Locked-rotor stamping inhibition method, device and equipment, storage medium and product

Abstract

The invention discloses a locked-rotor stamping inhibition method, device and equipment, a storage medium and a product, and relates to the technical field of permanent magnet synchronous motor control, and the locked-rotor stamping inhibition method is applied to a motor locked-rotor fault. The method comprises the following steps: acquiring real-time parameters of a motor; the real-time parameters of the motor at least comprise the rotating speed of the motor, the counter electromotive force of the motor and the power of the motor; when the real-time parameters of the motor meet preset locked-rotor protection conditions, a locked-rotor protection trigger value of the motor is adjusted; when the locked-rotor protection trigger value is greater than a preset critical value, judging that the motor has a locked-rotor fault; and when the motor has a locked-rotor fault, performing switching vector state compensation on a power device in the inverter so as to suppress bus stamping. When the motor is locked, the locked-rotor fault can be quickly and effectively detected, meanwhile, the bus voltage sudden rising phenomenon during protection action is effectively restrained, the safety level of a hardware circuit is improved, and on the premise that safety is ensured, the energy loss of a system is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of permanent magnet synchronous motor control technology, and in particular to a method, device, equipment, storage medium and product for inhibiting stalling. Background Art

[0002] As permanent magnet synchronous motor technology continues to develop, many fields have begun to use permanent magnet synchronous motors to replace traditional brushed motors, asynchronous motors, etc. However, when the motor is in complex working conditions such as load changes and long-term operation, it is inevitable that it will encounter stalling failures. If there is no timely and effective method to detect and suppress this problem, it may cause direct damage to the motor system and fail to ensure safety and reliability.

[0003] The traditional stall detection method is to determine the stall fault by obtaining factors such as speed, back electromotive force, magnetic flux value, operating current, system temperature, etc. through sensors and observers. In actual application, the above methods may have poor timeliness, or the judgment algorithm is complex and unreliable, and the sensor cost is high, making it difficult to implement. More importantly, in the case of a stall fault, since the motor needs a large working current to generate electromagnetic torque to resist the load, an unreasonable protection action process will cause a large bus voltage rise, damaging hardware systems such as chips and power devices.

[0004] First, the existing technology is relatively simple and has poor reliability for the judgment method of stall fault. If the stall speed or back electromotive force is estimated by an estimator, since the motor is in a zero low-speed operation state, the current commonly used estimators are difficult to solve accurate information in the face of this situation, resulting in misjudgment of stall fault. If a high-performance observer is used, it is often necessary to match a main control chip with high computing power to process complex data to obtain accurate information, and the application cost is relatively expensive. Although the motor needs a huge current to generate the maximum electromagnetic torque when it is stalled, the occurrence of the stall fault can be directly determined by detecting the current value, but when the motor is running with a large load, several times the impact current will be generated in the starting stage to ensure the dynamic response speed, resulting in misjudgment of stall. At the same time, when the motor is in a weak magnetic working condition, a large demagnetization current is required to weaken the air gap flux to achieve high-speed operation of the motor, and misjudgment of stall is also prone to occur at this time. It can be seen that the above-mentioned traditional methods often increase the judgment time to ensure accuracy in the actual application process due to the high probability of misjudgment of stall, which makes the stall judgment process longer, the reaction speed is slow, and the effect is poor, which is not competent in high-performance motor applications. In addition, the existing technologies directly ignore the control processing after the stall protection, and use unreasonable control methods such as direct shutdown, which directly causes the hardware circuit to suffer bus voltage shock, etc., which directly causes irreversible damage to the hardware circuit with low safety level and low cost, and makes it unable to continue to work. For hardware circuits with higher safety level, shocks will also cause potential damage such as device aging, reducing the service life of the hardware system. Summary of the invention

[0005] The main objective of this application is to provide a locked-rotor voltage surge suppression method, device, equipment, storage medium, and product, aiming to solve the technical problem of quickly and effectively detecting the locked-rotor fault when the motor experiences locked-rotor, and simultaneously effectively suppressing the sudden rise in bus voltage during the protection action.

[0006] To achieve the above objective, this application proposes a locked-rotor voltage surge suppression method, which is applied to the locked-rotor fault of the motor; The locked-rotor voltage surge suppression method includes: Obtain the real-time parameters of the motor; the real-time parameters of the motor at least include the motor speed, the motor back electromotive force, and the motor power; When the real-time parameters of the motor meet the preset locked-rotor protection conditions, adjust the locked-rotor protection trigger value of the motor; When the locked-rotor protection trigger value is greater than the preset critical value, determine that the motor has a locked-rotor fault; When the motor has a locked-rotor fault, perform switching vector state compensation on the power devices in the inverter to suppress the bus voltage surge.

[0007] Optionally, the step of adjusting the locked-rotor protection trigger value of the motor when the real-time parameters of the motor meet the preset locked-rotor protection conditions specifically includes: When the motor speed in the real-time parameters of the motor is less than the speed in the preset locked-rotor protection conditions, increase the locked-rotor protection trigger value; When the back electromotive force of the motor in the real-time parameters of the motor is greater than the back electromotive force in the preset locked-rotor protection conditions, increase the locked-rotor protection trigger value; When the motor power in the real-time parameters of the motor is greater than the power in the preset locked-rotor protection conditions, increase the locked-rotor protection trigger value.

[0008] Optionally, after the step of adjusting the locked-rotor protection trigger value of the motor when the real-time parameters of the motor meet the preset locked-rotor protection conditions, it further includes: When the real-time parameters of the motor do not meet the preset locked-rotor protection conditions and the locked-rotor protection trigger value is not greater than the preset value, adjust the locked-rotor protection trigger value of the motor.

[0009] Optionally, the step of performing switching vector state compensation on the power devices in the inverter specifically includes: Construct a pressure relief path; Obtain the switching vector state of the power devices in the inverter at the previous moment; Determine the switching vector state compensation according to the pressure relief path and the switching vector state at the previous moment.

[0010] Optionally, after the step of determining the switching vector state compensation according to the switching vector state at the previous moment, it further includes: Obtain the phase currents of the three-phase windings of the motor; Determine the phase with the maximum current according to the comparison result of the phase currents of the three-phase windings of the motor; Control the power transistor of the lower arm in the phase with the maximum current to conduct, and turn off the remaining power devices in the inverter.

[0011] Optionally, after the step of performing switching vector state compensation on the power devices in the inverter to suppress bus punching when the motor stalls, the method further includes: After the switching vector state compensation, obtain the bus voltage, and determine the voltage slope according to the bus voltage; Determine the conduction duty ratio of the lower-arm power device according to the pressure relief path, the preset total discharge time, and the voltage slope; Determine the per-carrier decreasing ratio of the duty ratio according to the preset total discharge time and the conduction duty ratio.

[0012] In addition, to achieve the above object, the present application further provides a stall punching suppression device, the device includes: An acquisition module, configured to acquire real-time parameters of the motor; the real-time parameters of the motor at least include the motor speed, the motor back electromotive force, and the motor power; A determination module, configured to adjust the stall protection trigger value of the motor when the real-time parameters of the motor meet the preset stall protection conditions; A stall module, configured to determine that the motor has a stall fault when the stall protection trigger value is greater than a preset critical value; A suppression module, configured to perform switching vector state compensation on the power devices in the inverter to suppress bus punching when the motor has a stall fault.

[0013] In addition, to achieve the above object, the present application further provides a stall punching suppression device, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the stall punching suppression method.

[0014] In addition, to achieve the above object, the present application further provides a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the stall punching suppression method are implemented.

[0015] In addition, to achieve the above object, the present application further provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the stall punching suppression method are implemented.

[0016] One or more technical solutions proposed by the present application have at least the following effects: The present application discloses a locked-rotor stamping suppression method, device, equipment, storage medium and product. The locked-rotor stamping suppression method is applied to the locked-rotor fault of a motor. The method includes: acquiring real-time parameters of the motor; the real-time parameters of the motor at least include motor speed, motor back electromotive force, and motor power; when the real-time parameters of the motor meet a preset locked-rotor protection condition, adjusting the locked-rotor protection trigger value; when the locked-rotor protection trigger value is greater than a preset critical value, determining that the motor has a locked-rotor fault; when the motor has a locked-rotor fault, performing switching vector state compensation on the power devices in the inverter to suppress bus stamping. The locked-rotor fault can be quickly and effectively detected when the motor is locked-rotor, and at the same time, the phenomenon of sudden rise in bus voltage during the protection action is effectively suppressed, improving the safety level of the hardware circuit. On the premise of ensuring safety, the energy loss of the system is reduced and the operation efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic flowchart of the first embodiment of the locked-rotor stamping suppression method proposed by the embodiment of the present application; Figure 2 It is a schematic flowchart of the second embodiment of the locked-rotor stamping suppression method proposed by the embodiment of the present application; Figure 3 It is a schematic flowchart of the third embodiment of the locked-rotor stamping suppression method proposed by the embodiment of the present application; Figure 4 It is a schematic module structure diagram of the locked-rotor stamping suppression device proposed by the embodiment of the present application; Figure 5 It is a schematic device structure diagram of the hardware operating environment involved in the locked-rotor stamping suppression method in the embodiment of the present application; Figure 6 It is a general framework diagram of the locked-rotor stamping suppression method of the present application; Figure 7 It is a three-phase voltage source inverter topology diagram of the present application; Figure 8 It is a discharge path diagram formed by the switching vector state Vecter = 100 of the present application.

[0019] Explanation of the reference numerals in the drawings:

[0020] The realization of the purpose, functional characteristics and advantages of the present application will be further described with reference to the embodiments and the drawings. Detailed implementation manners

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0024] In addition, the descriptions involving "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0025] The main solution of the embodiments of the present application is: through an interlock locked-rotor detection mechanism, the locked-rotor fault can be quickly and effectively detected when the motor is locked-rotor, and at the same time, the sudden rise of the bus voltage during the protection action is effectively suppressed through the locked-rotor processing logic (switching vector state compensation), improving the safety level of the hardware circuit.

[0026] In the embodiment, for the convenience of description, the motor control system is used as the execution subject for elaboration below.

[0027] The present application provides a solution. The present application discloses a locked-rotor stamping suppression method, device, equipment, storage medium and product. The locked-rotor stamping suppression method is applied to the locked-rotor fault of the motor. The method includes: obtaining the real-time parameters of the motor; the real-time parameters of the motor at least include the motor speed, the back electromotive force of the motor and the motor power; when the real-time parameters of the motor meet the preset locked-rotor protection condition, adjusting the locked-rotor protection trigger value; when the locked-rotor protection trigger value is greater than the preset critical value, determining that the motor has a locked-rotor fault; when the motor has a locked-rotor fault, performing switching vector state compensation on the power device in the inverter to suppress the bus stamping. The locked-rotor fault can be quickly and effectively detected when the motor is locked-rotor, and at the same time, the phenomenon of sudden rise of the bus voltage during the protection action is effectively suppressed, improving the safety level of the hardware circuit. On the premise of ensuring safety, the energy loss of the system is reduced and the operation efficiency is improved.

[0028] Based on this, an embodiment of the present application provides a locked-rotor stamping suppression method.

[0029] Refer to Figure 1 , Figure 1 which is a schematic flow chart of the first embodiment of the locked-rotor stamping suppression method proposed by the embodiment of the present application.

[0030] Considering that the locked-rotor fault can be quickly and effectively detected when the motor is locked-rotor, and at the same time, the phenomenon of sudden rise of the bus voltage during the protection action is effectively suppressed. As Figure 1 shown, the locked-rotor stamping suppression method of this embodiment is applied to the locked-rotor fault of the motor. The locked-rotor stamping suppression method includes steps S10 to S40: Step S10: Obtain the real-time parameters of the motor; the real-time parameters of the motor at least include the motor speed, the back electromotive force of the motor and the motor power.

[0031] It should be noted that during the operation of the motor, the real-time state during the operation of the motor is obtained through sensors, etc., including the rotational speed (motor speed) , the bus voltage value , the bus current value , the phase current value , , . When the motor encounters a locked-rotor fault, the output mechanical speed is close to zero. At this time, the controller outputs the maximum electromagnetic torque to try to drive the load and reach a dynamic balance state. Taking a permanent magnet motor as an example, its electromagnetic torque expression is: , when the applied motor is determined: the motor phase number coefficient , the number of pole pairs , the permanent magnet flux linkage , the direct and quadrature axis inductances and When relatively fixed, only by increasing the current can a greater electromagnetic torque be generated. As Figure 6 shown, Figure 6 This is the overall framework diagram of the locked-rotor stamping suppression method of this application. The locked-rotor detection of the motor in this application is an interlocking locked-rotor detection mechanism.

[0032] It can be understood that after the motor starts, the locked-rotor parameters are initialized, the locked-rotor trigger value P is set to 0, and then the real-time parameters of the motor are obtained.

[0033] Step S20: When the real-time parameters of the motor meet the preset locked-rotor protection conditions, adjust the locked-rotor protection trigger value of the motor.

[0034] It should be noted that as Figure 6 shown, the preset locked-rotor protection conditions include: the set minimum locked-rotor protection speed (the speed in the preset locked-rotor protection conditions), the set maximum back electromotive force of the locked-rotor protection (the back electromotive force in the preset locked-rotor protection conditions), and the set maximum power of the locked-rotor protection (the power in the preset locked-rotor protection conditions). The adjusted locked-rotor protection trigger value P of the motor is respectively: P = P + 1, P = P - 1.

[0035] Step S30: When the locked-rotor protection trigger value is greater than the preset critical value, it is determined that the motor has a locked-rotor fault.

[0036] It should be noted that the preset critical value is the set trigger critical value K. It is judged whether the locked-rotor protection trigger value is greater than the set trigger critical value K. If it is satisfied, it is determined that a locked-rotor fault has occurred, the locked-rotor protection trigger value P is reset to zero, and the locked-rotor processing logic is triggered (compensating the switching vector state of the power device in the inverter). If it is not satisfied, return to perform the locked-rotor protection detection (adjust the locked-rotor protection trigger value of the motor according to whether the real-time parameters of the motor meet the preset locked-rotor protection conditions).

[0037] It can be understood that the preset critical value can be set by itself according to the actual situation, and this embodiment does not limit it.

[0038] Step S40: When the motor has a locked-rotor fault, perform a switching vector state compensation on the power device in the inverter to suppress the bus stamping.

[0039] It should be noted that as Figure 6 shown, the traditional locked-rotor processing strategy (Strategy I): completely stop the PWM output of the inverter, and switch the motor state machine to a locked-rotor fault, and shut down and wait for restart. Subsequently, if the locked-rotor recovery conditions are met, the parameters (such as motor speed, bus voltage, etc.) are initialized and the motor is restarted. If not, loop and judge and wait for the locked-rotor recovery conditions to be met. Obviously, Strategy I is widely adopted because it is relatively simple to implement, but there are a large number of problems with this strategy.

[0040] The rotating magnetic field required during the operation of the motor is generated by a PWM chopper control inverter. Taking the three-phase voltage source inverter driving a star winding as an example (the same principle applies to the delta winding connection, and other power conversion devices such as multi-phase inverters, multi-level inverters, and current source inverters can also be used for the inverter topology), the topology is as follows Figure 7 as shown Figure 7 This is the topology diagram of the three-phase voltage source inverter of this application.

[0041] During the operation of the inverter, the switching vector state will continuously change to generate a rotating vector V (V corresponds to the on-off states of the upper bridge arms of phases A, B, and C respectively. "1" represents the upper bridge arm is on and the lower bridge arm is off; "0" is the opposite). There are a total of 8 switching vector states. For example, when V = 100, it means that the power devices Q1, Q4, and Q6 in the figure are on, and the power devices Q2, Q3, and Q5 are off. At this time, the current flow path of the transient winding current is: the positive pole UDC+ of the DC power supply flows to the power device Q1, then to the phase winding Phase-A, after passing through the winding neutral point O, it is shunted to the phase windings Phase-B and Phase-C, and flows through the power devices Q4 and Q6, and finally flows to the negative pole UDC- of the DC power supply.

[0042] Taking a permanent magnet synchronous motor as an example, its voltage balance equation is as follows: Phase voltage , the rate of change of phase flux linkage , back electromotive force .

[0043] Among them, is the winding phase current, is the winding phase resistance, is the winding phase inductance, is the winding phase flux linkage, is the permanent magnet flux linkage, is the back electromotive force coefficient, is the back electromotive force, which is proportional to the rotational speed and the permanent magnet flux linkage . The subscript corresponds to the three-phase windings of the motor respectively.

[0044] When a blocked-rotor fault occurs, if the inverter operates in the switching vector state V = 100. It is easy to know from circuit analysis that the current value flowing through phase A in the three-phase windings is the largest. Since the back electromotive force is proportional to the angular velocity , when the blocked-rotor occurs, the rotational speed is approximately zero , then the back electromotive force is also approximately equal to zero ; There are only voltage drops due to resistance and inductance on the motor winding. If Strategy I is directly applied and the PWM output of the inverter is turned off after the stall fault occurs, the following phenomena will occur: the inductive current suddenly changes and generates an impact voltage, and the phenomenon is that the bus voltage soars to several times. This is because the on-resistance of the parasitic diode of the power device (upper transistor) Q1 is greater than the on-resistance of the parallel parasitic diodes of the power devices (lower transistors) Q4 and Q6, so the positive pole UDC+ of the DC power supply will bear the maximum impact voltage. This greatly increases the probability that the upper transistor Q1 is broken down by the impact voltage, and the sudden rise of the positive pole UDC+ of the DC power supply will also cause the devices supplied by the same power supply to be subjected to the impact voltage, reducing the overall safety of the system. In some low-cost inverter solutions, PMOS (P-channel Metal-Oxide-Semiconductor) and other power devices with larger internal resistance are used in the upper bridge, and the situation will be even worse.

[0045] To solve the above problems, as Figure 6 and Figure 7 shown, this patent proposes a stall handling logic (Strategy II). As shown in Table 1, Table 1 is a switching vector state compensation table. First, a pressure relief path is constructed. When the stall fault occurs, according to the switching vector state of the last operation, for example, (V = 100), the switching vector state is compensated to (0XX, 1 represents that the upper-arm power device is on and the lower-arm is off, 0 represents that the lower-arm power device is on and the upper-arm is off, and x represents that both the upper and lower-arm power devices are off), and 0XX means turning on the power device Q2 and turning off the other 5 power devices at the same time. The switching vector state compensations corresponding to other switching vector states are shown in the following table. And, this patent proposes another method for determining the switching vector state compensation that pursues rapidity, that is, according to the three-phase winding phase currents 、 、 collected at the current moment, judge the phase with the maximum current value at this moment, and then control the lower transistor of the corresponding phase bridge arm to conduct constantly while turning off the remaining power devices.

[0046] Table 1 Switching Vector State Compensation Table

[0047] In a specific implementation, real-time parameters of the motor are obtained; the real-time parameters of the motor at least include the motor speed, the motor back electromotive force, and the motor power; when the real-time parameters of the motor meet the preset locked-rotor protection condition, the locked-rotor protection trigger value of the motor is adjusted; when the locked-rotor protection trigger value is greater than the preset critical value, it is determined that the motor has a locked-rotor fault; when the motor has a locked-rotor fault, the switching vector state of the power device in the inverter is compensated to suppress the bus punching, quickly and effectively detect the locked-rotor fault when the motor is locked, and at the same time effectively suppress the phenomenon of sudden rise in the bus voltage during the protection action, improve the safety level of the hardware circuit, reduce the energy loss of the system on the premise of ensuring safety, and improve the operation efficiency.

[0048] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , Figure 2 which is a schematic flowchart of the second embodiment of the locked-rotor punching suppression method proposed in the embodiment of the present application.

[0049] Considering that the judgment basis of the existing locked-rotor judgment technology is relatively single and the reliability is insufficient, an interlock locked-rotor detection mechanism is proposed, which uses common and easily obtained motor characteristic feedback quantities as the judgment basis to shorten the judgment duration of the locked-rotor fault and enhance the accuracy of the judgment. As Figure 2 shown, step S20 of this embodiment specifically includes: Step S21: When the motor speed in the real-time parameters of the motor is less than the speed in the preset locked-rotor protection condition, the locked-rotor protection trigger value is increased.

[0050] It should be noted that it is judged whether the motor speed obtained in real time (estimator or sensor) is less than the set minimum locked-rotor protection speed (the speed in the preset locked-rotor protection condition). If it is satisfied, the locked-rotor protection trigger value P = P + 1 is increased. If it is not satisfied, when P≠0 (P>0), the locked-rotor protection trigger value P = P - 1 is decreased.

[0051] Step S22: When the back electromotive force of the motor in the real-time parameters of the motor is greater than the back electromotive force in the preset locked-rotor protection condition, the locked-rotor protection trigger value is increased.

[0052] It should be noted that the current motor back electromotive force is estimated according to the filtered value of the phase current obtained in real time, and it is judged whether it is greater than the set maximum locked-rotor protection back electromotive force (the back electromotive force in the preset locked-rotor protection condition). If it is satisfied, the locked-rotor protection trigger value P = P + 1 is increased. If it is not satisfied, when P≠0 (P>0), the locked-rotor protection trigger value P = P - 1 is decreased.

[0053] Step S23: When the motor power in the real-time motor parameters is greater than the power in the preset locked-rotor protection condition, increase the locked-rotor protection trigger value.

[0054] It should be noted that the real-time power is estimated through the filtered values of the bus voltage and current collected in real time, and it is judged whether it is greater than the maximum locked-rotor protection power set (the power in the preset locked-rotor protection condition). If it is satisfied, the locked-rotor protection trigger value is increased, P = P + 1. If it is not satisfied, when P≠0 (P>0), the locked-rotor protection trigger value is decreased, P = P - 1.

[0055] In a specific implementation, when the motor speed in the real-time motor parameters is less than the speed in the preset locked-rotor protection condition, increase the locked-rotor protection trigger value; when the back electromotive force of the motor in the real-time motor parameters is greater than the back electromotive force in the preset locked-rotor protection condition, increase the locked-rotor protection trigger value; when the motor power in the real-time motor parameters is greater than the power in the preset locked-rotor protection condition, increase the locked-rotor protection trigger value, thereby enhancing the accuracy of motor locked-rotor determination.

[0056] Further, after the step S20 of this embodiment, it further includes: When the real-time motor parameters do not meet the preset locked-rotor protection condition and the locked-rotor protection trigger value is not greater than the preset value, adjust the locked-rotor protection trigger value of the motor.

[0057] It should be noted that the preset value can be 0, or it can be set by itself according to the actual situation, and this embodiment does not limit it.

[0058] In a specific implementation, when the real-time motor parameters do not meet the preset locked-rotor protection condition and the locked-rotor protection trigger value is not greater than 0, the locked-rotor protection trigger value is decreased, P = P - 1.

[0059] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as the above second embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , Figure 3 which is the flowchart of the third embodiment of the locked-rotor stamping suppression method proposed by the embodiment of the present application.

[0060] Considering that most of the existing locked-rotor technologies do not perform any processing after the locked-rotor fault occurs, which causes the hardware system to be impacted and directly endangers the system safety. The present application designs a suitable pressure relief circuit according to the vector state or the phase where the maximum phase current is located, effectively weakening the bus stamping phenomenon. At the same time, considering the duration of the discharge circuit, the time when the energy release of the motor winding ends is deduced, and parameters can be selected according to actual performance requirements, such as Figure 3 As shown, step S40 of this embodiment specifically includes: Step S41: Construct a pressure relief path.

[0061] It should be noted that, as Figure 8 shown, Figure 8 This is the discharge path diagram formed by the switching vector state Vecter = 100 of this application. Continuing the analysis with the switching vector state V = 100, the formed discharge path is as shown in the following figure. At this time, the impact voltage on the discharge path is discharged through the parasitic diodes of the power devices Q2, Q4, Q6 and the three-phase motor windings. Assuming the motor parameters 、 , and the parameters of the power devices: on-resistance 、parasitic diode resistance , and the line parameters: parasitic resistance, inductance 、 . For simplicity of analysis, the mutual inductance effect between the motor windings is not considered temporarily, and the time constant 、 of the discharge loop at this time can be derived from the equivalent resistance and inductance . Among them ; ; From engineering experience, it can be known that when 3 - 5 time has passed, the system energy is basically discharged, so the total discharge time can be set to according to the actual rapidity requirements, etc.

[0062] Step S42: Obtain the switching vector state of the power device in the inverter at the previous moment.

[0063] Step S43: Determine the switching vector state compensation according to the pressure relief path and the switching vector state at the previous moment.

[0064] It should be noted that, as shown in Table 1, when a stall fault occurs, according to the switching vector state of the last operation, for example (V = 100), the switching vector state compensation is (0XX, 1 represents that the upper-bridge power device is on and the lower-bridge is off, 0 represents that the lower-bridge power device is on and the upper-bridge is off, and x represents that both the upper and lower-bridge power devices are off).

[0065] In specific implementation, a pressure relief path is constructed; the switching vector state of the power device in the inverter at the previous moment is obtained; the switching vector state compensation is determined according to the pressure relief path and the switching vector state at the previous moment, so as to effectively weaken the bus punching phenomenon.

[0066] Furthermore, after the step of determining the switching vector state compensation according to the switching vector state at the previous moment in this embodiment, it further includes: Obtain the phase currents of the three-phase windings of the motor; Determine the phase with the maximum current according to the comparison result of the phase currents of the three-phase windings of the motor; Turn on the power transistor of the lower arm in the phase with the maximum control current, and turn off the remaining power devices in the inverter.

[0067] It should be noted that this embodiment is a method for determining the switching vector state compensation that pursues rapidity, that is, according to the three-phase winding phase currents collected at the current moment , , , judge the phase with the maximum current at this moment, and then control the lower tube of the corresponding phase bridge arm to conduct constantly, while turning off the remaining power devices.

[0068] In a specific implementation, obtain the three-phase winding phase currents of the motor; determine the phase with the maximum current according to the comparison result of the three-phase winding phase currents of the motor; turn on the power transistor of the lower arm in the phase with the maximum current, and turn off the remaining power devices in the inverter, thereby effectively weakening the bus stamping phenomenon.

[0069] Furthermore, considering that existing locked-rotor handling technologies do not consider the issue of energy loss, because the motor generates a large current during locked-rotor and does not do mechanical work, allowing the electrical energy to be consumed in the form of resistance heating. And the interlocking locked-rotor detection mechanism proposed in this application effectively avoids a part of the electrical energy loss because it shortens the duration of the locked-rotor fault, which is very beneficial in application scenarios where motor locked-rotor faults are likely to occur. Furthermore, in order to maximize the efficiency of the motor control system, this application proposes a method combining an adaptive pressure relief chopping strategy and a pressure relief circuit to complete the bus feedback of the remaining energy of the winding and reduce unnecessary energy loss without increasing the hardware cost. After the step S40 of this embodiment, it further includes: After the switching vector state compensation, obtain the bus voltage and determine the voltage slope according to the bus voltage; Determine the conduction duty ratio of the lower arm power device according to the pressure relief path, the preset total discharge time, and the voltage slope; Determine the decreasing ratio of the duty cycle per carrier according to the preset total discharge time and the conduction duty ratio.

[0070] It should be noted that as Figure 6 and Figure 8 show, the formed discharge path consumes the energy in the form of heat on the motor winding during the stamping suppression process, which will cause unnecessary electrical energy loss in high-efficiency scenarios. This embodiment proposes an adaptive pressure relief chopping strategy to realize energy recycling by feeding back the winding energy to the bus capacitor. Adaptive pressure relief chopping strategy: Obtain the voltage slope: When the above interlocking locked-rotor detection conditions are met, every (for example) carrier cycles collect the analog-to-digital conversion result of the bus voltage , and calculate the slope value (when the motor is running normally, continuously calculate the slope and calculate the average value as the reference voltage slope ). When adopting Strategy I, due to poor processing measures, the voltage slope will quickly be greater than the set slope threshold, and at this time, DC bus stamping will occur. The discharge path formed by applying this patent can effectively suppress this phenomenon.

[0071] After the discharge path is formed (recommended to be greater than ), make the duty cycle of the lower bridge power device remain 100% conduction, and at the same time calculate the average slope value according to the collected bus voltage value during this period. After the continuous time ends, calculate the conduction duty cycle of the lower bridge arm at the next moment according to the real-time slope value obtained at the current moment as follows: , and then gradually decrease the duty cycle in proportion for each carrier period. The designed duty cycle decrease ratio for each carrier is shown in formula (1): Formula (1) Thus, ensure that within the set total discharge time (preset total discharge time) the discharge circuit suppresses stamping and adaptively recovers energy through discharge chopping.

[0072] In a specific implementation, after the switch vector state compensation, obtain the bus voltage, and determine the voltage slope according to the bus voltage; determine the conduction duty cycle of the lower bridge arm power device according to the discharge path, preset total discharge time, and voltage slope; determine the duty cycle decrease ratio for each carrier according to the preset total discharge time and conduction duty cycle, thereby effectively weakening the bus stamping and ensuring that the operating voltage is always within the range that the hardware components can withstand, while improving the operating efficiency within the acceptable range.

[0073] In addition, to achieve the above object, as Figure 4 shown, this application also proposes a locked-rotor stamping suppression device, and the device includes: An acquisition module 10, configured to acquire real-time parameters of the motor; the real-time parameters of the motor at least include motor speed, motor back electromotive force, and motor power; A determination module 20, configured to adjust the locked-rotor protection trigger value when the real-time parameters of the motor meet the preset locked-rotor protection condition; A locked-rotor module 30, configured to determine that the motor has a locked-rotor fault when the locked-rotor protection trigger value is greater than a preset critical value; A suppression module 40, configured to perform switch vector state compensation on the power devices in the inverter when the motor has a locked-rotor fault to suppress bus stamping.

[0074] The locked-rotor stamping suppression device provided by the present application adopts the locked-rotor stamping suppression method in the above embodiment, which can solve the technical problems of quickly and effectively detecting the locked-rotor fault when the motor is locked, and at the same time effectively suppressing the sudden rise of the bus voltage during the protection action. Compared with the prior art, the beneficial effects of the locked-rotor stamping suppression device provided by the present application are the same as those of the locked-rotor stamping suppression method provided by the above embodiment, and other technical features in the locked-rotor stamping suppression device are the same as those disclosed in the above embodiment method, which will not be elaborated here.

[0075] In addition, to achieve the above object, the present application also proposes a locked-rotor stamping suppression device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the locked-rotor stamping suppression method.

[0076] As Figure 5 shown, the locked-rotor stamping suppression device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the locked-rotor stamping suppression device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Usually, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the locked-rotor stamping suppression device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a locked-rotor stamping suppression device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems can be alternatively implemented or had.

[0077] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium. The computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0078] The locked-rotor stamping suppression device provided by the present application adopts the locked-rotor stamping suppression method in the above embodiments, and can solve the technical problems of quickly and effectively detecting the locked-rotor fault when the motor is locked-rotor, and at the same time effectively suppressing the phenomenon of sudden rise in bus voltage during the protection action. Compared with the prior art, the beneficial effects of the locked-rotor stamping suppression device provided by the present application are the same as those of the locked-rotor stamping suppression method provided by the above embodiments, and other technical features in the locked-rotor stamping suppression device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0079] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0080] As mentioned above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0081] In addition, to achieve the above object, the present application also proposes a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the locked-rotor stamping suppression method are implemented.

[0082] The computer-readable storage medium provided by this application can, for example, be a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0083] The above computer-readable storage medium can be included in the locked-rotor stamping suppression device; or it can exist independently without being assembled into the locked-rotor stamping suppression device.

[0084] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the locked-rotor stamping suppression device, the locked-rotor stamping suppression device is caused to: obtain real-time motor parameters; the real-time motor parameters at least include motor speed, motor back electromotive force, and motor power; when the real-time motor parameters meet the preset locked-rotor protection condition, adjust the locked-rotor protection trigger value; when the locked-rotor protection trigger value is greater than the preset critical value, determine that the motor has a locked-rotor fault; when the motor has a locked-rotor fault, perform switch vector state compensation on the power devices in the inverter to suppress bus stamping.

[0085] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or it can be connected to an external computer (for example, by connecting through an Internet service provider using the Internet).

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0087] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0088] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned locked-rotor stamping suppression method, and can solve the technical problems of quickly and effectively detecting the locked-rotor fault when the motor is locked-rotor, and at the same time effectively suppressing the phenomenon of sudden rise in bus voltage during the protection action. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the locked-rotor stamping suppression method provided by the above embodiments, and will not be elaborated here.

[0089] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the blocked-rotor stamping suppression method described above are implemented.

[0090] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. A method for suppressing stalled rotor punching, characterized in that: Applicable to motor stall fault; The stalling stamping suppression method comprises: Acquire real-time parameters of the motor; the real-time parameters of the motor include at least motor speed, motor back electromotive force and motor power; When the real-time parameters of the motor meet the preset stall protection conditions, adjusting the stall protection trigger value of the motor; When the stall protection trigger value is greater than the preset critical value, it is determined that the motor has a stall fault; When a stall fault occurs in the motor, switching vector state compensation is performed on power devices in the inverter to suppress busbar stamping.

2. The method for suppressing stalled rotor punching according to claim 1, characterized in that: The step of adjusting the motor's stall protection trigger value when the motor's real-time parameters meet the preset stall protection condition specifically includes: When the motor speed in the real-time parameters of the motor is less than the speed in the preset stall protection condition, the stall protection trigger value is increased; When the motor back electromotive force in the motor real-time parameters is greater than the back electromotive force in the preset stall protection condition, the stall protection trigger value is increased; When the motor power in the real-time parameters of the motor is greater than the power in the preset stall protection condition, the stall protection trigger value is increased.

3. The method for suppressing stalled rotor punching according to claim 2, characterized in that: After the step of adjusting the motor's stall protection trigger value when the motor's real-time parameters meet the preset stall protection condition, the method further includes: When the real-time parameters of the motor do not meet the preset stall protection conditions and the stall protection trigger value is not greater than the preset value, the stall protection trigger value of the motor is adjusted.

4. The method for suppressing stalled rotor punching according to claim 1, characterized in that: The step of performing switching vector state compensation on the power devices in the inverter specifically includes: Construct pressure relief paths; Obtain the switching vector state of the power device in the inverter at the previous moment; A switch vector state compensation is determined according to the pressure relief path and the switch vector state at a previous moment.

5. The method for suppressing stalled rotor punching according to claim 4, characterized in that: After the step of determining the switch vector state compensation according to the switch vector state at the previous moment, the method further includes: Get the phase current of the three-phase winding of the motor; Determining the phase with the maximum current value according to the comparison result of the phase currents of the three-phase windings of the motor; The power tube of the lower bridge arm in the phase with the maximum current is controlled to be turned on, and the remaining power devices in the inverter are turned off.

6. The method for suppressing stalled rotor punching according to claim 4, characterized in that: After the step of performing switching vector state compensation on power devices in the inverter to suppress busbar stamping when the motor has a stall fault, the method further includes: After the switch vector state is compensated, a bus voltage is obtained, and a voltage slope is determined according to the bus voltage; Determine the conduction duty cycle of the lower bridge arm power device according to the pressure relief path, the preset total discharge time and the voltage slope; According to the preset total discharge time and the on-duty cycle, the duty cycle carrier-by-carrier reduction ratio is determined.

7. A stalling stamping suppression device, characterized in that: The device comprises: An acquisition module is used to acquire real-time parameters of the motor; the real-time parameters of the motor include at least motor speed, motor back electromotive force and motor power; A determination module, used for adjusting a stall protection trigger value of the motor when the real-time parameters of the motor meet a preset stall protection condition; The stall module is used to determine that the motor has stalled when the stall protection trigger value is greater than a preset critical value; The suppression module is used to perform switching vector state compensation on the power devices in the inverter to suppress busbar stamping when the motor has a stall fault.

8. A stalled rotor press suppression device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the stall punching suppression method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the stall punching suppression method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the stall press suppression method according to any one of claims 1 to 6 are implemented.

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