrix B, matrix C in step S1 and the temperature adjustment variable in step S3 , solve the following algebraic Riccati matrix equation: (4) In formula (4), is the unknown solution matrix of the equation, Indicates A diagonal matrix with elements on the main diagonal, with superscript is the matrix inversion operator symbol; Step S402, based on the solution matrix obtained in equation (4) Calculating Control Gains ; Step S403, based on the solution matrix obtained in equation (4) Calculating Control Gains 。 7. A deep-sea robot drive motor thermal management control method according to claim 6, characterized in that: The step S5 comprises the following steps: Step S501, setting the speed signal that the motor needs to track ; Step S502, real-time calculation of the control signal in equation (3) ； Step S503: Use the control signal to control the motor in real time.

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