Permanent magnet synchronous motor locked-rotor control method and device and computer readable medium

Abstract

The invention provides a permanent magnet synchronous motor locked-rotor control method, device and equipment and a computer readable medium, and the method comprises the steps: obtaining the maximum value of the three-phase current of a permanent magnet synchronous motor and a first minimum value of the peak current of the permanent magnet synchronous motor and the peak current of a permanent magnet synchronous motor controller, and when the rotating speed of the permanent magnet synchronous motor is smaller than or equal to the rotating speed threshold value and the maximum value and the first minimum value meet the first current relation, determining that the permanent magnet synchronous motor enters a first locked-rotor state. If the permanent magnet synchronous motor is in the first torque limiting state and the first locked-rotor state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque; whether the output torque of the permanent magnet synchronous motor is reduced to the rated torque or not is determined by judging whether the permanent magnet synchronous motor is in the first torque limiting state or not according to the first locked-rotor state, and therefore locked-rotor protection of the permanent magnet synchronous motor is carried out on the basis that high-torque output is met.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, device, equipment and computer-readable medium for controlling a permanent magnet synchronous motor stall. Background Art

[0002] Currently, vehicles can use permanent magnet synchronous motors as the power source for operation, but permanent magnet synchronous motors may be stalled, causing the permanent magnet synchronous motor to overheat and be damaged. In this case, the permanent magnet synchronous motor controller can perform stall protection on the permanent magnet synchronous motor, thereby reducing the risk of damage.

[0003] Currently, the permanent magnet synchronous motor controller adopts a method of limiting the output torque of the permanent magnet synchronous motor to the rated torque for stall protection, but this will cause the torque of the permanent magnet synchronous motor to remain at a low level and cannot meet the demand for high torque output. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a permanent magnet synchronous motor stall control method, device and computer-readable medium, which can perform stall protection of the permanent magnet synchronous motor on the basis of meeting high torque output.

[0005] The present application provides a permanent magnet synchronous motor stall control method, the method comprising:

[0006] Obtaining a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and confirming that the permanent magnet synchronous motor enters a first stalled state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship;

[0007] If the permanent magnet synchronous motor is in the first torque limiting state and the first stalling state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque.

[0008] Optionally, the method comprises:

[0009] If the accumulated time for the permanent magnet synchronous motor to enter the first stalled state from the normal state exceeds a first time threshold, it is confirmed that the permanent magnet synchronous motor enters the first torque limiting state.

[0010] Optionally, the first current relationship is that a ratio of the maximum value to the first minimum value is greater than a ratio threshold.

[0011] Optionally, the method comprises:

[0012] When the rotation speed of the permanent magnet synchronous motor is greater than the rotation speed threshold, the first stall state is exited.

[0013] Optionally, the method comprises:

[0014] Obtaining the three-phase current equivalent average value of the permanent magnet synchronous motor and the second minimum value of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller, and confirming that the permanent magnet synchronous motor enters the second locked-rotor state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value satisfy a second current relationship;

[0015] If the permanent magnet synchronous motor is in the second torque limiting state and the second stalling state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque.

[0016] Optionally, the method further comprises:

[0017] If the accumulated time for the permanent magnet synchronous motor to enter the second locked-rotor state from the normal state exceeds a second time threshold, it is confirmed that the permanent magnet synchronous motor enters the second torque limiting state.

[0018] Optionally, the second current relationship is that a ratio of the three-phase current equivalent average value to the second minimum value is greater than a ratio threshold.

[0019] Optionally, the method further comprises:

[0020] When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value do not satisfy the second current relationship, the second stall state is exited.

[0021] The present application provides a permanent magnet synchronous motor stall control device, the device comprising:

[0022] A first confirmation unit is used to obtain a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and confirm that the permanent magnet synchronous motor enters a first stalled state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship;

[0023] The first reducing unit is used to reduce the output torque of the permanent magnet synchronous motor to the rated torque if the permanent magnet synchronous motor is in the first torque limiting state and the first stalling state at the same time.

[0024] The present application provides a computer-readable medium, characterized in that it includes instructions, which, when executed on a computer, enable the computer to execute the method described above.

[0025] The present application provides a method for controlling a stall of a permanent magnet synchronous motor, the method comprising: obtaining a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship, confirming that the permanent magnet synchronous motor enters a first stall state, that is, using the maximum value of the three-phase current as a single-phase maximum heat dissipation judgment standard of the permanent magnet synchronous motor, combined with the speed of the permanent magnet synchronous motor, to achieve an accurate judgment of the stall state of the permanent magnet synchronous motor. If the permanent magnet synchronous motor is in the first torque limiting state and the first stall state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque, that is, not only by the first stall state but also by judging whether the permanent magnet synchronous motor is in the first torque limiting state to determine whether to reduce the output torque of the permanent magnet synchronous motor to the rated torque, when the permanent magnet synchronous motor is not in the first torque limiting state, the permanent magnet synchronous motor can still maintain a high torque output on the basis of the stall state, thereby achieving stall protection of the permanent magnet synchronous motor on the basis of satisfying the high torque output. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0027] Figure 1 A schematic flow chart of a method for controlling a permanent magnet synchronous motor stall is shown in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of a permanent magnet synchronous motor stall control process provided by an embodiment of the present application is shown;

[0029] Figure 3 A structural schematic diagram of a permanent magnet synchronous motor stall control device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0031] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0032] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0033] It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0034] At present, the permanent magnet synchronous motor controller only performs stall protection according to the overall heat generation of the three phases. When the rotor is stalled in some special positions, the heat generation is mainly concentrated in a certain phase, which may burn the insulated gate bipolar transistor (IGBT) module of this phase. In addition, the permanent magnet synchronous motor controller uses the method of limiting the output torque of the permanent magnet synchronous motor to the rated torque for stall protection, but this will cause the torque of the permanent magnet synchronous motor to remain at a low level and cannot meet the demand for high torque output.

[0035] Based on this, the present application provides a method for controlling a stalled permanent magnet synchronous motor, the method comprising: obtaining the maximum value of the three-phase current of the permanent magnet synchronous motor and the first minimum value of the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy the first current relationship, confirming that the permanent magnet synchronous motor enters the first stalled state, that is, using the maximum value of the three-phase current as the single-phase maximum heat dissipation judgment standard of the permanent magnet synchronous motor, combined with the speed of the permanent magnet synchronous motor, to achieve accurate judgment of the stalled state of the permanent magnet synchronous motor. If the permanent magnet synchronous motor is in the first torque limiting state and the first stalled state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque, that is, not only through the first stalled state but also by judging whether the permanent magnet synchronous motor is in the first torque limiting state to determine whether to reduce the output torque of the permanent magnet synchronous motor to the rated torque, when the permanent magnet synchronous motor is not in the first torque limiting state, the permanent magnet synchronous motor can still maintain high torque output on the basis of the stalled state, thereby achieving stall protection of the permanent magnet synchronous motor on the basis of satisfying high torque output.

[0036] In order to better understand the technical solution and technical effects of the present application, specific embodiments will be described in detail below with reference to the accompanying drawings.

[0037] See also Figure 1 , which is a flow chart of a permanent magnet synchronous motor stall control method provided in an embodiment of the present application.

[0038] The permanent magnet synchronous motor stall control method provided in the embodiment of the present application comprises the following steps:

[0039] S101, obtain the maximum value of the three-phase current of the permanent magnet synchronous motor and the first minimum value of the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller. When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy the first current relationship, confirm that the permanent magnet synchronous motor enters the first stalled state.

[0040] In the embodiment of the present application, considering that the current permanent magnet synchronous motor controller only performs stall protection according to the overall heat generation of the three phases, the equivalent average value of the three-phase current is used as the overall heat generation judgment. When the rotor is stalled in some special positions, the heat generation is mainly concentrated in a certain phase, and the maximum heat generation of a certain phase of the three phases is twice the overall heat generation of the three phases, which may burn the insulated gate bipolar transistor module of this phase. Therefore, it is more accurate to use the maximum value of the three-phase current of the permanent magnet synchronous motor as a judgment of whether the permanent magnet synchronous motor has entered a stall state.

[0041] The maximum value of the three-phase current of the permanent magnet synchronous motor and the first minimum value of the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller can be obtained. When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy the first current relationship, it is confirmed that the permanent magnet synchronous motor enters the first stalled state. Among them, the maximum value of the three-phase current refers to the maximum value of the absolute value of the three-phase current. In other words, the maximum value of the three-phase current is used as the single-phase maximum heat dissipation judgment standard of the permanent magnet synchronous motor, combined with the speed of the permanent magnet synchronous motor, to achieve accurate judgment of the stalled state of the permanent magnet synchronous motor.

[0042] Specifically, the first current relationship is that the ratio of the maximum value to the first minimum value is greater than the ratio threshold. For example, the ratio threshold may be √2. The maximum value of the three-phase current is calculated using I max The first minimum value of the permanent magnet synchronous motor peak current and the permanent magnet synchronous motor controller peak current is represented by I1, and the first current relationship can be I max >I1 / √2.

[0043] The speed threshold can be set according to actual conditions, for example, the speed threshold is 30 rpm.

[0044] As an example, refer to Figure 2 As shown, the maximum absolute value I of the three-phase current U, V, and W is obtained. max , the first minimum value I1 of the permanent magnet synchronous motor peak current and the permanent magnet synchronous motor controller peak current, when the speed is less than or equal to 30rpm and I max >I1 / √2, it is considered to enter the first stall state, that is, the stall state can be set to 1.

[0045] S102: If the permanent magnet synchronous motor is in the first torque limiting state and the first stalling state at the same time, reducing the output torque of the permanent magnet synchronous motor to the rated torque.

[0046] In the embodiment of the present application, considering that after the permanent magnet synchronous motor is detected to be in a stalled state, if the output torque is directly limited to the rated torque, the torque of the permanent magnet synchronous motor will be maintained at a low level, which cannot meet the demand for high torque output. Therefore, whether the permanent magnet synchronous motor is in the first torque limiting state can be additionally used to determine the torque level of the permanent magnet synchronous motor.

[0047] If the permanent magnet synchronous motor is in the first torque limiting state and the first stalled rotor state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque. That is to say, whether to reduce the output torque of the permanent magnet synchronous motor to the rated torque is determined not only by the first stalled rotor state but also by judging whether the permanent magnet synchronous motor is in the first torque limiting state. When the permanent magnet synchronous motor is not in the first torque limiting state, the permanent magnet synchronous motor can still maintain high torque output on the basis of the stalled rotor state, thereby achieving stall protection of the permanent magnet synchronous motor on the basis of meeting high torque output.

[0048] Specifically, whether the permanent magnet synchronous motor enters the first torque limiting state can be determined according to the time the permanent magnet synchronous motor is in the first stalled state. If the cumulative time for the permanent magnet synchronous motor to enter the first stalled state from the normal state exceeds the first time threshold, it is confirmed that the permanent magnet synchronous motor enters the first torque limiting state. In other words, the permanent magnet synchronous motor can maintain high torque output within the first time threshold in the first stalled state. The first time threshold can be determined according to actual conditions, for example, the first time threshold is 10s.

[0049] In practical applications, when it is determined that the permanent magnet synchronous motor has been in the first torque limiting state and has not exited, and the permanent magnet synchronous motor is determined to enter the first stalled state based on the first current relationship and the speed, at this time the permanent magnet synchronous motor enters the first stalled state from the first torque limiting state, and the output torque can be directly reduced to the rated torque.

[0050] As an example, refer to Figure 2As shown, after entering the first stall state, the next step of detection is performed according to whether it is in the first torque limit state, that is, whether the torque limit state is 1. If the first stall state is entered from the normal state, the torque limit state starts to be equal to 0, that is, it is not in the first torque limit state, and the time is accumulated; if the accumulated time is less than 10s, no torque limit is performed, and if the accumulated time exceeds 10s, the first torque limit state is entered, the torque limit state is set to 1, and the required torque begins to be reduced. If the first stall state is entered from the first torque limit state, the required torque is continuously reduced until it is no longer satisfied and enters the first stall state.

[0051] In the embodiment of the present application, when the speed of the permanent magnet synchronous motor is greater than the speed threshold, the first stalled state is exited. That is to say, when the speed is greater than the speed threshold, it means that the risk of stalling of the permanent magnet synchronous motor is low, and the first stalled state can be exited. If the permanent magnet synchronous motor is also in the first torque limiting state, the first torque limiting state can be exited.

[0052] As an example, refer to Figure 2 As shown, when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold, the condition that the maximum value and the first minimum value satisfy the first current relationship cannot be established at the same time, that is, the motor speed is less than or equal to 30rpm and I max >I1 / √2, then continue to make the next judgment based on the motor speed. If the motor speed is greater than 30rpm, it is considered that the motor has exited the stall state, the stall state and torque limit state are cleared to 0, and the stall protection is exited; if the motor speed is less than 30rpm, continue to judge the stall state.

[0053] In an embodiment of the present application, when the condition that the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy the first current relationship cannot be established at the same time, and the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold, the equivalent average value of the three-phase current of the permanent magnet synchronous motor can continue to be used to judge the stall state, that is, the overall heat generation of the three phases can be used to judge the stall state, thereby further realizing accurate judgment of the stall state.

[0054] The equivalent average value of the three-phase current of the permanent magnet synchronous motor and the second minimum value of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller can be obtained. When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the equivalent average value of the three-phase current and the second minimum value satisfy the second current relationship, it is confirmed that the permanent magnet synchronous motor enters the second stalled state. In other words, the equivalent average value of the three-phase current is used as the overall heat dissipation judgment standard of the permanent magnet synchronous motor, combined with the speed of the permanent magnet synchronous motor, to further achieve accurate judgment of the stalled state of the permanent magnet synchronous motor. If the permanent magnet synchronous motor is in the second torque limiting state and the second stalled state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque. In other words, not only the second stalled state but also whether the permanent magnet synchronous motor is in the second torque limiting state is determined to determine whether the output torque of the permanent magnet synchronous motor is reduced to the rated torque. When the permanent magnet synchronous motor is not in the second torque limiting state, the permanent magnet synchronous motor can still maintain high torque output on the basis of the stalled state, thereby achieving stall protection of the permanent magnet synchronous motor on the basis of satisfying high torque output.

[0055] Specifically, the second current relationship is that the ratio of the three-phase current equivalent average value to the second minimum value is greater than the ratio threshold. For example, the ratio threshold may be √2. avg The second minimum value of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller is represented by I2, and the second current relationship can be I avg >I2 / √2.

[0056] Specifically, whether the permanent magnet synchronous motor enters the second torque limiting state can be determined based on the time that the permanent magnet synchronous motor is in the second stalled state. If the cumulative time for the permanent magnet synchronous motor to enter the second stalled state from the normal state exceeds the second time threshold, it is confirmed that the permanent magnet synchronous motor enters the second torque limiting state. In other words, the permanent magnet synchronous motor can maintain high torque output within the second time threshold in the second stalled state. The second time threshold can be determined according to actual conditions, for example, the second time threshold is 60s. The second time threshold can be greater than the first time threshold, because when in the second stalled state, it can be determined that there is no risk of excessive single-phase current, and the probability of burning out of the single-phase insulated gate bipolar transistor module is low. Therefore, compared with the first stalled state, the second stalled state can have a longer period of high torque output.

[0057] In practical applications, when it is determined that the permanent magnet synchronous motor has been in the second torque limiting state and has not exited, and the permanent magnet synchronous motor is determined to enter the second stalled state based on the second current relationship and the speed, at this time the permanent magnet synchronous motor enters the second stalled state from the second torque limiting state, and the output torque can be directly reduced to the rated torque.

[0058] As an example, refer to Figure 2 As shown, get the equivalent average value I of the three-phase current U, V, and W avg , the equivalent average value of the three-phase current I avg It can be calculated using the following formula.

[0059]

[0060] Among them, I U ,I V and I W The second minimum value I2 of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller is when the speed is less than or equal to 30rpm and It is considered that the second stall state has been entered, that is, the stall state can be set to 2. At this time, the output torque is still greater than the rated torque. The next step of detection is performed according to whether it is in the second torque limit state, that is, whether the torque limit state is 2. If the second stall state is entered from the normal state or the first stall state, the torque limit state is equal to 0 or 1, and the time is accumulated; if the accumulated time is less than 60s, no torque limit is performed. If the accumulated time exceeds 60s, the second torque limit state is entered, that is, the torque limit state is set to 2, and the required torque begins to be reduced. If the second stall state is entered from the second torque limit state, the required torque is continuously reduced until it is no longer satisfied and enters the second stall state.

[0061] In the embodiment of the present application, when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value do not satisfy the second current relationship, the second stall state is exited. In other words, when the three-phase current equivalent average value and the second minimum value do not satisfy the second current relationship, it is considered that the torque has been limited to the rated state, and the second stall state can be exited, thereby exiting the stall protection control process.

[0062] As an example, refer to Figure 2 If it is not satisfied The stall status and torque limit status are cleared to 0, and the stall protection is exited.

[0063] It can be seen that the permanent magnet synchronous motor stall control method provided by the embodiment of the present application uses the maximum absolute value of the three-phase current of U, V, and W as the single-phase maximum heat dissipation judgment standard to avoid the heat generation in a special position being concentrated in a certain phase for a long time, thereby realizing the accurate judgment of the stall state. After entering the stall state, multi-stage protection can be performed. After the permanent magnet synchronous motor enters the stall state, at least the high torque output of the first time threshold can be maintained, and the torque is limited to the rated value after the high torque output of the first time threshold is maintained. When the three-phase DC quantity is limited to less than the equivalent average value of the three-phase current, the overall current is greater than the equivalent average value of the three-phase current, but the heat generation is relatively balanced at this time, and the high torque can be maintained for a longer time. In other words, the embodiment of the present application uses the maximum value in the three-phase current and the equivalent average value of the three-phase current to detect the stall state of the permanent magnet synchronous motor, and performs stall protection, and performs multi-stage torque restriction during the protection process. In the torque limiting process, the stall position is fully utilized to maintain a longer high torque output.

[0064] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0065] In some embodiments, the server can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0066] Although operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0067] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0068] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0069] Based on a permanent magnet synchronous motor stall control method provided in the above embodiment, the embodiment of the present application further provides a permanent magnet synchronous motor stall control device, and its working principle is described in detail below in conjunction with the accompanying drawings.

[0070] See also Figure 3 , which is a structural schematic diagram of a permanent magnet synchronous motor stall control device provided in an embodiment of the present application.

[0071] This embodiment provides a permanent magnet synchronous motor stall control device 300 including:

[0072] A first confirmation unit 310 is used to obtain a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and confirm that the permanent magnet synchronous motor enters a first stalled state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship;

[0073] The first reducing unit 320 is configured to reduce the output torque of the permanent magnet synchronous motor to the rated torque if the permanent magnet synchronous motor is in the first torque limiting state and the first stalling state at the same time.

[0074] In some embodiments, the apparatus comprises: a second confirmation unit; the second confirmation unit is configured to:

[0075] If the accumulated time for the permanent magnet synchronous motor to enter the first stalled state from the normal state exceeds a first time threshold, it is confirmed that the permanent magnet synchronous motor enters the first torque limiting state.

[0076] In some embodiments, the first current relationship is that a ratio of the maximum value to the first minimum value is greater than a ratio threshold.

[0077] In some embodiments, the device comprises: a first exit unit; the first exit unit is used to:

[0078] When the rotation speed of the permanent magnet synchronous motor is greater than the rotation speed threshold, the first stalled state is exited.

[0079] In some embodiments, the apparatus comprises: a second reducing unit; the second reducing unit is configured to:

[0080] Obtaining the three-phase current equivalent average value of the permanent magnet synchronous motor and the second minimum value of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller, and confirming that the permanent magnet synchronous motor enters the second locked-rotor state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value satisfy a second current relationship;

[0081] If the permanent magnet synchronous motor is in the second torque limiting state and the second stalling state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque.

[0082] In some embodiments, the device further includes: a third confirmation unit; the third confirmation unit is used to:

[0083] If the accumulated time for the permanent magnet synchronous motor to enter the second locked-rotor state from the normal state exceeds a second time threshold, it is confirmed that the permanent magnet synchronous motor enters the second torque limiting state.

[0084] In some embodiments, the second current relationship is that a ratio of the three-phase current equivalent average value to the second minimum value is greater than a ratio threshold.

[0085] In some embodiments, the device comprises: a second exit unit; the second exit unit is used to:

[0086] When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value do not satisfy the second current relationship, the second stall state is exited.

[0087] The components involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of a component does not, in some cases, constitute a limitation on the component itself.

[0088] The names of the messages or information exchanged between multiple components in the embodiments of the present application are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0089] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0090] Based on the multi-row elastic layout method provided in the above embodiment, the embodiment of the present application further provides a multi-row elastic layout device, the multi-row elastic layout device comprising:

[0091] The processor and the memory may be one or more processors. In some embodiments of the present application, the processor and the memory may be connected via a bus or other means.

[0092] The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

[0093] The processor controls the operation of the terminal device and may also be referred to as a CPU.

[0094] The method disclosed in the above embodiment of the present application can be applied to a processor or implemented by a processor. The processor can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined to perform. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0095] The embodiment of the present application also provides a computer-readable medium for storing program code, where the program code is used to execute any one of the methods of the aforementioned embodiments.

[0096] In the context of the present application, a computer-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] It should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0098] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0099] The embodiment of the present application further provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes any one of the implementation methods of the aforementioned embodiments.

[0100] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, the above-mentioned functions defined in the method of the embodiment of the present application are executed.

[0101] Although several specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present application. Certain features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0102] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for controlling a permanent magnet synchronous motor stall, characterized in that: The method comprises: Obtaining a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and confirming that the permanent magnet synchronous motor enters a first stalled state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship; If the permanent magnet synchronous motor is in the first torque limiting state and the first stalled state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque.

2. The method according to claim 1, characterized in that The method comprises: If the accumulated time for the permanent magnet synchronous motor to enter the first stalled state from the normal state exceeds a first time threshold, it is confirmed that the permanent magnet synchronous motor enters the first torque limiting state.

3. The method according to claim 1, characterized in that The first current relationship is that a ratio of the maximum value to the first minimum value is greater than a ratio threshold.

4. The method according to claim 1, characterized in that: The method comprises: When the rotation speed of the permanent magnet synchronous motor is greater than the rotation speed threshold, the first stalled state is exited.

5. The method according to claim 1, characterized in that The method comprises: Obtaining the three-phase current equivalent average value of the permanent magnet synchronous motor and the second minimum value of the rated current of the permanent magnet synchronous motor and the rated current of the permanent magnet synchronous motor controller, and confirming that the permanent magnet synchronous motor enters the second locked-rotor state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value satisfy a second current relationship; If the permanent magnet synchronous motor is in the second torque limiting state and the second stalling state at the same time, the output torque of the permanent magnet synchronous motor is reduced to the rated torque.

6. The method according to claim 5, characterized in that The method further comprises: If the accumulated time for the permanent magnet synchronous motor to enter the second locked-rotor state from the normal state exceeds a second time threshold, it is confirmed that the permanent magnet synchronous motor enters the second torque limiting state.

7. The method according to claim 5, characterized in that The second current relationship is that a ratio of the three-phase current equivalent average value to the second minimum value is greater than a ratio threshold.

8. The method according to claim 5, characterized in that The method further comprises: When the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the three-phase current equivalent average value and the second minimum value do not satisfy the second current relationship, the second stall state is exited.

9. A permanent magnet synchronous motor stall control device, characterized in that: The device comprises: A first confirmation unit is used to obtain a maximum value among the three-phase currents of the permanent magnet synchronous motor and a first minimum value among the peak current of the permanent magnet synchronous motor and the peak current of the permanent magnet synchronous motor controller, and confirm that the permanent magnet synchronous motor enters a first stalled state when the speed of the permanent magnet synchronous motor is less than or equal to the speed threshold and the maximum value and the first minimum value satisfy a first current relationship; The first reducing unit is used to reduce the output torque of the permanent magnet synchronous motor to the rated torque if the permanent magnet synchronous motor is in the first torque limiting state and the first stalling state at the same time.

10. A computer-readable medium, characterized in that The method comprises instructions which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 8.

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