Self-heating control method based on low-temperature work of motor, storage medium, equipment and computer program product

Abstract

The invention discloses a self-heating control method based on low-temperature work of a motor, a storage medium, equipment and a computer program product. The self-heating control method comprises the steps that a heating controller is arranged in a motor driving system; when the actual working temperature of the motor is lower than the set temperature, the heating controller determines the heating current according to the actual working temperature of the motor; and the determined heating current and the output current of the speed controller jointly act on a current controller of the motor driving system, so that heating during working of the motor driving system is realized, and the heating power of the motor is improved. On the basis of the real-time temperature of the motor and under the control conditions that the position, speed and the like of the motor are not affected, the heating current is generated through the heating controller, the output current of the speed controller is superposed and input into the current controller, so that the heating power of the motor is improved, and heating control over the motor is achieved.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a self-heating control method, storage medium, device and computer program product based on low-temperature operation of a motor. Background Art

[0002] For motor drive systems working outdoors, when the temperature is low, if the motor drive system speed is low and the load current is small, the speed of the reduction mechanism physically connected to the motor will decrease, and the heat generation power will decrease, making it difficult to maintain the operating temperature of the motor, resulting in a decrease in motor performance.

[0003] In the prior art, two methods are generally used to maintain the working temperature of the motor: one is to use an auxiliary heating method, in which a heating material is wrapped around the motor casing, and when the external ambient temperature is low, auxiliary heating is performed to maintain the working temperature of the motor, but this method requires a special heating control circuit and heating material; the other method is to use a certain control method to heat the motor when the motor is stopped, such as the Chinese patent application with publication number CN117353623A and invention name "Low-temperature self-heating method and high-voltage rapid discharge method for AC motor drive system". When the motor temperature sensor detects that the motor temperature is lower than the self-heating threshold, the motor stops working, starts the heating control program, and waits for power. When the motor temperature reaches the operating temperature, heating is stopped and the motor enters the working state; for example, the Chinese patent application with publication number CN116032191A and invention name "Motor Self-heating Method, Motor Controller and Vehicle" performs self-heating control on a permanent magnet synchronous motor. After receiving the heating instruction, the dq axis current of the motor is calculated according to the required heating power, and then the AC voltage on the motor is calculated to perform motor self-heating. However, this motor heating control method can only be performed when the motor is stopped. For a working motor in a low temperature environment, heating cannot be performed, especially for a motor under the condition of a small motor working current. It is impossible to maintain a certain heating power to make the motor work in a normal state. Summary of the invention

[0004] In response to the problems existing in the prior art, the present invention provides a self-heating control method, storage medium, device and computer program product based on low-temperature operation of the motor, so that the motor can be self-heated even when the operating current of the motor is small, thereby maintaining the high-performance working state of the motor.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solution: a self-heating control method based on low-temperature operation of a motor, comprising the following sub-steps:

[0006] Step S1, setting a heating controller in the motor drive system;

[0007] Step S2: when the actual operating temperature of the motor is lower than the set temperature, the heating controller determines the heating current according to the actual operating temperature of the motor;

[0008] Step S3: The determined heating current and the output current of the speed controller are jointly applied to the current controller of the motor drive system to achieve heating when the motor drive system is working, thereby increasing the heating power of the motor.

[0009] Furthermore, a temperature sensor is provided on the motor driven by the motor drive system, and the temperature sensor is used to sense the real-time temperature of the motor. If the actual temperature of the motor is lower than the set temperature, the heating controller is turned on to work, otherwise, the heating controller is turned off.

[0010] Furthermore, the heating controller is arranged between the speed controller and the current controller in the motor drive system. When the heating controller is working, it receives the output current from the speed controller, determines the heating current according to the actual operating temperature of the motor, superimposes the heating current with the output current of the speed controller, and inputs it into the current controller.

[0011] Furthermore, the determination process of the heating current iq_hot in step S2 is:

[0012] iq_hot=Asin2πft

[0013] Among them, A represents the sinusoidal wave amplitude of the heating current of the motor drive system, and the value of A is related to the actual working temperature of the motor; f represents the vibration frequency of the heating current of the motor drive system, and t represents time.

[0014] Furthermore, the calculation process of the sine wave amplitude A of the heating current of the motor drive system is:

[0015]

[0016] Among them, T a Indicates the actual operating temperature of the motor; T * Indicates the set temperature. Indicates the minimum value of the rated operating temperature range of the motor, T c represents the adjustment temperature; K represents the gain of the heating controller.

[0017] Furthermore, the vibration frequency f of the heating current of the motor drive system satisfies:

[0018] 10f v <f<f c

[0019] Among them, f v represents the speed loop bandwidth of the motor drive system, fc Represents the current loop bandwidth of the motor drive system.

[0020] Furthermore, the specific process of step S3 is: if the sum of the sinusoidal wave amplitude A of the heating current of the motor drive system and the absolute value of the output current of the speed controller exceeds the maximum current allowed by the current controller, the maximum current allowed by the current controller is input into the current controller to achieve heating when the motor drive system is working, thereby increasing the heating power of the motor; otherwise, the heating current and the output current of the speed controller are added as the input of the current controller to achieve heating when the motor drive system is working, thereby increasing the heating power of the motor.

[0021] Furthermore, the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the self-heating control method based on low-temperature operation of the motor.

[0022] Furthermore, the present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-heating control method based on low-temperature operation of the motor is implemented.

[0023] Furthermore, the present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the self-heating control method based on low-temperature operation of the motor is implemented.

[0024] Compared with the prior art, the present invention has the following beneficial effects: the present invention is based on a self-heating control method for low-temperature operation of a motor, based on the real-time temperature of the motor, and without affecting the control conditions such as the position and speed of the motor, a heating current is generated by a heating controller, the output current of the speed controller is superimposed, and the current is input into the current controller, thereby increasing the heating power of the motor and realizing heating control of the motor. At the same time, the heating current of the motor drive system adopts a sinusoidal wave form, which can generate high-frequency vibration, which is conducive to heat generation and overcoming the static friction of the motor drive system, so that the motor can be self-heated even when the motor current is small, thereby maintaining the high-performance working state of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the self-heating control method based on low temperature operation of the motor according to the present invention;

[0026] Figure 2 A schematic diagram of the output torque of a motor to which a heating current is added according to the present invention;

[0027] Figure 3 This is a schematic diagram of a permanent magnet synchronous motor using the self-heating control method of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings.

[0029] like Figure 1 This is a flow chart of a self-heating control method based on low-temperature operation of a motor according to the present invention. The self-heating control method specifically includes the following steps:

[0030] Step S1, setting a heating controller in the motor drive system; specifically, a temperature sensor is provided on the motor driven by the motor drive system, and the temperature sensor is used to sense the real-time temperature of the motor. If the actual temperature of the motor is lower than the set temperature, the heating controller is turned on to work, otherwise, the heating controller is turned off; the heating controller is set between the speed controller and the current controller in the motor drive system. When the heating controller is working, it receives the output current iq* from the speed controller, and determines the heating current iq_hot according to the actual working temperature of the motor, and superimposes the heating current iq_hot with the output current iq* of the speed controller, and inputs them into the current controller.

[0031] Step S2: When the actual operating temperature of the motor is lower than the set temperature, the heating controller determines the heating current iq_hot according to the actual operating temperature of the motor.

[0032] The determination process of the heating current iq_hot in the present invention is:

[0033] iq_hot=Asin2πft

[0034] Where A represents the sine wave amplitude of the heating current of the motor drive system. The value of A is related to the actual operating temperature of the motor. T a Indicates the actual operating temperature of the motor, in degrees Celsius, T * Indicates the set temperature. Indicates the minimum value of the rated operating temperature range of the motor, T c Indicates temperature adjustment, adjust temperature T c It can be adjusted according to the working environment of the motor. The working temperature of the motor can be adjusted to above the minimum value of the rated working temperature range of the motor through motor self-heating, which can ensure the good working condition of the motor. K represents the gain of the heating controller. The square of the A value is linearly related to the motor self-heating power. The larger the A value, the greater the self-heating power. That is, by real-time monitoring of the working temperature of the motor, the lower the working temperature of the motor, the higher the self-heating power. f represents the vibration frequency of the heating current of the motor drive system, 10f v <f<f c , f v represents the speed loop bandwidth of the motor drive system, fc represents the current loop bandwidth of the motor drive system; t represents time.

[0035] like Figure 2 , where curve ① is the normal working current of the motor, that is, the torque generated by the output current of the speed controller, curve ② is the torque generated by the heating current iq_hot, and curve ③ is the torque after the output current of the speed controller and the heating current iq_hot are superimposed, that is, the actual output torque of the motor with the heating controller introduced in the present invention. Since the addition of the heating current iq_hot generates a vibration frequency f, f satisfies 10f v <f<f c Under the condition of not affecting the performance of the motor drive system, a lower vibration frequency f can be selected so that the motor can produce high-frequency vibration when working at low temperature, which is conducive to heat generation and overcoming the static friction of the motor drive system, so that the motor can be self-heated even when the motor current is small, thereby maintaining the high-performance working state of the motor.

[0036] Step S3, the determined heating current and the output current of the speed controller are jointly applied to the current controller of the motor drive system to realize heating when the motor drive system is working, improve the heating power of the motor, and realize heating control of the motor. Specifically, if the sum of the sinusoidal wave amplitude A of the heating current of the motor drive system and the absolute value of the output current of the speed controller exceeds the maximum current allowed by the motor controller, the maximum current allowed by the current controller is input into the current controller, and the heating of the motor drive system is realized when the motor drive system is working, thereby improving the heating power of the motor; otherwise, the sum iq** of the heating current and the output current of the speed controller is input into the current controller, thereby realizing heating when the motor drive system is working, thereby improving the heating power of the motor.

[0037] The self-heating control method based on low-temperature operation of the motor of the present invention is based on the real-time temperature of the motor, and without affecting the control conditions such as the position and speed of the motor, a heating current is generated by a heating controller, the output current of the speed controller is superimposed, and the input is into the current controller, thereby improving the heating power of the motor and realizing heating control of the motor. At the same time, the heating current of the motor drive system adopts a sinusoidal wave form, and high-frequency vibration can be generated when the working current of the motor is small, which is conducive to heat generation and overcoming the static friction of the motor drive system, so that the motor can be self-heated when the motor current is small, thereby maintaining the high-performance working state of the motor.

[0038] Example

[0039] This embodiment takes a permanent magnet synchronous motor as an example, and adopts the self-heating control method of the present invention to heat the permanent magnet synchronous motor. Figure 3The motor drive system of the permanent magnet synchronous motor includes: a speed controller, a q-axis current controller, a d-axis current controller, a rotational transformation, an SVPWM module, an inverter, a synchronous motor, an encoder, and a position speed calculation module, wherein the d-axis and the q-axis refer to the direct axis and the quadrature axis of the permanent magnet synchronous motor, respectively. A heating controller is added to the motor drive system of the permanent magnet synchronous motor, which is located between the speed controller and the q-axis current controller, and a temperature sensor is set to sense the real-time temperature of the permanent magnet synchronous motor. In addition, Figure 3 Where SP* is the speed setting value, id* is the d-axis current setting value, in the constant torque control mode, the setting value of id* is 0, id and iq are the current feedback values ​​of the d-axis and q-axis respectively, iq* is the output current of the speed controller, and iq** is the setting value of the q-axis current controller. According to the self-heating method of the present invention, when the heating controller is working, it receives the output current iq* from the speed controller, and determines the heating current iq_hot according to the actual working temperature of the permanent magnet synchronous motor, superimposes the heating current iq_hot with the output current iq* of the speed controller to form iq**, and inputs it into the q-axis current controller to realize the heating control of the permanent magnet synchronous motor.

[0040] In a technical solution of the present invention, a computer-readable storage medium is further provided, storing a computer program, wherein the computer program enables a computer to execute the self-heating control method based on low-temperature operation of the motor.

[0041] In one technical solution of the present invention, an electronic device is also provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-heating control method based on low-temperature operation of the motor is implemented.

[0042] In a technical solution of the present invention, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the self-heating control method based on low-temperature operation of the motor is implemented.

[0043] In the embodiments disclosed in the present application, the computer storage medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. The computer storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specific examples of computer storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0044] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0045] The above are only preferred embodiments 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 be regarded as the protection scope of the present invention.

Claims

1. A self-heating control method based on low-temperature operation of a motor, characterized in that: The following sub-steps are included: Step S1, setting a heating controller in the motor drive system; Step S2: when the actual operating temperature of the motor is lower than the set temperature, the heating controller determines the heating current according to the actual operating temperature of the motor; Step S3: The determined heating current and the output current of the speed controller are jointly applied to the current controller of the motor drive system to achieve heating when the motor drive system is working, thereby increasing the heating power of the motor.

2. A self-heating control method based on low-temperature operation of a motor according to claim 1, characterized in that: The motor driven by the motor drive system is provided with a temperature sensor, and the temperature sensor is used to sense the real-time temperature of the motor. If the actual temperature of the motor is lower than the set temperature, the heating controller is turned on to work, otherwise, the heating controller is turned off.

3. The self-heating control method based on low-temperature operation of a motor according to claim 1, characterized in that: The heating controller is arranged between the speed controller and the current controller in the motor drive system. When the heating controller is working, it receives the output current from the speed controller, determines the heating current according to the actual working temperature of the motor, superimposes the heating current with the output current of the speed controller, and inputs the heating current into the current controller.

4. A self-heating control method based on low-temperature operation of a motor according to claim 3, characterized in that: The determination process of the heating current iq_hot in step S2 is: iq_hot=Asin2πft Among them, A represents the sinusoidal wave amplitude of the heating current of the motor drive system, and the value of A is related to the actual working temperature of the motor; f represents the vibration frequency of the heating current of the motor drive system, and t represents time.

5. A self-heating control method based on low-temperature operation of a motor according to claim 4, characterized in that: The calculation process of the sine wave amplitude A of the heating current of the motor drive system is: Among them, T a Indicates the actual operating temperature of the motor; T * Indicates the set temperature. Indicates the minimum value of the rated operating temperature range of the motor, T c represents the adjustment temperature; K represents the gain of the heating controller.

6. A self-heating control method based on low-temperature operation of a motor according to claim 5, characterized in that: The vibration frequency f of the heating current of the motor drive system satisfies: 10f v <f<f c Among them, f v represents the speed loop bandwidth of the motor drive system, f c Represents the current loop bandwidth of the motor drive system.

7. The self-heating control method based on low-temperature operation of a motor according to claim 5, characterized in that: The specific process of step S3 is: if the sum of the sine wave amplitude A of the heating current of the motor drive system and the absolute value of the output current of the speed controller exceeds the maximum current allowed by the motor controller, the maximum current allowed by the motor controller is input into the current controller to achieve heating when the motor drive system is working and improve the heating power of the motor; otherwise, the heating current and the output current of the speed controller are added as the input of the current controller to achieve heating when the motor drive system is working and improve the heating power of the motor.

8. A computer-readable storage medium storing a computer program, characterized in that: The computer program enables the computer to execute the self-heating control method based on low-temperature operation of the motor as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the self-heating control method based on low-temperature operation of the motor as described in any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the self-heating control method based on low-temperature operation of the motor as described in any one of claims 1 to 7 is implemented.

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