Motor over-temperature protection method and device and electronic equipment

Abstract

The invention provides a motor over-temperature protection method and device and electronic equipment, and relates to the technical field of intelligent automobiles. The method comprises the following steps: acquiring a first temperature of a motor; if it is determined that the motor meets a first preset over-temperature condition based on the first temperature, performing first cooling operation on the motor; the first cooling operation is used for dissipating internal heat of the motor; after the first cooling operation is executed, the second temperature of the motor is obtained; if it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the change rate of the second temperature, performing at least one second cooling operation on the motor until the temperature of the motor reaches a preset condition; and the second cooling operation reduces heat generated by the motor in a non-linear torque reduction mode. According to the motor over-temperature protection method and device and the electronic equipment provided by the invention, the motor over-temperature protection effect can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent automobile technology, and in particular to a motor over-temperature protection method, device and electronic equipment. Background Art

[0002] The (drive) motor of a car may overheat under some harsh working conditions. Excessive temperature can cause irreversible demagnetization of the motor, seriously affecting the reliability of the motor's sub-components.

[0003] Currently, mainstream drive motor system software and hardware all have over-temperature protection functions, but the current over-temperature protection strategy is too simple, and it is difficult to accurately control the motor temperature to protect the motor. It has poor practicality and is difficult to cope with various complex working conditions in the actual use of the motor. It also has a certain impact on the driver's driving experience. Summary of the invention

[0004] The present application provides a motor over-temperature protection method, device and electronic device to solve the defect that the motor over-temperature protection method in the prior art is difficult to accurately control the motor temperature to protect the motor, and improve the motor over-temperature protection effect.

[0005] In a first aspect, the present application provides a motor over-temperature protection method, comprising:

[0006] Get the first temperature of the motor;

[0007] If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, performing a first cooling operation on the motor; the first cooling operation is used to dissipate internal heat of the motor;

[0008] After performing the first temperature reduction operation, obtaining a second temperature of the motor;

[0009] If it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, the motor is subjected to at least one second cooling operation until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0010] Optionally, the second cooling operation includes:

[0011] Determine a target temperature corresponding to the current second cooling operation of the motor, wherein the target temperature corresponding to the first second cooling operation is the second temperature;

[0012] Determining a nonlinear torque reduction function based on a current speed of the motor;

[0013] Determining a first target torque based on the target temperature and the nonlinear torque reduction function;

[0014] Based on the first target torque, nonlinear torque reduction and temperature reduction are performed;

[0015] A third temperature after nonlinear torque cooling is determined, and if it is determined based on the third temperature and the rate of change of the third temperature that the motor meets the second preset over-temperature condition, the third temperature is used as a target temperature corresponding to the next second cooling operation.

[0016] Optionally, determining the nonlinear torque reduction function based on the current rotation speed of the motor includes:

[0017] Acquire a first torque corresponding to the motor at a first temperature threshold, and acquire the current speed;

[0018] Determining a second torque based on the current speed and a continuous power-torque external characteristic curve of the motor;

[0019] The nonlinear torque reduction function is determined based on the first temperature threshold, the first torque, the second temperature threshold, and the second torque.

[0020] Optionally, the preset condition is a normal temperature condition or a third preset over-temperature condition;

[0021] If the temperature of the motor meets the third preset over-temperature condition after performing at least one second temperature reduction operation on the motor, the method further includes:

[0022] A third cooling operation is performed on the motor, and an alarm is issued; the third cooling operation reduces the heat generated by the motor by linearly reducing the torque.

[0023] Optionally, the third cooling operation includes:

[0024] using the current temperature of the motor as a fourth temperature;

[0025] Determining an objective function based on the third temperature threshold, the second temperature threshold and the preset torque;

[0026] Substituting the fourth temperature into the objective function to obtain a second target torque;

[0027] Based on the second target torque, linear torque reduction and temperature reduction are performed.

[0028] Optionally, the motor overtemperature protection method further includes:

[0029] If it is determined based on the first temperature that the motor meets a third preset over-temperature condition, a third cooling operation is directly performed on the motor, and an alarm is issued.

[0030] Optionally, the motor overtemperature protection method further includes:

[0031] If it is determined based on the second temperature that the motor meets a third preset over-temperature condition, a third cooling operation is performed on the motor and an alarm is issued.

[0032] Optionally, performing a first cooling operation on the motor includes:

[0033] Determining a target heat dissipation operation corresponding to the type of the motor from a plurality of preset heat dissipation operations;

[0034] Based on the target heat dissipation operation, a first temperature reduction operation is performed on the motor.

[0035] In a second aspect, the present application also provides a motor overtemperature protection device, comprising:

[0036] A first acquisition module, used to acquire a first temperature of the motor;

[0037] A first execution module, configured to perform a first cooling operation on the motor if it is determined based on the first temperature that the motor meets a first preset over-temperature condition; the first cooling operation is used to dissipate internal heat of the motor;

[0038] A second acquisition module, configured to acquire a second temperature of the motor after performing the first temperature reduction operation;

[0039] A second execution module is used to perform at least one second cooling operation on the motor if it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0040] In a third aspect, the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0041] In a fourth aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0042] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which implements the method described in the first aspect when executed by a processor.

[0043] The motor over-temperature protection method, device and electronic device provided by the present application perform a first cooling operation on the motor to dissipate the internal heat of the motor when the motor meets the first preset over-temperature condition. After the first cooling operation, if it is judged that the motor meets the second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, a second cooling operation is performed on the motor to reduce the heat generated by the motor by nonlinear torque reduction until the temperature of the motor reaches the preset condition. The temperature threshold and temperature change rate of the motor are combined to accurately control the temperature of the motor through heat dissipation, nonlinear torque reduction and heat reduction and other measures, taking into account both the motor power output and the motor over-temperature safety protection, avoiding the problem of excessive motor power changes affecting the vehicle driving experience, and can minimize the impact on the motor output power, ensuring the balance of the motor power output, effectively preventing the motor temperature from further increasing, and improving the safety and reliability of driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 is a flow chart of a motor over-temperature protection method provided in an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of a motor twist reduction curve provided in an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of the structure of a motor over-temperature protection device provided in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] This application analyzes the current motor over-temperature protection method and finds the following problems: 1) The temperature condition is relatively simple to judge, and it is judged by whether it exceeds the threshold temperature, but not by the motor temperature change trend, so the motor temperature protection is relatively redundant; 2) Linear derating is performed when the temperature threshold is exceeded, which has a great impact on the motor output power, thereby affecting the user's driving experience; 3) By controlling power or torque, it can only reduce heat generation, but cannot take away the internal heat of the motor. Based on this, this application provides a motor over-temperature protection method that can solve the above problems.

[0050] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] Figure 1 is a flow chart of a motor over-temperature protection method provided in an embodiment of the present application. Figure 1 The embodiment of the present application provides a motor over-temperature protection method, the execution subject of which may be an electronic device, for example, a controller. The following description is made by taking the execution subject of the method as an example. The method may include:

[0052] Step 110, obtaining a first temperature of the motor;

[0053] Step 120: If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, a first cooling operation is performed on the motor; the first cooling operation is used to dissipate internal heat of the motor;

[0054] Step 130: After performing the first cooling operation, obtaining a second temperature of the motor;

[0055] Step 140: If it is determined based on the second temperature and the rate of change of the second temperature that the motor meets the second preset over-temperature condition, perform at least one second cooling operation on the motor until the temperature of the motor reaches the preset condition; the second cooling operation reduces the heat generated by the motor by nonlinear torque reduction.

[0056] In step 110 , the controller may obtain a first temperature of the motor to determine whether the motor is overheated.

[0057] In step 120, if the controller determines that the motor meets the first preset over-temperature condition based on the first temperature, the first cooling operation can be performed on the motor. Specifically, the first preset temperature condition can be that the first temperature exceeds the first temperature threshold and does not exceed the second temperature threshold. The first temperature threshold is less than the second temperature threshold. When the motor meets the first preset over-temperature condition, the controller can perform a first cooling operation on the motor. The first cooling operation is mainly used to dissipate the internal heat of the motor. If the first temperature of the motor does not exceed the first temperature threshold, it means that the motor is not currently overheated and the motor can output at full power.

[0058] In step 130 , the controller may obtain a second temperature of the motor after performing the first temperature reduction operation.

[0059] In step 140, if the rate of change (slope) of the second temperature is less than or equal to zero, and the second temperature is less than the second temperature threshold, it means that after the first cooling operation, the temperature of the current motor has begun to decrease, and the temperature of the motor is controllable, and the over-temperature protection can be exited at this time. If it is determined that the motor meets the second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, that is, the rate of change (slope) of the second temperature is greater than zero, and the second temperature is less than the second temperature threshold, it means that after the first cooling operation, the temperature rise control of the motor is not obvious, the temperature is still rising, and further temperature rise control is required. At this time, the second cooling operation can be started on the motor. Specifically, the controller can perform at least one second cooling operation on the motor until the temperature of the motor reaches the preset condition. The second cooling operation is mainly to reduce the torque of the motor. Considering that the linear derating method is mainly used in the industry, it will greatly affect the power output of the motor, and then affect the user's driving power experience. The present application adopts a nonlinear derating method, which can ensure that the power and temperature rise of the motor are met. Slowly derate between the first temperature threshold and the second temperature threshold to minimize the impact on the power output of the motor.

[0060] The motor over-temperature protection method provided in the embodiment of the present application performs a first cooling operation on the motor to dissipate the internal heat of the motor when the motor meets the first preset over-temperature condition. After the first cooling operation, if it is judged that the motor meets the second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, a second cooling operation is performed on the motor to reduce the heat generated by the motor by means of nonlinear torque reduction until the temperature of the motor reaches the preset condition. The temperature threshold and temperature change rate of the motor are combined to accurately control the temperature of the motor through heat dissipation, nonlinear torque reduction and heat reduction and other measures, taking into account both the motor power output and the motor over-temperature safety protection, avoiding the problem of excessive motor power changes affecting the vehicle driving experience, and being able to minimize the impact on the motor output power, ensuring the balance of the motor power output, effectively preventing the motor temperature from further increasing, and improving the safety and reliability of driving.

[0061] In one embodiment, the second cooling operation includes: determining a target temperature corresponding to the current second cooling operation of the motor, wherein the target temperature corresponding to the first second cooling operation is the second temperature; determining a nonlinear torque reduction function based on the current speed of the motor; determining a first target torque based on the target temperature and the nonlinear torque reduction function; performing nonlinear torque reduction and cooling based on the first target torque; determining a third temperature after nonlinear torque cooling, and if it is determined that the motor meets the second preset over-temperature condition based on the third temperature and the rate of change of the third temperature, using the third temperature as the target temperature corresponding to the next second cooling operation.

[0062] The controller can determine the target temperature corresponding to the current second cooling operation of the motor. The target temperature is the current temperature of the motor. Among them, the target temperature corresponding to the first second cooling operation is the second temperature. The controller can obtain the current speed of the motor and determine the nonlinear torque reduction function based on the current speed. Then substitute the target temperature into the nonlinear torque reduction function to obtain the first target torque. The difference between the current torque of the motor and the first target torque is used as the torque reduction value to implement nonlinear torque reduction and temperature reduction. The controller can determine the third temperature after the nonlinear torque temperature reduction. If it is determined that the temperature of the motor reaches the preset condition, the second cooling operation is terminated; if it is determined based on the third temperature and the rate of change of the third temperature that the temperature of the motor meets the second preset over-temperature condition, the second cooling operation needs to be continued. At this time, the third temperature can be used as the target temperature corresponding to the next second cooling operation. By re-obtaining the current speed of the motor, the nonlinear torque reduction function is re-obtained, the target temperature is substituted into the re-obtained nonlinear torque reduction function, the first target torque is re-obtained, and then nonlinear torque reduction and temperature reduction are performed based on the re-obtained first target torque. Then, it is repeatedly determined whether the second preset over-temperature condition is met and whether the temperature of the motor reaches the preset condition, and the second cooling operation is repeated or ended.

[0063] The motor over-temperature protection method provided in the embodiment of the present application determines a nonlinear torque reduction function and performs a second cooling operation, thereby avoiding the problem of excessive motor power changes affecting the vehicle driving experience, ensuring the balance of the motor's power output, and improving driving safety and reliability.

[0064] In one embodiment, a nonlinear torque reduction function is determined based on the current speed of the motor, including: obtaining a first torque corresponding to the motor at a first temperature threshold and obtaining the current speed; determining a second torque based on the current speed and a continuous power-torque external characteristic curve of the motor; and determining a nonlinear torque reduction function based on the first temperature threshold, the first torque, the second temperature threshold and the second torque.

[0065] The controller can obtain the first torque corresponding to the motor at the first temperature threshold, and determine the first coordinate point based on the first temperature threshold and the first torque. The controller can obtain the current speed of the motor, and obtain the second torque corresponding to the current speed by checking the continuous power torque external characteristic curve. And determine the second coordinate point based on the second temperature threshold and the second torque. The nonlinear torque reduction function can be a parabola. The controller can use the first coordinate point as the vertex of the parabola and the second coordinate point as a point on the parabola to determine the curve equation of the parabola as the nonlinear torque reduction function.

[0066] Figure 2 : is a schematic diagram of the motor de-torsion curve provided in the embodiment of the present application. Among them, measure 2 corresponds to the second cooling operation, and measure 3 corresponds to the third cooling operation. Figure 2As shown, let the relationship between torque and temperature be a quadratic curve (parabola), then:

[0067] T q =f(T)=a×T 2 +b×T+c

[0068] Among them, T q is the torque of the motor, T is the temperature of the motor, and a, b and c are coefficients.

[0069] To ensure that the quadratic curve is smooth between the first temperature threshold T1 and the second temperature threshold T2, (T1, T2) can be set q1 ) is the vertex of the quadratic curve, where T q1 is the first torque.

[0070] Get the first torque T corresponding to the motor at the first temperature threshold T1 q1 ; Get the current motor speed. By checking the continuous power torque external characteristic curve, the continuous torque corresponding to the current motor speed can be obtained, that is, the second torque T q2 , (T2,T q2 ) as a point on the quadratic curve.

[0071] In the temperature range [T1, T2] corresponding to the quadratic curve, the following holds true:

[0072] -b / 2a=T1

[0073] T q1 =a×T1 2 +b×T1+c

[0074] T q2 =a×T2 2 +b×T2+c

[0075] By combining the above formulas, the values ​​of a, b and c corresponding to the current speed can be determined, and then the corresponding nonlinear torque reduction function can be determined.

[0076] The motor over-temperature protection method provided in the embodiment of the present application determines a nonlinear torque reduction function and performs a second cooling operation, thereby avoiding the problem of excessive motor power changes affecting the vehicle driving experience, ensuring the balance of the motor's power output, and improving driving safety and reliability.

[0077] In one embodiment, the preset condition is a normal temperature condition or a third preset over-temperature condition; if the temperature of the motor meets the third preset over-temperature condition after the motor is subjected to at least one second cooling operation, the motor over-temperature protection method also includes: performing a third cooling operation on the motor and issuing an alarm; the third cooling operation reduces the heat generated by the motor by linearly reducing torque.

[0078] If the temperature of the motor meets the normal temperature condition (that is, the temperature of the motor is less than the second temperature threshold, and the rate of change of the motor temperature is less than or equal to zero) after the motor is subjected to at least one second cooling operation, the motor over-temperature protection is exited. If the temperature of the motor meets the third preset over-temperature condition (the current temperature of the motor is greater than the second temperature threshold) after the motor is subjected to at least one second cooling operation, it means that the temperature rise of the motor is not well controlled by the quadratic curve torque reduction, and it is necessary to continue to control the temperature of the motor, increase the amplitude of the motor torque reduction, and issue an alarm prompt. At this time, the controller can perform a third cooling operation on the motor, and the third cooling operation reduces the heat generated by the motor by linear torque reduction. Alarm prompts may include light alarms, voice prompts, etc.

[0079] The motor over-temperature protection method provided in the embodiment of the present application performs a third cooling operation on the motor after performing at least one second cooling operation on the motor and when the temperature of the motor meets a third preset over-temperature condition. At this time, the torque reduction amplitude of the motor can be maximized, the damage to the motor caused by overheating of the motor can be reduced, and the motor can be better protected.

[0080] In one embodiment, the third cooling operation includes: taking the current temperature of the motor as the fourth temperature; determining the objective function based on the third temperature threshold, the second temperature threshold and the preset torque; substituting the fourth temperature into the objective function to obtain the second target torque; and performing linear torque reduction and temperature reduction based on the second target torque.

[0081] like Figure 2 As shown, the objective function is specifically:

[0082]

[0083] Among them, T q is the torque of the motor, T qset is the preset torque, T is the temperature of the motor, T2 is the second temperature threshold, and T3 is the third temperature threshold.

[0084] The second target torque can be obtained by substituting the fourth temperature into the T target function. The controller can determine the torque reduction value by determining the difference between the current torque of the motor and the second target torque, and perform linear torque reduction and temperature reduction.

[0085] In particular, when the fourth temperature is the third temperature threshold, the second target torque is zero. The motor alarms and shuts down for protection. At this time, the motor has no power output, and the vehicle needs to be powered on and off again to clear the fault state before it can run.

[0086] The motor over-temperature protection method provided in the embodiment of the present application performs a third cooling operation on the motor after performing at least one second cooling operation on the motor and when the temperature of the motor meets a third preset over-temperature condition. At this time, the torque reduction amplitude of the motor can be maximized, the damage to the motor caused by overheating of the motor can be reduced, and the motor can be better protected.

[0087] In one embodiment, the motor over-temperature protection method further includes: if it is determined based on the first temperature that the motor meets a third preset over-temperature condition, directly performing a third cooling operation on the motor and issuing an alarm prompt.

[0088] Furthermore, in one embodiment, the motor over-temperature protection method further includes: if it is determined based on the second temperature that the motor meets a third preset over-temperature condition, performing a third cooling operation on the motor and issuing an alarm prompt.

[0089] After obtaining the first temperature of the motor, the controller determines that the motor meets the third preset over-temperature condition (the first temperature is greater than the second temperature threshold), and can directly perform the third cooling operation on the motor and issue an alarm. After the motor takes the first cooling operation, if it is determined based on the second temperature that the motor meets the third preset over-temperature condition (the second temperature is greater than the second temperature threshold), there is no need to perform the second cooling operation on the motor, and the third cooling operation is directly performed, and an alarm is issued.

[0090] The motor over-temperature protection method provided in the embodiment of the present application directly performs a third cooling operation on the motor and issues an alarm when it is determined that the motor meets a third preset over-temperature condition based on the first temperature or the second temperature. When the motor is judged to meet a third preset over-temperature condition, the most effective measures can be directly taken to protect the motor when the motor over-temperature condition is relatively serious, thereby improving the safety of motor protection.

[0091] In one embodiment, performing a first cooling operation on the motor includes: determining a target cooling operation corresponding to the type of the motor from a plurality of preset cooling operations; and performing the first cooling operation on the motor based on the target cooling operation.

[0092] Different types of motors have different corresponding heat dissipation operations. The preset multiple heat dissipation operations may include adjusting the coolant flow rate and increasing the oil pump speed. When the motor is water-cooled, the target heat dissipation operation may be adjusting the coolant flow rate, and when the motor is oil-cooled, the target heat dissipation operation may be increasing the oil pump speed. Correspondingly, the first cooling operation may be setting the coolant flow rate or the oil pump speed to the maximum value.

[0093] The motor overtemperature protection method provided in the embodiment of the present application determines the first cooling operation of the motor by the type of the motor, and corresponding measures can be taken for different motor types to remove the internal heat of the motor, thereby better protecting the motor and improving the safety of motor protection.

[0094] The motor over-temperature protection device provided in the present application is described below. The motor over-temperature protection device described below and the motor over-temperature protection method described above can refer to each other.

[0095] Figure 3 Schematic diagram of the structure of the motor over-temperature protection device provided in the embodiment of the present application. Figure 3 The motor over-temperature protection device provided in the embodiment of the present application may include:

[0096] A first acquisition module 310 is used to acquire a first temperature of the motor;

[0097] A first execution module 320 is configured to perform a first cooling operation on the motor if it is determined based on the first temperature that the motor meets a first preset over-temperature condition; the first cooling operation is used to dissipate internal heat of the motor;

[0098] A second acquisition module 330, configured to acquire a second temperature of the motor after performing the first temperature reduction operation;

[0099] The second execution module 340 is used to perform at least one second cooling operation on the motor until the temperature of the motor reaches a preset condition if it is determined based on the second temperature and the rate of change of the second temperature that the motor meets a second preset over-temperature condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0100] The motor over-temperature protection device provided in the embodiment of the present application performs a first cooling operation on the motor to dissipate the internal heat of the motor when the motor meets the first preset over-temperature condition. After the first cooling operation, if it is judged that the motor meets the second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, a second cooling operation is performed on the motor to reduce the heat generated by the motor by means of nonlinear torque reduction until the temperature of the motor reaches the preset condition. The temperature threshold and temperature change rate of the motor are combined to accurately control the temperature of the motor through heat dissipation, nonlinear torque reduction and heat reduction and other measures, taking into account both the motor power output and the motor over-temperature safety protection, avoiding the problem of excessive motor power changes affecting the vehicle driving experience, and can minimize the impact on the motor output power, ensure the balance of the motor power output, effectively prevent the motor temperature from further increasing, and improve the safety and reliability of driving.

[0101] In one embodiment, the second execution module is specifically configured to:

[0102] Determine a target temperature corresponding to the current second cooling operation of the motor, wherein the target temperature corresponding to the first second cooling operation is the second temperature;

[0103] Determining a nonlinear torque reduction function based on a current speed of the motor;

[0104] Determining a first target torque based on the target temperature and the nonlinear torque reduction function;

[0105] Based on the first target torque, nonlinear torque reduction and temperature reduction are performed;

[0106] A third temperature after nonlinear torque cooling is determined, and if it is determined based on the third temperature and the rate of change of the third temperature that the motor meets the second preset over-temperature condition, the third temperature is used as a target temperature corresponding to the next second cooling operation.

[0107] In one embodiment, the second execution module is specifically configured to:

[0108] Acquire a first torque corresponding to the motor at a first temperature threshold, and acquire the current speed;

[0109] Determining a second torque based on the current speed and a continuous power-torque external characteristic curve of the motor;

[0110] The nonlinear torque reduction function is determined based on the first temperature threshold, the first torque, the second temperature threshold, and the second torque.

[0111] In one embodiment, the preset condition is a normal temperature condition or a third preset over-temperature condition;

[0112] The motor over-temperature protection device further includes a third execution module;

[0113] If the temperature of the motor meets the third preset over-temperature condition after performing at least one second temperature reduction operation on the motor, the third execution module is used to:

[0114] A third cooling operation is performed on the motor, and an alarm is issued; the third cooling operation reduces the heat generated by the motor by linearly reducing the torque.

[0115] In one embodiment, the third execution module is specifically used to:

[0116] using the current temperature of the motor as a fourth temperature;

[0117] Determining an objective function based on the third temperature threshold, the second temperature threshold and the preset torque;

[0118] Substituting the fourth temperature into the objective function to obtain a second target torque;

[0119] Based on the second target torque, linear torque reduction and temperature reduction are performed.

[0120] In one embodiment, the third execution module is further used to:

[0121] If it is determined based on the first temperature that the motor meets a third preset over-temperature condition, a third cooling operation is directly performed on the motor, and an alarm is issued.

[0122] In one embodiment, the third execution module is further used to:

[0123] If it is determined based on the second temperature that the motor meets a third preset over-temperature condition, a third cooling operation is performed on the motor and an alarm is issued.

[0124] In one embodiment, the first execution module is specifically configured to:

[0125] Determining a target heat dissipation operation corresponding to the type of the motor from a plurality of preset heat dissipation operations;

[0126] Based on the target heat dissipation operation, a first temperature reduction operation is performed on the motor.

[0127] Specifically, the above-mentioned motor over-temperature protection device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is a controller, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0128] Figure 4 Schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the motor overtemperature protection method, for example, including:

[0129] Get the first temperature of the motor;

[0130] If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, performing a first cooling operation on the motor; the first cooling operation is used to dissipate internal heat of the motor;

[0131] After performing the first temperature reduction operation, obtaining a second temperature of the motor;

[0132] If it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, the motor is subjected to at least one second cooling operation until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0133] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0134] On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor overtemperature protection method provided by the above methods are implemented, for example, including:

[0135] Get the first temperature of the motor;

[0136] If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, performing a first cooling operation on the motor; the first cooling operation is used to dissipate internal heat of the motor;

[0137] After performing the first temperature reduction operation, obtaining a second temperature of the motor;

[0138] If it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, the motor is subjected to at least one second cooling operation until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0139] On the other hand, the present application further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the steps of the motor overtemperature protection method provided by the above methods, for example, including:

[0140] Get the first temperature of the motor;

[0141] If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, performing a first cooling operation on the motor; the first cooling operation is used to dissipate internal heat of the motor;

[0142] After performing the first temperature reduction operation, obtaining a second temperature of the motor;

[0143] If it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, the motor is subjected to at least one second cooling operation until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] It should also be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0147] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0148] "Determine B based on A" in the embodiments of the present application means that the factor A should be considered when determining B. It is not limited to "B can be determined based on A alone", but should also include: "Determine B based on A and C", "Determine B based on A, C and E", "Determine C based on A, and further determine B based on C", etc. In addition, it can also include taking A as a condition for determining B, for example, "When A meets the first condition, use the first method to determine B"; for another example, "When A meets the second condition, determine B", etc.; for another example, "When A meets the third condition, determine B based on the first parameter", etc. Of course, it can also be a condition that takes A as a factor for determining B, for example, "When A meets the first condition, use the first method to determine C, and further determine B based on C", etc.

[0149] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor over-temperature protection method, characterized in that: include: Get the first temperature of the motor; If it is determined based on the first temperature that the motor meets a first preset over-temperature condition, performing a first cooling operation on the motor; The first cooling operation is used to dissipate internal heat of the motor; After performing the first temperature reduction operation, obtaining a second temperature of the motor; If it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, the motor is subjected to at least one second cooling operation until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

2. The motor over-temperature protection method according to claim 1, characterized in that: The second cooling operation comprises: Determine a target temperature corresponding to the current second cooling operation of the motor, wherein the target temperature corresponding to the first second cooling operation is the second temperature; Determining a nonlinear torque reduction function based on a current speed of the motor; Determining a first target torque based on the target temperature and the nonlinear torque reduction function; Based on the first target torque, nonlinear torque reduction and temperature reduction are performed; A third temperature after nonlinear torque cooling is determined, and if it is determined based on the third temperature and the rate of change of the third temperature that the motor meets the second preset over-temperature condition, the third temperature is used as a target temperature corresponding to the next second cooling operation.

3. The motor over-temperature protection method according to claim 2, characterized in that: The determining of the nonlinear torque reduction function based on the current speed of the motor includes: Acquire a first torque corresponding to the motor at a first temperature threshold, and acquire the current speed; Determining a second torque based on the current speed and a continuous power-torque external characteristic curve of the motor; The nonlinear torque reduction function is determined based on the first temperature threshold, the first torque, the second temperature threshold, and the second torque.

4. The motor over-temperature protection method according to claim 1, characterized in that: The preset condition is a normal temperature condition or a third preset over-temperature condition; If the temperature of the motor meets the third preset over-temperature condition after performing at least one second temperature reduction operation on the motor, the method further includes: Performing a third cooling operation on the motor and issuing an alarm prompt; The third cooling operation reduces the heat generated by the motor by linearly reducing torque.

5. The motor over-temperature protection method according to claim 4, characterized in that: The third cooling operation comprises: using the current temperature of the motor as a fourth temperature; Determining an objective function based on the third temperature threshold, the second temperature threshold and the preset torque; Substituting the fourth temperature into the objective function to obtain a second target torque; Based on the second target torque, linear torque reduction and temperature reduction are performed.

6. The motor over-temperature protection method according to claim 1, characterized in that: Also includes: If it is determined based on the first temperature that the motor meets a third preset over-temperature condition, a third cooling operation is directly performed on the motor, and an alarm is issued.

7. The motor over-temperature protection method according to claim 1, characterized in that: Also includes: If it is determined based on the second temperature that the motor meets a third preset over-temperature condition, a third cooling operation is performed on the motor and an alarm is issued.

8. The motor over-temperature protection method according to any one of claims 1 to 7, characterized in that: The performing a first temperature reduction operation on the motor includes: Determining a target heat dissipation operation corresponding to the type of the motor from a plurality of preset heat dissipation operations; Based on the target heat dissipation operation, a first temperature reduction operation is performed on the motor.

9. A motor overtemperature protection device, characterized in that: include: A first acquisition module, used to acquire a first temperature of the motor; a first execution module, configured to perform a first temperature reduction operation on the motor if it is determined based on the first temperature that the motor meets a first preset over-temperature condition; The first cooling operation is used to dissipate internal heat of the motor; A second acquisition module, configured to acquire a second temperature of the motor after performing the first temperature reduction operation; A second execution module is used to perform at least one second cooling operation on the motor if it is determined that the motor meets a second preset over-temperature condition based on the second temperature and the rate of change of the second temperature, until the temperature of the motor reaches a preset condition; the second cooling operation reduces the heat generated by the motor by means of nonlinear torque reduction.

10. 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 motor over-temperature protection method according to any one of claims 1 to 8 is implemented.

Images