Stalled rotor punching suppression method, device, equipment, storage medium and product

Abstract

The present application discloses a method, device, equipment, storage medium and product for suppressing stalling, which relates to the field of permanent magnet synchronous motor control technology. The stalling suppressing method is applied to motor stalling faults; the method comprises: obtaining 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 stalling protection conditions, adjusting the stalling protection trigger value of the motor; when the stalling protection trigger value is greater than the preset critical value, determining that the motor has stalled; when the motor has stalled, performing switching vector state compensation on the power devices in the inverter to suppress busbar stamping. The method can quickly and effectively detect the stalling fault when the motor is stalled, and effectively suppress the busbar voltage surge phenomenon when the protection is in action, thereby improving the safety level of the hardware circuit, reducing the energy loss of the system and improving the operating efficiency while ensuring safety.

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 stalled rotor pressure. Background Art

[0002] With the continuous advancement of permanent magnet synchronous motor technology, many fields are beginning to use them to replace traditional brushless motors and asynchronous motors. However, motors inevitably experience stalling failures under complex operating conditions such as load fluctuations and long-term operation. Without timely and effective methods to detect and control these problems, they can cause direct damage to the motor system, compromising safety and reliability.

[0003] Traditional stall detection methods rely on sensors and observers to determine stall conditions based on factors such as speed, back EMF, flux linkage, operating current, and system temperature. However, in practice, these methods can be difficult to implement due to issues such as poor timeliness, complex and unreliable detection algorithms, and high sensor costs. More importantly, in stalled rotor situations, since the motor requires a high operating current to generate electromagnetic torque to resist the load, improper protection can cause a significant increase in bus voltage, potentially damaging hardware systems such as chips and power devices.

[0004] First, existing methods for determining stall faults are relatively simple and lack reliability. If an estimator is used to estimate stall speed or back EMF, currently used estimators struggle to accurately determine this information due to the motor's zero-speed operation, leading to misjudgments of stall faults. Applying a high-performance observer often requires a high-performance main control chip to process complex data to obtain accurate information, resulting in high application costs. Although stalled motors require a significant current to generate maximum electromagnetic torque, allowing for direct current detection to detect stall faults, when the motor is operating under heavy load, several times the current surge is generated during the startup phase to ensure dynamic response speed, leading to misjudgments of stall faults. Furthermore, when the motor is operating in a field-weakening condition, a large demagnetization current is required to reduce the air gap flux and achieve high-speed operation, making misjudgments of stall faults equally likely. Consequently, due to the high probability of misjudgment, these conventional methods often increase the time required to ensure accuracy in practical applications. This results in a lengthy stall determination process, slow response, and poor results, making them inadequate for high-performance motor applications. Furthermore, existing technologies have directly ignored the control processing after the stall protection, and adopted unreasonable control methods such as direct shutdown, which directly caused the hardware circuit to be subjected to bus voltage shocks. This directly caused irreversible damage to hardware circuits with low safety levels and low costs, making them unable to continue to operate. For hardware circuits with higher safety levels, shocks can also cause potential damage such as component aging, reducing the service life of the hardware system. Summary of the Invention

[0005] The main purpose of this application is to provide a method, device, equipment, storage medium and product for suppressing stall pressure, aiming to solve the technical problem of quickly and effectively detecting stall faults when a motor stalls, and effectively suppressing the sudden rise in bus voltage during protection action.

[0006] To achieve the above-mentioned purpose, the present application proposes a method for suppressing stalled rotor pressure, which is applied to motor stall faults;

[0007] The stall punching suppression method comprises:

[0008] Acquire real-time parameters of the motor; the real-time parameters of the motor include at least motor speed, motor back EMF and motor power;

[0009] When the real-time parameters of the motor meet the preset stall protection conditions, adjusting the stall protection trigger value of the motor;

[0010] When the stall protection trigger value is greater than the preset critical value, it is determined that the motor has a stall fault;

[0011] When a stall fault occurs in the motor, switching vector state compensation is performed on power devices in the inverter to suppress busbar stamping.

[0012] Optionally, when the real-time parameters of the motor meet the preset stall protection condition, the step of adjusting the stall protection trigger value of the motor specifically includes:

[0013] When the motor speed in the real-time motor parameters is lower than the speed in the preset stall protection condition, the stall protection trigger value is increased;

[0014] When the motor back electromotive force in the motor real-time parameters is less than the back electromotive force in the preset stall protection condition, the stall protection trigger value is increased;

[0015] When the motor power in the motor real-time parameters is greater than the power in the preset stall protection condition, the stall protection trigger value is increased.

[0016] Optionally, after the step of adjusting the stall protection trigger value of the motor when the real-time parameters of the motor meet the preset stall protection condition, the method further includes:

[0017] 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.

[0018] Optionally, the step of performing switching vector state compensation on power devices in the inverter specifically includes:

[0019] Construct pressure relief paths;

[0020] Obtain the switching vector state of the power devices in the inverter at the previous moment;

[0021] A switch vector state compensation is determined according to the pressure relief path and the switch vector state at a previous moment.

[0022] Optionally, after the step of determining the switching vector state compensation according to the switching vector state at the previous moment, the method further includes:

[0023] Get the phase current of the three-phase winding of the motor;

[0024] Determining the phase with the maximum current value according to the comparison result of the phase currents of the three-phase winding of the motor;

[0025] 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.

[0026] Optionally, after the step of performing switching vector state compensation on power devices in the inverter to suppress busbar stamping when a stall fault occurs in the motor, the method further includes:

[0027] After the switch vector state is compensated, a bus voltage is obtained, and a voltage slope is determined according to the bus voltage;

[0028] Determine the conduction duty cycle of the lower arm power device according to the pressure relief path, the preset total discharge time and the voltage slope;

[0029] The duty cycle reduction ratio on a carrier-by-carrier basis is determined based on the preset total discharge time and the on-duty cycle.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a stalled rotor punching suppression device, the device comprising:

[0031] 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;

[0032] A determination module, configured to adjust a stall protection trigger value of the motor when the real-time parameters of the motor meet a preset stall protection condition;

[0033] The stall module is used to determine that the motor has stalled when the stall protection trigger value is greater than the preset critical value;

[0034] The suppression module is used to perform switching vector state compensation on the power devices in the inverter to suppress busbar stamping when a stall fault occurs in the motor.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a stall-stamping suppression device, which includes: 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-stamping suppression method.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the stall stamping suppression method are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the stall stamping suppression method are implemented.

[0038] One or more technical solutions proposed in this application have at least the following effects:

[0039] The present application discloses a method, device, equipment, storage medium and product for suppressing stalling voltage, wherein the method is applied to a motor stalling fault; the method comprises: obtaining 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 a preset stalling protection condition, adjusting the stalling protection trigger value of the motor; when the stalling protection trigger value is greater than a preset critical value, determining that the motor has a stalling fault; when the motor has a stalling fault, performing switching vector state compensation on the power devices in the inverter to suppress busbar voltage. The method can quickly and effectively detect the stalling fault when the motor is stalled, and effectively suppress the busbar voltage surge phenomenon when the protection is activated, thereby improving the safety level of the hardware circuit, reducing the energy loss of the system and improving the operating efficiency while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 This is a flow chart of the first embodiment of the stalled rotor punching suppression method proposed in the embodiments of the present application;

[0042] Figure 2 This is a flow chart of a second embodiment of the stalled rotor punching suppression method proposed in an embodiment of the present application;

[0043] Figure 3This is a flow chart of a third embodiment of the stalled rotor punching suppression method proposed in the present application;

[0044] Figure 4 This is a schematic diagram of the module structure of the stalled-rotor punching suppression device according to an embodiment of the present application;

[0045] Figure 5 Schematic diagram of the equipment structure of the hardware operating environment involved in the stalled-rotor punching suppression method in the embodiment of the present application;

[0046] Figure 6 This is the overall framework diagram of the stalled rotor punching suppression method of this application;

[0047] Figure 7 This is the topology diagram of the three-phase voltage source inverter for this application;

[0048] Figure 8 This is the discharge path diagram formed by the switch vector state Vecter=100 in this application.

[0049] Description of Figure Numbers:

[0050]

[0051] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] 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 intended to limit the present application.

[0053] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0054] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0055] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0056] The main solution of the embodiment of the present application is: through the interlocking stall detection mechanism, the stall fault is quickly and effectively detected when the motor is stalled, and at the same time, the bus voltage surge phenomenon during the protection action is effectively suppressed through the stall processing logic (switch vector state compensation), thereby improving the safety level of the hardware circuit.

[0057] In the embodiment, for ease of description, the motor control system is used as the execution subject for explanation below.

[0058] The present application provides a solution, and discloses a method, device, equipment, storage medium and product for suppressing stalling voltage. The stalling voltage suppression method is applied to motor stalling faults; the method includes: obtaining 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 stalling protection conditions, adjusting the stalling protection trigger value of the motor; when the stalling protection trigger value is greater than the preset critical value, determining that the motor has stalled; when the motor has stalled, performing switching vector state compensation on the power devices in the inverter to suppress busbar voltage. When the motor is stalled, the stalling fault is detected quickly and effectively, and the busbar voltage surge phenomenon during protection action is effectively suppressed, thereby improving the safety level of the hardware circuit. While ensuring safety, the energy loss of the system is reduced and the operating efficiency is improved.

[0059] Based on this, an embodiment of the present application provides a method for suppressing stalled rotor punching.

[0060] refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the stall punching suppression method proposed in the embodiments of the present application.

[0061] Considering the fact that the motor is stalled, the stall fault can be detected quickly and effectively, and the bus voltage surge phenomenon during protection action can be effectively suppressed. Figure 1 As shown, the stalled rotor punching suppression method of this embodiment is applied to a motor stall fault; the stalled rotor punching suppression method includes steps S10 to S40:

[0062] Step S10: 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.

[0063] It should be noted that during the operation of the motor, the real-time status of the motor, including the speed (motor speed) is obtained through sensors. , bus voltage value , bus current value , phase current value 、 、 When the motor encounters a stall fault, the output mechanical speed Close to zero, the controller outputs the maximum electromagnetic torque to try to drive the load and reach a dynamic equilibrium state. Taking a permanent magnet motor as an example, its electromagnetic torque expression is: , when the applied motor is determined: motor phase coefficient , pole pairs , permanent magnetic flux , DC-axis inductance and Under relatively fixed conditions, the only way to generate a larger electromagnetic torque is to increase the current. Figure 6 As shown, Figure 6 This is the overall framework diagram of the stall punching suppression method of this application. The motor stall detection of this application is an interlocking stall detection mechanism.

[0064] It is understandable that after the motor is started, the stall parameters are initialized, the stall trigger value P is set to 0, and then the real-time parameters of the motor are obtained.

[0065] Step S20: When the real-time parameters of the motor meet the preset stall protection conditions, adjust the stall protection trigger value of the motor.

[0066] It should be noted that if Figure 6 As shown, the preset stall protection conditions include: the preset minimum speed for stall protection (the speed in the preset stall protection conditions), the preset maximum back EMF for stall protection (the back EMF in the preset stall protection conditions), and the set maximum power for stall protection (the power in the preset stall protection conditions). The motor's stall protection trigger value P is adjusted to: P = P + 1 and P = P - 1, respectively.

[0067] Step S30: When the stall protection trigger value is greater than a preset critical value, it is determined that a stall fault occurs in the motor.

[0068] It should be noted that the preset threshold is the set trigger threshold K. A check is performed to determine whether the stall protection trigger value is greater than the set trigger threshold K. If so, a stall fault is determined to have occurred, the stall protection trigger value P is reset to zero, and the stall processing logic is triggered (compensating the switching vector state of the power devices in the inverter). If not, the process returns to stall protection detection (adjusting the motor's stall protection trigger value based on whether the motor's real-time parameters meet the preset stall protection conditions).

[0069] It is understandable that the preset critical value can be set according to actual conditions, and this embodiment does not limit it.

[0070] Step S40: When a stall fault occurs in the motor, switching vector state compensation is performed on power devices in the inverter to suppress busbar stamping.

[0071] It should be noted that if Figure 6 As shown in Figure 1, the traditional stall handling strategy (Strategy I) completely stops the inverter PWM output and switches the motor state machine to a stall fault, shutting down and waiting for a restart. If the stall recovery conditions are met, parameters (such as motor speed and bus voltage) are initialized and the motor is restarted. If not, the process loops and waits for the stall recovery conditions to be met. While Strategy I is widely adopted due to its simplicity, it also presents numerous issues.

[0072] The rotating magnetic field required for the motor operation process is generated by the PWM chopper control inverter. Taking the three-phase voltage source inverter driving the star winding as an example (the triangle winding connection method is the same, and the inverter topology can also use other power conversion devices such as multi-phase inverters, multi-level inverters, current source inverters, etc.), the topology is as follows: Figure 7 As shown, Figure 7 This is the topology diagram of the three-phase voltage source inverter for this application.

[0073] The inverter's switching vector state continuously changes, generating a rotating vector V (V corresponds to the on / off state of the upper arm of phases A, B, and C, respectively; "1" represents the upper arm on and the lower arm off; "0" represents the opposite). There are eight switching vector states in total. For example, when V = 100, power devices Q1, Q4, and Q6 are on, while power devices Q2, Q3, and Q5 are off. The transient winding current flow path at this point is as follows: the DC power supply's positive electrode, UDC+, flows to power device Q1, then to phase winding Phase-A. After passing through the winding's neutral point, O, it is diverted to phase windings Phase-B and Phase-C, flows through power devices Q4 and Q6, and ultimately flows to the DC power supply's negative electrode, UDC-.

[0074] Taking the permanent magnet synchronous motor as an example, its voltage balance equation is as follows:

[0075] Phase voltage , the rate of change of phase flux , opposite potential .

[0076] in, is the winding phase current, is the winding phase resistance, is the winding phase inductance, is the winding phase flux, is the permanent magnet flux, is the back EMF coefficient, is the opposite potential, which is proportional to the speed and permanent magnet flux . Subscript Corresponding motors Three-phase winding.

[0077] When a stall fault occurs, if the inverter works in the switching vector state V=100. From the circuit analysis, it is easy to know that the current flowing through phase A in the three-phase winding is the largest. Proportional to angular velocity , when the stall occurs, the speed is about zero , then the back electromotive force is also approximately equal to zero The motor windings only experience resistance and inductance voltage drops. Directly applying Strategy I, shutting down the inverter's PWM output after a stall fault, will result in a sudden change in inductor current, generating a surge voltage. This causes the bus voltage to surge several times. This is because the on-resistance of the parasitic diode of power device Q1 (upper transistor) is greater than the on-resistance of the parallel combination of the parasitic diodes of power devices Q4 and Q6 (lower transistors). This results in the DC power supply's positive terminal, UDC+, being subjected to the maximum surge voltage. This significantly increases the probability of the upper transistor Q1 being broken down by the surge voltage. Furthermore, a sudden surge in the DC power supply's positive terminal, UDC+, can also impact other devices connected to the same supply, reducing overall system safety. In some low-cost inverter solutions, the upper bridge uses power devices with higher internal resistance, such as PMOS (P-channel Metal-Oxide-Semiconductor), exacerbating the situation.

[0078] To solve the above problems, Figure 6 and Figure 7As shown, this patent proposes a stall processing logic (Strategy II). As shown in Table 1, Table 1 is a switch vector state compensation table. The first step is to build a pressure relief path. When a stall fault occurs, according to the last working switch vector state, for example (V=100), the switch vector state is compensated to (0XX, 1 represents the upper bridge arm power device is turned on and the lower bridge arm is turned off, 0 represents the lower bridge arm power device is turned on and the upper bridge arm is turned off, x represents the upper and lower bridge arm power devices are turned off at the same time), 0XX means turning on the power device Q2 and turning off the other 5 power devices at the same time. The switch vector state compensation corresponding to other switch vector states is shown in the following table. In addition, this patent proposes another method for determining the switch vector state compensation in pursuit of speed, that is, according to the three-phase winding phase current collected at the current moment 、 、 , determine the phase with the maximum current at that moment, and then control the lower tube of the corresponding phase bridge arm to be constantly turned on, while turning off the remaining power devices.

[0079] Table 1 Switch vector state compensation table

[0080]

[0081] In a specific implementation, the real-time parameters of the motor are obtained; the real-time parameters of the motor include at least the motor speed, the motor back electromotive force and the motor power; when the real-time parameters of the motor meet the preset stall protection conditions, the stall protection trigger value of the motor is adjusted; when the stall protection trigger value is greater than the preset critical value, it is determined that the motor has a stall fault; when the motor has a stall fault, the power devices in the inverter are compensated for the switching vector state to suppress bus stamping, and the stall fault is quickly and effectively detected when the motor is stalled. At the same time, the bus voltage surge phenomenon during protection action is effectively suppressed, thereby improving the safety level of the hardware circuit, reducing the energy loss of the system and improving the operating efficiency while ensuring safety.

[0082] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be described in detail later. Figure 2 , Figure 2 This is a flow chart of the second embodiment of the stall punching suppression method proposed in the embodiment of the present application.

[0083] Considering that the existing stall determination technology has a relatively simple judgment basis and insufficient reliability, an interlocking stall detection mechanism is proposed, which uses common and easily accessible motor characteristic feedback as the judgment basis, shortens the stall fault judgment time, and enhances the accuracy of the judgment. Figure 2 As shown, step S20 of this embodiment specifically includes:

[0084] Step S21: when the motor speed in the real-time motor parameters is less than the speed in the preset stall protection condition, increase the stall protection trigger value.

[0085] It should be noted that the real-time motor speed (estimator or sensor) is used to determine whether it is less than the set minimum speed for stall protection (the speed in the preset stall protection condition). If so, the stall protection trigger value P = P + 1 is increased. If not, when P ≠ 0 (P > 0), the stall protection trigger value P = P - 1 is decreased.

[0086] Step S22: when the back electromotive force of the motor in the real-time parameters of the motor is less than the back electromotive force in the preset stall protection condition, increasing the stall protection trigger value.

[0087] It should be noted that the current motor back EMF is estimated based on the real-time phase current filter value to determine whether it is less than the set minimum back EMF for stall protection (the back EMF in the preset stall protection condition). If it is met, the stall protection trigger value P = P + 1 is increased. If not, when P ≠ 0 (P > 0), the stall protection trigger value P = P - 1 is reduced.

[0088] Step S23: when the motor power in the real-time motor parameter is greater than the power in the preset stall protection condition, increase the stall protection trigger value.

[0089] It should be noted that the real-time power is estimated using the real-time bus voltage and current filter values ​​to determine whether it is greater than the set maximum power for stall protection (the power in the preset stall protection condition). If so, the stall protection trigger value P = P + 1 is increased. If not, when P ≠ 0 (P > 0), the stall protection trigger value P = P - 1 is decreased.

[0090] In a specific implementation, when the motor speed in the motor real-time parameters 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 less than the back electromotive force in the preset stall protection condition, the stall protection trigger value is increased; when the motor power in the motor real-time parameters is greater than the power in the preset stall protection condition, the stall protection trigger value is increased, thereby enhancing the accuracy of the motor stall judgment.

[0091] Furthermore, after step S20 in this embodiment, the following steps are further included:

[0092] 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.

[0093] It should be noted that the preset value may be 0, or may be set according to actual conditions, and this embodiment does not limit this.

[0094] In a specific implementation, 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 0, the stall protection trigger value P is reduced by P=P-1.

[0095] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the second embodiment can be referred to the above introduction and will not be described in detail later. Figure 3 , Figure 3 This is a flow chart of the third embodiment of the stall punching suppression method proposed in the embodiments of the present application.

[0096] Considering that the existing stall technology does not do anything after the stall fault occurs, the hardware system is impacted and the system safety is directly endangered. This application effectively reduces the busbar stamping phenomenon by designing a suitable pressure relief circuit according to the vector state or the phase where the phase current is the maximum. At the same time, considering the duration of the discharge circuit, the time when the motor winding energy release ends is deduced. The parameters can be selected according to the actual performance requirements, such as Figure 3 As shown, step S40 in this embodiment specifically includes:

[0097] Step S41: constructing a pressure relief path.

[0098] It should be noted that if Figure 8 As shown, Figure 8 This is the discharge path diagram for the switching vector state Vecter=100 in this application. Continuing the analysis with the switching vector state V=100, the discharge path is shown in the figure below. At this time, the surge voltage on the discharge path is discharged through the parasitic diodes of power devices Q2, Q4, and Q6 and the three-phase motor windings. Assuming the motor parameters 、 , power device parameters: on-resistance , parasitic diode resistance , and line parameters: parasitic resistance, inductance 、 To simplify the analysis, the mutual inductance between the motor windings is not considered for the time being. The equivalent resistance and inductance can be 、 Derived the time constant of the discharge circuit at this time .in ; ; According to engineering experience, when 3~5 After the time, the system energy is basically discharged. Therefore, the total discharge time can be set according to the actual rapidity requirements. .

[0099] Step S42: Obtain the switching vector state of the power device in the inverter at the previous moment.

[0100] Step S43: determining a switch vector state compensation according to the pressure relief path and the switch vector state at the previous moment.

[0101] It should be noted that, as shown in Table 1, when a stall fault occurs, based on the last working switch vector state, for example (V=100), the switch vector state is compensated to (0XX, 1 represents that the upper arm power device is turned on and the lower arm is turned off, 0 represents that the lower arm power device is turned on and the upper arm is turned off, and x represents that the upper and lower arm power devices are turned off at the same time).

[0102] In a 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; and the switching vector state compensation is determined based on the pressure relief path and the switching vector state at the previous moment, thereby effectively weakening the busbar stamping phenomenon.

[0103] Furthermore, after the step of determining the switching vector state compensation according to the switching vector state at the previous moment, the embodiment further includes:

[0104] Get the phase current of the three-phase winding of the motor;

[0105] Determining the phase with the maximum current value according to the comparison result of the phase currents of the three-phase winding of the motor;

[0106] 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.

[0107] It should be noted that this embodiment is a method for determining the switching vector state compensation in a rapid manner, that is, according to the three-phase winding phase current collected at the current moment 、 、 , determine the phase with the maximum current at that moment, and then control the lower tube of the corresponding phase bridge arm to be constantly turned on, while turning off the remaining power devices.

[0108] In the specific implementation, the phase current of the three-phase winding of the motor is obtained; based on the comparison result of the phase current of the three-phase winding of the motor, the phase with the maximum current is determined; 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, thereby effectively weakening the busbar stamping phenomenon.

[0109] Furthermore, considering that existing stall processing technologies do not consider the problem of energy loss, since the motor generates a large current when it is stalled, it does not perform mechanical work, and the electrical energy is consumed in the form of resistive heat. The interlocking stall detection mechanism proposed in this application shortens the duration of the stall fault and effectively avoids a portion of the electrical energy loss, which is greatly beneficial in applications where motor stall faults are prone to occur. Furthermore, in order to maximize the efficiency of the motor control system, this application proposes a method that combines an adaptive pressure relief chopping strategy with a pressure relief circuit, which completes the busbar feedback of the residual energy of the winding without increasing the hardware cost, thereby reducing unnecessary energy loss. After step S40 described in this embodiment, it also includes:

[0110] After the switch vector state is compensated, a bus voltage is obtained, and a voltage slope is determined according to the bus voltage;

[0111] Determine the conduction duty cycle of the lower arm power device according to the pressure relief path, the preset total discharge time and the voltage slope;

[0112] The duty cycle reduction ratio on a carrier-by-carrier basis is determined based on the preset total discharge time and the on-duty cycle.

[0113] It should be noted that if Figure 6 and Figure 8 As shown, the discharge path formed consumes energy in the form of heat in the motor winding during the stamping process, which will cause unnecessary power loss in high-efficiency situations. This embodiment proposes an adaptive pressure relief chopping strategy to achieve energy recovery by feeding back the winding energy to the bus capacitor. Adaptive pressure relief chopping strategy: Obtaining voltage slope: When the above interlocking stall detection conditions are met Every (For example) carrier cycles To collect the bus voltage analog-to-digital conversion results , and calculate the slope value (when the motor is operating normally, the slope is calculated continuously and the average value is calculated as the reference voltage slope When Strategy I is adopted, due to poor treatment measures, the voltage slope will quickly exceed the set slope threshold, at which time DC bus surge will occur. The discharge path constructed by applying this patent can effectively suppress this phenomenon.

[0114] After the pressure relief path is formed (It is recommended to be greater than ) time, the duty cycle of the lower bridge power device is kept at 100% conduction, and the average slope value is calculated according to the collected bus voltage value during this period, and the After the time is up, the real-time slope value obtained at the current moment is Calculate the conduction duty cycle of the lower bridge arm at the next moment, as follows: , and then one by one The carrier period decreases the duty cycle proportionally. The designed duty cycle decreases by carrier, for example, as shown in formula (1):

[0115] Formula (1)

[0116] This ensures that the total discharge time (preset total discharge time) The internal pressure relief circuit suppresses the punching pressure and the adaptive pressure relief chopper recovers energy.

[0117] In a specific implementation, after the switching vector state is compensated, the bus voltage is obtained, and the voltage slope is determined based on the bus voltage; the conduction duty cycle of the lower bridge arm power device is determined based on the pressure relief path, the preset total discharge time and the voltage slope; the duty cycle reduction ratio on a carrier-by-carrier basis is determined based on the preset total discharge time and the conduction duty cycle, thereby effectively weakening the bus voltage and ensuring that the operating voltage is always within the tolerable range of the hardware components, while improving the operating efficiency within the tolerable range.

[0118] In addition, to achieve the above purpose, Figure 4 As shown, the present application also proposes a stall punching suppression device, the device comprising:

[0119] An acquisition module 10 is configured 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;

[0120] The determination module 20 is configured to adjust the motor's stall protection trigger value when the motor's real-time parameters meet a preset stall protection condition;

[0121] The stall module 30 is used to determine that the motor has stalled when the stall protection trigger value is greater than a preset critical value;

[0122] The suppression module 40 is used to perform switching vector state compensation on the power devices in the inverter to suppress busbar stamping when a stall fault occurs in the motor.

[0123] The stall-surge suppression device provided in this application utilizes the stall-surge suppression method described in the aforementioned embodiments, addressing the technical issues of quickly and effectively detecting stall faults when a motor stalls, while also effectively suppressing the sudden rise in bus voltage during protective action. Compared to the prior art, the stall-surge suppression device provided in this application achieves the same beneficial effects as the stall-surge suppression method described in the aforementioned embodiments. Other technical features of the stall-surge suppression device are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0124] In addition, to achieve the above-mentioned purpose, the present application also proposes a stall-stamping suppression device, which includes: 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-stamping suppression method.

[0125] like Figure 5 As shown, the stalled-rotor ram pressure suppression device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the stalled-rotor ram pressure suppression device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication device 1009. Communication device 1009 can allow the stalled rotor ram suppression device to communicate with other devices wirelessly or wired to exchange data. Although the figures show a stalled rotor ram suppression device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have alternatively.

[0126] 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 comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0127] The stall-surge suppression device provided in this application utilizes the stall-surge suppression method described in the aforementioned embodiment to address the technical issues of quickly and effectively detecting stall faults when a motor stalls, while also effectively suppressing the sudden surge in bus voltage during protective action. Compared to the prior art, the stall-surge suppression device provided in this application achieves the same beneficial effects as the stall-surge suppression method described in the aforementioned embodiment. Other technical features of the stall-surge suppression device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0128] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0130] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the stall stamping suppression method are implemented.

[0131] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0132] The computer-readable storage medium may be included in the stalled-rotor pressure suppression device, or may exist independently without being assembled into the stalled-rotor pressure suppression device.

[0133] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the stall-surge suppression device, the stall-surge suppression device: obtains real-time parameters of the motor; the real-time parameters of the motor include at least the motor speed, the motor back electromotive force and the motor power; when the real-time parameters of the motor meet the preset stall protection conditions, adjusts the stall protection trigger value of the motor; when the stall protection trigger value is greater than the preset critical value, determines that the motor has a stall fault; when the motor has a stall fault, performs switching vector state compensation on the power devices in the inverter to suppress busbar surge.

[0134] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone 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 may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0137] The computer-readable storage medium provided in this application is a computer-readable storage medium storing computer-readable program instructions (i.e., a computer program) for executing the aforementioned stall-surge suppression method. This computer-readable storage medium can address the technical issues of quickly and effectively detecting stall faults when a motor stalls, while also effectively suppressing bus voltage surges during protective activation. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the stall-surge suppression method provided in the aforementioned embodiments, and are not further elaborated here.

[0138] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the stall stamping suppression method are implemented.

[0139] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also 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 stall punching suppression method comprises: Acquire real-time parameters of the motor; the real-time parameters of the motor include at least motor speed, motor back EMF 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 the power devices in the inverter to suppress busbar stamping; 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 devices 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.

2. The method for suppressing stalled rotor punching according to claim 1, wherein: The step of adjusting the motor's stall protection trigger value when the motor's real-time parameters meet a preset stall protection condition specifically includes: When the motor speed in the real-time motor parameters is lower 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 less than the back electromotive force in the preset stall protection condition, the stall protection trigger value is increased; When the motor power in the motor real-time parameters 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, wherein: 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, wherein: 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 motor's three-phase winding; Determining the phase with the maximum current value according to the comparison result of the phase currents of the three-phase winding 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.

5. The method for suppressing stalled rotor punching according to claim 1, wherein: 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 arm power device according to the pressure relief path, the preset total discharge time and the voltage slope; The duty cycle reduction ratio on a carrier-by-carrier basis is determined based on the preset total discharge time and the on-duty cycle.

6. A stalled rotor punching 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, configured to adjust 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 the preset critical value; A suppression module, configured to perform switching vector state compensation on power devices in the inverter to suppress busbar stamping when a stall fault occurs in the motor; The suppression module is further used to construct a pressure relief path; obtain the switching vector state of the power device in the inverter at the previous moment; and determine the switching vector state compensation according to the pressure relief path and the switching vector state at the previous moment.

7. A stalled rotor punching 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 5.

8. 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 5 are implemented.

9. 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 punching suppression method according to any one of claims 1 to 5 are implemented.

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