A first-order thermal equivalent simulation method and device for a high-power servo induction motor

Abstract

The present invention relates to the technical field of thermal equivalent simulation, and in particular provides a first-order thermal equivalent simulation method and device for a high-power servo induction motor. The method includes constructing a first-order thermal equivalent model, and simulating the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; collecting data during the temperature rise and cooling process of the servo induction motor; calculating the parameters of the first-order thermal equivalent simulation model according to the collected data; verifying the first-order thermal equivalent simulation model and evaluating the model. Through the first-order thermal equivalent simulation model, the method can accurately and efficiently simulate the thermal behavior of the motor, solve the problems of inaccurate thermal equivalent simulation, large amount of calculation, and difficulty in real-time application, improve the performance and stability of the motor system, and provide strong support for the design, optimization, and fault diagnosis of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of thermal equivalent simulation, and particularly to a first-order thermal equivalent simulation method and device for a high-power servo induction motor. Background Art

[0002] Currently, the thermal equivalent simulation of high-power servo induction motors mostly uses complex thermal network models or empirical thermal calculation formulas. These methods have problems such as large computational amounts, low simulation accuracy, and difficulty in real-time application. Specifically, the existing technologies have the following problems: high complexity, the equivalent thermal network model needs to describe in detail the heat transfer relationship between various components inside the motor, resulting in complex model construction and large computational amounts; insufficient accuracy, due to the significant dynamic characteristics of high-power servo induction motors, traditional equivalent thermal network models are difficult to accurately reflect the changing laws of their thermal behavior; poor real-time performance, due to the high model complexity and large computational amounts, the efficiency and accuracy of real-time estimation of temperature rise are limited. Summary of the Invention

[0003] In view of this, the present invention provides a first-order thermal equivalent simulation method and device for a high-power servo induction motor to solve the problems of inaccurate thermal equivalent simulation, large computational amounts, and difficulty in real-time application of high-power servo induction motors.

[0004] In a first aspect, the present invention provides a first-order thermal equivalent simulation method for a high-power servo induction motor, and the method includes:

[0005] Step 1, construct a first-order thermal equivalent model, and simulate the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model;

[0006] Step 2, collect data during the temperature rise and cooling process of the servo induction motor;

[0007] Step 3, calculate the parameters of the first-order thermal equivalent simulation model according to the collected data;

[0008] Step 4, verify the first-order thermal equivalent simulation model and evaluate the model.

[0009] Optionally, the expression for constructing the first-order thermal equivalent model in the step 1 is:

[0010] ;

[0011] Wherein, is the motor efficiency, is the motor power, R is the equivalent thermal resistance, C is the equivalent thermal capacitance, t is the time, T is the real-time temperature rise of the motor, is the time fixed value offset.

[0012] Optionally, the step 2 includes:

[0013] On the servo drive system experimental platform, measure the temperature rise and cooling process of the servo induction motor starting from the cold state at rated speed and rated torque, rated speed and 50% rated torque, and 50% rated speed and 1.5 times rated torque respectively; use the counter-rotating test station and the temperature inspection instrument to record the electrical parameters and temperature parameters of the servo induction motor, and the records include motor efficiency , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature , where i takes values of 1, 2, 3; n is the number of data, and data is recorded every 1 minute.

[0014] Optionally, step 3 includes:

[0015] According to the data of motor efficiency , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature collected under the rated speed and rated torque conditions, calculate the parameters of the first-order thermal equivalent simulation model, including the time fixed offset , equivalent thermal resistance R, equivalent heat capacity C;

[0016] The average thermal power under the rated speed and rated torque conditions, and its expression is:

[0017] ;

[0018] The motor temperature rise data under the rated speed and rated torque conditions, and its expression is:

[0019] , where m takes values of 1, 2, 3,..., n;

[0020] Sampling sequence ;

[0021] According to the temperature rise data and the sampling sequence , use the curve fitting tool in MAtlab according to the temperature rise formula to obtain , and the time fixed offset The value of t0;

[0022] The equivalent thermal resistance R = ;

[0023] The equivalent heat capacity C = .

[0024] Optionally, the step 4 includes:

[0025] Using the test data under two different working conditions of rated speed and 50% rated torque, and 50% speed and 1.5 times rated torque, verify the accuracy of the first-order thermal equivalent simulation model; by comparing the measured temperature rise data with the temperature rise data simulated by the model, evaluate the accuracy and reliability of the model;

[0026] The average thermal power under the condition of rated speed and 50% rated torque , and its expression is:

[0027] ;

[0028] The average thermal power under the condition of 50% speed and 1.5 times rated torque , and its expression is:

[0029] ;

[0030] The motor temperature rise data under the condition of rated speed and 50% rated torque , and its expression is:

[0031] , where m takes values of 1, 2, 3,..., n;

[0032] The motor temperature rise data under the condition of 50% speed and 1.5 times rated torque , and its expression is:

[0033] ;

[0034] The motor temperature rise data simulated by the thermal equivalent at rated speed and 50% rated torque , and its expression is:

[0035] ;

[0036] The motor temperature rise data simulated by the thermal equivalent at 50% speed and 1.5 times rated torque , and its expression is:

[0037] ;

[0038] By comparing the measured temperature rise data with the temperature rise data simulated by the model, the accuracy and reliability of the thermal equivalent model are verified.

[0039] In a second aspect, the present invention provides a first-order thermal equivalent simulation device for a high-power servo induction motor, and the device includes:

[0040] A model construction module, configured to construct a first-order thermal equivalent model and simulate the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model;

[0041] A data acquisition module, configured to acquire data during the temperature rise and cooling process of the servo induction motor;

[0042] A model calculation module, configured to calculate the parameters of the first-order thermal equivalent simulation model according to the acquired data;

[0043] A model verification module, configured to verify the first-order thermal equivalent simulation model;

[0044] A load characteristic curve drawing module, configured to evaluate the model.

[0045] In the technical solution provided by the present invention, the method includes constructing a first-order thermal equivalent model and simulating the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; acquiring data during the temperature rise and cooling process of the servo induction motor; calculating the parameters of the first-order thermal equivalent simulation model according to the acquired data; verifying the first-order thermal equivalent simulation model and evaluating the model. Through the first-order thermal equivalent simulation model, the method can accurately and efficiently simulate the thermal behavior of the motor, solve the problems of inaccurate thermal equivalent simulation, large calculation amount and difficulty in real-time application, improve the performance and stability of the motor system, and provide strong support for the design, optimization and fault diagnosis of the motor. Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 It is a flowchart of the first-order thermal equivalent simulation method provided by the embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of the first-order thermal equivalent model provided by the embodiment of the present invention;

[0049] Figure 3 It is a temperature rise curve diagram of the first-order thermal equivalent model provided by the embodiment of the present invention;

[0050] Figure 4 The temperature rise curve graph of the actual temperature rise and thermal equivalent simulation under the rated speed and rated torque conditions provided by the embodiments of the present invention;

[0051] Figure 5 The temperature rise curve graph of the actual temperature rise and thermal equivalent simulation under the rated speed and 50% rated torque conditions provided by the embodiments of the present invention;

[0052] Figure 6 The temperature rise curve graph of the actual temperature rise and thermal equivalent simulation under the 50% speed and 1.5 times rated torque conditions provided by the embodiments of the present invention;

[0053] Figure 7 The schematic diagram of the first-order thermal equivalent simulation device provided by the embodiments of the present invention. Detailed implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0055] It should be clear that the described embodiments are only some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "said" used in the embodiments of the present invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0057] It should be understood that the term " / and / " used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0058] Depending on the context, as used herein, the word "if" can be interpreted as "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0059] Figure 1 The flowchart of the first-order thermal equivalent simulation method provided by the embodiment of the present invention is as Figure 1 shown, and the method includes:

[0060] Step 1: Construct a first-order thermal equivalent model, and simulate the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model.

[0061] In the embodiment of the present invention, as Figure 2 shown, the expression for constructing the first-order thermal equivalent model in Step 1 is:

[0062] ;

[0063] wherein, is the motor efficiency, is the motor power, R is the equivalent thermal resistance, C is the equivalent thermal capacitance, t is the time, T is the real-time temperature rise of the motor, is the time fixed value offset.

[0064] Step 2: Collect data during the temperature rise and cooling process of the servo induction motor.

[0065] In the embodiment of the present invention, as Figure 3 shown, Step 2 includes:

[0066] On the servo drive system experimental platform, measure the temperature rise and cooling process of the servo induction motor at the rated speed and rated torque, rated speed and 50% rated torque, 50% rated speed and 1.5 times rated torque starting from the cold state respectively; use the counter-rotating detection station and the temperature inspection instrument to record the electrical parameters and temperature parameters of the servo induction motor respectively, and the recording includes the motor efficiency , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature , where i takes values of 1, 2, 3; n is the number of data, and data is recorded every 1 minute. In the embodiment of the present invention, the motor efficiency includes ; the output power includes ; The U-phase current includes ; The rotational speed includes ; The torque includes ; The U-phase winding temperature includes ; The ambient temperature includes .

[0067] Step 3: Calculate the parameters of the first-order thermal equivalent simulation model according to the collected data.

[0068] In the embodiment of the present invention, Step 3 includes:

[0069] According to the data of motor efficiency , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature collected under the rated speed and rated torque conditions, calculate the parameters of the first-order thermal equivalent simulation model, including the time-fixed offset , equivalent thermal resistance R, and equivalent thermal capacitance C;

[0070] The average thermal power under the rated speed and rated torque conditions, and its expression is:

[0071] ;

[0072] The motor temperature rise data under the rated speed and rated torque conditions, and its expression is:

[0073] , where m takes values of 1, 2, 3,..., n;

[0074] Sampling sequence ;

[0075] According to the temperature rise data and the sampling sequence , use the curve fitting tool in MAtlab according to the temperature rise formula to obtain , and the value of the time-fixed offset t0;

[0076] Equivalent thermal resistance R = ;

[0077] Equivalent thermal capacitance C = .

[0078] Step 4: Verify the first-order thermal equivalent simulation model and evaluate the model.

[0079] In the embodiment of the present invention, as Figures 4 to 6 shown, Step 4 includes:

[0080] Verify the accuracy of the first-order thermal equivalent simulation model by using the test data under two different working conditions of rated speed and 50% rated torque, and 50% speed and 1.5 times rated torque; evaluate the accuracy and reliability of the model by comparing the measured temperature rise data with the temperature rise data simulated by the model;

[0081] The average thermal power under the condition of rated speed and 50% rated torque , and its expression is:

[0082] ;

[0083] The average thermal power under the condition of 50% speed and 1.5 times rated torque , and its expression is:

[0084] ;

[0085] The motor temperature rise data under the condition of rated speed and 50% rated torque , and its expression is:

[0086] , where m takes values of 1, 2, 3,..., n;

[0087] The motor temperature rise data under the condition of 50% speed and 1.5 times rated torque , and its expression is:

[0088] ;

[0089] The motor temperature rise data under the condition of thermal equivalent simulation of rated speed and 50% rated torque , and its expression is:

[0090] ;

[0091] The motor temperature rise data under the condition of thermal equivalent simulation of 50% speed and 1.5 times rated torque , and its expression is:

[0092] ;

[0093] By comparing the measured temperature rise data with the temperature rise data simulated by the model, the accuracy and reliability of the thermal equivalent model are verified.

[0094] Figure 7Schematic diagram of the first-order thermal equivalent simulation device provided by the embodiment of the present invention, as Figure 7 shown, the device includes: a model construction module 1, a data acquisition module 2, a model calculation module 3, a model verification module 4, and a load characteristic curve drawing module 5.

[0095] The model construction module 1 is connected to the data acquisition module 2; the data acquisition module 2 is connected to the model calculation module 3; the model calculation module 3 is connected to the model verification module 4; the model verification module 4 is connected to the load characteristic curve drawing module 5.

[0096] The model construction module 1 is used to construct a first-order thermal equivalent model and simulate the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; the data acquisition module 2 is used to collect data during the temperature rise and cooling process of the servo induction motor; the model calculation module 3 is used to calculate the parameters of the first-order thermal equivalent simulation model according to the collected data; the model verification module 4 is used to verify the first-order thermal equivalent simulation model; the load characteristic curve drawing module 5 is used to evaluate the model.

[0097] According to the thermal equivalent model and the motor temperature rise situation, adjust the control strategy of the motor to achieve active thermal control and prevent the motor from overheating.

[0098] The present invention aims to achieve more accurate and efficient thermal equivalent simulation to improve the performance and stability of the motor system, provide strong support for the design, optimization, and fault diagnosis of the motor. By introducing a first-order thermal equivalent simulation model and combining the electrical and thermal characteristics of the servo induction motor, it can more accurately simulate the temperature rise of the motor and effectively solve the limitations of traditional methods in high-power servo applications.

[0099] Compared with the prior art, the present invention has the following beneficial effects:

[0100] (1) High accuracy: By introducing a first-order thermal equivalent simulation model and combining the dynamic characteristics of the servo induction motor, the present invention can more accurately simulate the thermal behavior of the motor and improve the accuracy of the simulation results.

[0101] (2) Small calculation amount: The first-order thermal equivalent model has a simpler structure and fewer parameters compared with the traditional thermal network model, thus significantly reducing the calculation amount and improving the simulation efficiency. This method avoids complex numerical calculations and simulation processes, improves the calculation efficiency, and reduces the calculation cost.

[0102] (3) Strong real-time performance: The method of the present invention can input the dynamic characteristic parameters of the motor in real time and perform real-time simulation, providing strong support for the real-time monitoring and fault diagnosis of the motor.

[0103] (4) Through this method, the load characteristic curve of the motor can be conveniently obtained, providing strong support for the performance and control of the motor.

[0104] In the technical solution provided by the present invention, the method includes constructing a first-order thermal equivalent model and simulating the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; collecting data during the temperature rise and cooling process of the servo induction motor; calculating the parameters of the first-order thermal equivalent simulation model according to the collected data; verifying the first-order thermal equivalent simulation model and evaluating the model. Through the first-order thermal equivalent simulation model, the method can accurately and efficiently simulate the thermal behavior of the motor, solve the problems of inaccurate thermal equivalent simulation, large amount of calculation and difficulty in real-time application, improve the performance and stability of the motor system, and provide strong support for the design, optimization and fault diagnosis of the motor.

[0105] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A first-order thermal equivalent simulation method for a high-power servo induction motor, characterized in that, The method includes: Step 1: Construct a first-order thermal equivalent model and simulate the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; Step 2: Collect data during the temperature rise and cooling process of the servo induction motor; Step 3: Calculate the parameters of the first-order thermal equivalent simulation model based on the collected data; Step 4: Verify the first-order thermal equivalent simulation model and evaluate the model; The expression for constructing the first-order thermal equivalent model in Step 1 is: ； Among them, is the motor efficiency, is the motor power, R is the equivalent thermal resistance, C is the equivalent heat capacity, t is the time, and T is the real-time temperature rise of the motor, is the time fixed value offset; Step 2 includes: On the servo drive system experimental platform, measure the temperature rise and cooling process of the servo induction motor starting from the cold state at rated speed and rated torque, rated speed and 50% rated torque, and 50% rated speed and 1.5 times rated torque respectively; use the counter-rotating test station and the temperature inspection instrument to record the electrical parameters and temperature parameters of the servo induction motor, and the records include motor efficiency , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature , where i takes values of 1, 2, 3; n is the number of data, and data is recorded every 1 minute; Step 3 includes: Motor efficiency based on data collected under rated speed and rated torque conditions , output power , U-phase current , rotational speed , torque , U-phase winding temperature , ambient temperature , calculate the parameters of the first-order thermal equivalent simulation model, including the time-fixed offset , equivalent thermal resistance R, equivalent heat capacity C; Average thermal power under rated speed and rated torque conditions , and its expression is: ； Motor temperature rise data under rated speed and rated torque conditions , and its expression is: , where m takes values of 1, 2, 3, ..., n; Sampling sequence ; According to the temperature rise data and the sampling sequence , using the curve fitting tool in MAtlab according to the temperature rise formula , obtain , and the numerical value of the time fixed offset ; Equivalent thermal resistance R = ; Equivalent heat capacity C = .

2. The method according to claim 1, characterized in that Step 4 includes: Use the test data under two different working conditions of rated speed and 50% rated torque, and 50% speed and 1.5 times rated torque to verify the accuracy of the first-order thermal equivalent simulation model; evaluate the accuracy and reliability of the model by comparing the measured temperature rise data with the temperature rise data simulated by the model; Average thermal power under rated speed and 50% rated torque conditions , and its expression is: ； Average thermal power under the conditions of 50% speed and 1.5 times the rated torque , and its expression is: ； Motor temperature rise data under rated speed and 50% rated torque conditions , and its expression is: , where m takes values of 1, 2, 3, ..., n; Motor temperature rise data under the conditions of 50% speed and 1.5 times the rated torque , and its expression is: ； Thermal equivalent simulation of the motor temperature rise data under the rated speed and 50% rated torque conditions , and its expression is: ； Thermal equivalent simulation of motor temperature rise data under 50% speed and 1.5 times rated torque conditions , and its expression is: ； By comparing the measured temperature rise data with the temperature rise data simulated by the model, the accuracy and reliability of the thermal equivalent model are verified.

3. A first-order thermal equivalent simulation device for a high-power servo induction motor, characterized in that, The device is implemented based on the first-order thermal equivalent simulation method of the high-power servo induction motor described in claims 1 to 2, and the device includes: A model construction module for constructing a first-order thermal equivalent model and simulating the temperature rise and cooling process of the servo induction motor through the first-order thermal equivalent model; A data acquisition module for collecting data during the temperature rise and cooling process of the servo induction motor; A model calculation module for calculating the parameters of the first-order thermal equivalent simulation model based on the collected data; A model verification module for verifying the first-order thermal equivalent simulation model; A load characteristic curve drawing module for evaluating the model.

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