Motor over-voltage and under-voltage protection method, device and equipment and storage medium

Abstract

The invention relates to the technical field of motor protection, and discloses a motor overvoltage and undervoltage protection method, device and equipment and a storage medium, and the method comprises the steps: obtaining the real-time bus voltage and the real-time output power during the operation of a motor; based on the real-time output power, performing voltage drop compensation on the real-time bus voltage to obtain a compensated bus voltage value; and judging whether the motor is over-voltage or under-voltage based on the compensated bus voltage value. According to the invention, the voltage drop of the bus voltage can be compensated, and the compensated voltage value is closer to the actually input voltage, so that the overvoltage and undervoltage protection can dynamically adapt to the working states of the motor under different loads, the accuracy of the overvoltage and undervoltage protection is improved, and the motor fault risk caused by voltage abnormity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor protection, and particularly relates to a method, device, equipment and storage medium for over- and under-voltage protection of a motor. Background Art

[0002] In the hardware design of the electronic control board for a motor with an AC input power supply voltage, a bus capacitor and a bus voltage detection circuit are usually designed. The bus capacitor is used to store electrical energy, and the bus voltage detection circuit electrically measures the bus voltage. After the bus voltage is divided, it is input into the analog-to-digital converter (ADC) module of the electronic control board. The microcontroller unit (MCU) of the electronic control board obtains the current bus voltage in real time by detecting the AD value of the bus voltage detection pin in real time. When it is detected that the bus voltage is too low or too high, over- and under-voltage protection actions will be performed to stop or derate the motor to prevent the motor from operating under conditions of too low or too high voltage, so as to achieve the purpose of protecting the motor and electronic components.

[0003] However, since the bus voltage is rectified from alternating current, there will be a certain voltage drop on the bus capacitor during the operation of the motor. In related technologies, the average value of the bus voltage obtained by using the method of averaging, due to the existence of the voltage drop, the obtained bus voltage will be lower than the actual input AC voltage, resulting in a lower detected voltage and inaccurate over- and under-voltage protection. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, equipment and storage medium for over- and under-voltage protection of a motor to solve the technical problem of inaccurate existing over- and under-voltage protection.

[0005] In a first aspect, the present invention provides a method for over- and under-voltage protection of a motor, including: obtaining the real-time bus voltage and real-time output power during the operation of the motor; based on the real-time output power, compensating for the voltage drop of the real-time bus voltage to obtain a compensated bus voltage value; and determining whether the motor is over-voltage or under-voltage based on the compensated bus voltage value.

[0006] The method for over- and under-voltage protection of the motor of the present invention compensates for the voltage drop of the real-time bus voltage based on the real-time output power to obtain a compensated bus voltage value, and then determines whether the motor is over-voltage or under-voltage based on the compensated bus voltage value, which can compensate for the voltage drop of the bus voltage. The compensated voltage value is closer to the actual input voltage, enabling the over- and under-voltage protection to dynamically adapt to the working state of the motor under different loads, improving the accuracy of the over- and under-voltage protection, and reducing the risk of motor failure caused by abnormal voltage.

[0007] Optionally, compensating for the voltage drop of the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value includes: calculating a proportionality coefficient according to the real-time output power and the maximum output power of the motor; calculating the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage, where the maximum voltage drop compensation value is the voltage drop value of the bus voltage when the motor is at the maximum output power; compensating for the voltage drop of the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value.

[0008] In this method, compensation is performed based on the proportional relationship between the real-time output power and the maximum output power and the maximum voltage drop compensation value, which can more finely adjust the compensation value of the bus voltage, further optimize the accuracy of over- and under-voltage protection, and ensure that the motor can obtain effective voltage protection under different loads.

[0009] Optionally, calculating the proportionality coefficient according to the real-time output power and the maximum output power of the motor includes: dividing the real-time output power by the maximum output power to obtain a power ratio; comparing the size of the power ratio and a preset maximum ratio, if the power ratio is less than or equal to the preset maximum ratio, then the proportionality coefficient is equal to the power ratio, if the power ratio is greater than the preset maximum ratio, then the proportionality coefficient is equal to the preset maximum ratio.

[0010] In this method, when the power ratio is less than or equal to the preset maximum ratio, the proportionality coefficient is equal to the power ratio, which can flexibly adapt to the actual needs of the motor under different loads. When the power ratio exceeds the preset maximum ratio, the proportionality coefficient is fixed at the preset maximum ratio, enhancing the stability and reliability of the protection method.

[0011] Optionally, calculating the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage includes: multiplying the proportionality coefficient and the maximum voltage drop compensation value to obtain the real-time bus voltage compensation value.

[0012] In this method, the real-time bus voltage compensation value can be obtained quickly and accurately through the above calculation method, improving the accuracy and efficiency of voltage drop compensation, and thus better protecting the motor from abnormal voltages.

[0013] Optionally, compensating for the voltage drop of the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value includes: adding the real-time bus voltage compensation value and the real-time bus voltage to obtain the compensated bus voltage value.

[0014] In this way, the compensated bus voltage value can more accurately reflect the actual operating voltage of the motor, providing a more reliable basis for subsequent over- and under-voltage judgments, improving the accuracy of protection judgments, and effectively avoiding motor damage or abnormal operation caused by misjudgments.

[0015] Optionally, the motor over- and under-voltage protection method further includes: obtaining the real-time bus voltage when the motor is not running; and judging whether the motor is over-voltage or under-voltage based on the real-time bus voltage.

[0016] In this way, detecting whether the bus voltage is abnormal in advance when the motor is not running can provide a safe voltage environment for motor startup, and since there is no load at this time, voltage compensation is not required, reducing the control process.

[0017] Optionally, the real-time bus voltage is the average value of the bus voltage calculated by the filtering and averaging method.

[0018] In this way, using the filtering and averaging method to calculate the average value of the bus voltage can effectively remove the noise and transient interference in the bus voltage signal, make the voltage signal smoother and more stable, and improve the accuracy and reliability of voltage detection.

[0019] In a second aspect, the present invention provides a motor over- and under-voltage protection device, including: a first parameter acquisition module for acquiring the real-time bus voltage and real-time output power when the motor is running; a voltage compensation module for performing voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain a compensated bus voltage value; and a first over- and under-voltage judgment module for judging whether the motor is over-voltage or under-voltage based on the compensated bus voltage value.

[0020] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the motor over- and under-voltage protection method according to the first aspect or any corresponding embodiment thereof.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the motor over- and under-voltage protection method according to the first aspect or any corresponding embodiment thereof. Description of the Drawings

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is the bus voltage detection circuit of the permanent magnet synchronous motor control board in the related art;

[0024] Figure 2 is the waveform diagram of the bus voltage with an input AC voltage of 220VAC;

[0025] Figure 3 is the schematic flow chart of a motor over-voltage and under-voltage protection method according to an embodiment of the present invention;

[0026] Figure 4 is the schematic flow chart of another motor over-voltage and under-voltage protection method according to an embodiment of the present invention;

[0027] Figure 5 is the structural block diagram of the motor over-voltage and under-voltage protection device according to an embodiment of the present invention;

[0028] Figure 6 is the schematic hardware structure diagram of the computer device according to an embodiment of the present invention. Specific Embodiments

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0030] As Figure 1 shown, in the bus voltage detection circuit of the permanent magnet synchronous motor control board in the related art, after the 220VDC alternating current is input and rectified, the obtained DC bus voltage VDC is divided to obtain the divided voltage of the bus voltage Vbus, which is input to the ADC input port of the microcontroller. The microcontroller calculates in real time to obtain the instantaneous value of the bus voltage in real time. By sampling the instantaneous value of the bus voltage multiple times and performing accumulation and averaging, the average value of the bus voltage can be obtained.

[0031] Since the bus voltage is rectified from alternating current, during the operation of the motor, there will be a certain voltage drop across the bus capacitor. Moreover, this voltage drop will vary with the actual power of the motor. When the motor is operating under light load, the voltage drop is small; when the motor is operating under heavy load, the voltage drop is large. The existence of the voltage drop will make the over- and under-voltage protection inaccurate.

[0032] In one example, as Figure 2 shown, the input AC voltage is 220VAC, and the converted DC bus voltage should be 307.9VDC. The waveform of the change in the bus voltage drop and the phase current waveform are collected in real time. Among them, the maximum value of the bus voltage is 307.9V, the minimum value is 257.9V, and the average value is 282.7V. In the way of calculating the average value, there is a voltage drop of 307.9V - 282.7V = 20.5V for the bus voltage. If the average value method is used to calculate the bus voltage and this voltage is used as the criterion for over- and under-voltage determination, it will make the detected voltage lower than the actual voltage, resulting in a higher over-voltage protection voltage and a higher under-voltage protection voltage in reality.

[0033] In view of this, the purpose of the embodiment of the present invention is to solve the problem of inaccurate over- and under-voltage protection caused by the bus voltage drop during the operation of the motor, so that the motor can perform protection actions within the accurate over- and under-voltage protection thresholds.

[0034] According to the embodiment of the present invention, an embodiment of a method for over- and under-voltage protection of a motor is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0035] In this embodiment, a method for over- and under-voltage protection of a motor is provided, which can be used for a motor control terminal. As Figure 3 shown, the method for over- and under-voltage protection of the motor according to the embodiment of the present invention includes the following steps:

[0036] Step S101, obtain the real-time bus voltage and real-time output power during the operation of the motor.

[0037] Specifically, the motor is a permanent magnet synchronous motor.

[0038] The real-time bus voltage is obtained by collecting through a bus voltage detection circuit. There is a voltage drop in the collected real-time bus voltage. Usually, the voltage drop is within 40V - 50V. The triangular-wave bus voltage is averaged and filtered into a smooth bus voltage value by the averaging method, and this bus voltage value is used as the real-time bus voltage.

[0039] The real-time output power is obtained by collecting the current and voltage of the motor and calculating.

[0040] Step S102: Based on the real-time output power, perform voltage drop compensation on the real-time bus voltage to obtain the compensated bus voltage value.

[0041] Specifically, since the greater the real-time output power, the greater the bus voltage drop. Therefore, a corresponding bus voltage compensation value is set for each real-time output power. The greater the real-time output power, the greater the bus voltage compensation value. Obtain the corresponding bus voltage compensation value according to the real-time output power, and add the real-time bus voltage and the bus voltage compensation value to obtain the compensated bus voltage value.

[0042] The compensated bus voltage value performs corresponding voltage compensation for the bus voltage drop, making the compensated bus voltage value closer to the actual value.

[0043] Step S103: Based on the compensated bus voltage value, determine whether the motor is overvoltage or undervoltage.

[0044] Specifically, set the overvoltage protection value and undervoltage protection value in advance according to the actual situation of the motor. If the compensated bus voltage value is greater than the overvoltage protection value, the motor is in an overvoltage state, output an overvoltage prompt and take corresponding protection measures; if the compensated bus voltage value is less than the undervoltage protection value, the motor is in an undervoltage state, output an undervoltage prompt and take corresponding protection measures.

[0045] In the motor over- and under-voltage protection method of the embodiment of the present invention, by performing voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value, and then determining whether the motor is overvoltage or undervoltage based on the compensated bus voltage value, it is possible to compensate for the voltage drop of the bus voltage. The compensated voltage value is closer to the actually input voltage, enabling the over- and under-voltage protection to dynamically adapt to the working state of the motor under different loads, improving the accuracy of the over- and under-voltage protection, and reducing the risk of motor failure caused by abnormal voltage.

[0046] In some embodiments, step S102: Based on the real-time output power, perform voltage drop compensation on the real-time bus voltage to obtain the compensated bus voltage value, including:

[0047] Step S1021: Calculate the proportionality coefficient according to the real-time output power and the maximum output power of the motor.

[0048] Specifically, the maximum output power of the motor is calculated according to the motor parameters.

[0049] Divide the real-time output power by the maximum output power to obtain the power ratio, and use this power ratio as the proportionality coefficient.

[0050] Step S1022: Calculate the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage, where the maximum voltage drop compensation value is the voltage drop value of the bus voltage when the motor is at the maximum output power.

[0051] Specifically, the maximum voltage drop compensation value of the bus voltage is the voltage drop value of the bus voltage when the motor is at its maximum output power. Under the rated bus voltage, the motor drives the maximum load and outputs the maximum output power. Calculate the average value of the bus voltage at this time, and subtract this average bus voltage value from the rated bus voltage to obtain the maximum voltage drop compensation value.

[0052] Step S1023: Perform voltage drop compensation on the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value.

[0053] Specifically, add the real-time bus voltage compensation value and the real-time bus voltage to obtain the compensated bus voltage value.

[0054] In the embodiment of the present invention, according to the actual load-carrying situation of the motor control board, first, the maximum voltage drop compensation value under load and the maximum output power under load of the motor control board are measured and written into the program. During real-time operation, based on the maximum voltage drop compensation value and the maximum output power under load, the voltage drop compensation value of the bus voltage is calculated. Moreover, the real-time bus voltage compensation value calculated according to the method of the embodiment of the present invention is linear. The greater the real-time output power, the greater the real-time bus voltage compensation value. Finally, it is compensated to the real-time bus voltage, and then the compensated real-time bus voltage is compared with the over- and under-voltage protection value to achieve accurate over- and under-voltage judgment.

[0055] The greater the real-time output power, the more electric energy is consumed, and the greater the voltage drop of the bus voltage. According to this phenomenon, in the embodiment of the present invention, a bus voltage compensation value that increases synchronously with the increase of the real-time output power is designed to achieve a better compensation effect. The method of the embodiment of the present invention can make the voltage drop compensation values of the bus voltage accurate under standby, no-load, light-load, and load conditions, preventing the phenomenon of different over- and under-voltage protection values under different load conditions.

[0056] In some embodiments, step S1021: Calculate the proportionality coefficient according to the real-time output power and the maximum output power of the motor, including:

[0057] Step S10211: Divide the real-time output power by the maximum output power to obtain the power ratio.

[0058] Step S10212: Compare the size of the power ratio with the preset maximum ratio. If the power ratio is less than or equal to the preset maximum ratio, the proportionality coefficient is equal to the power ratio. If the power ratio is greater than the preset maximum ratio, the proportionality coefficient is equal to the preset maximum ratio.

[0059] Specifically, the preset maximum ratio is 0.9, 1, 1.1, etc.

[0060] When the power ratio is less than or equal to the preset maximum ratio, the proportionality coefficient is equal to the power ratio, which can flexibly adapt to the actual requirements of the motor under different loads. When the power ratio exceeds the preset maximum ratio, the proportionality coefficient is fixed at the preset maximum ratio, enhancing the stability and reliability of the protection method.

[0061] In the actual operation of the motor, there may be a situation where the real-time output power is greater than the maximum output power. By limiting the maximum value of the proportionality coefficient, it is possible to avoid misjudgment of protection or overcompensation caused by excessive compensation values under high-load conditions.

[0062] In some embodiments, step S1022, calculating the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage, includes:

[0063] Step S10221, multiplying the proportionality coefficient by the maximum voltage drop compensation value to obtain the real-time bus voltage compensation value.

[0064] Through the above calculation method, the real-time bus voltage compensation value can be obtained quickly and accurately, improving the accuracy and efficiency of voltage drop compensation, and thus better protecting the motor from abnormal voltages.

[0065] Optionally, the motor over- and under-voltage protection method further includes:

[0066] Step S201, obtaining the real-time bus voltage when the motor is not running.

[0067] Step S201, determining whether the motor is over-voltage or under-voltage based on the real-time bus voltage.

[0068] Specifically, the over-voltage protection value and the under-voltage protection value are preset according to the actual situation of the motor. If the real-time bus voltage is greater than the over-voltage protection value, the motor is in an over-voltage state, and an over-voltage prompt is output and corresponding protection measures are taken; if the real-time bus voltage is less than the under-voltage protection value, the motor is in an under-voltage state, and an under-voltage prompt is output and corresponding protection measures are taken.

[0069] When the motor is not running, since there is no load, there is no voltage drop in the bus voltage at this time. Therefore, the real-time bus voltage can be directly used as the judgment reference.

[0070] When the motor is not running, since there is no load at this time, voltage compensation is not required, reducing the operation judgment process and increasing the applicable range of the motor over- and under-voltage protection method.

[0071] In some embodiments, the real-time bus voltage is the average value of the bus voltage calculated by the method of filtering and averaging.

[0072] Specifically, the bus voltage with voltage drop is sampled in real time. There is a relatively large voltage drop in the bus voltage, usually within 40V - 50V, and in some cases, the voltage drop of the bus voltage can reach 70V - 80V. By calculating the average value, the triangular-wave bus voltage is averaged and filtered into a smooth bus voltage value through the averaging method. This bus voltage value is used as the real-time bus voltage to judge and protect the current bus voltage, better realizing the judgment of over- and under-voltage protection, effectively removing the noise and transient interference in the bus voltage signal, and improving the accuracy and reliability of voltage detection.

[0073] The following combines Figure 4 to illustrate the motor over- and under-voltage protection method of the embodiments of the present invention.

[0074] Under the rated bus voltage Vdc1 of the permanent magnet synchronous motor, calculate in advance through the electronic control board program the average bus voltage VdcAvg1 and the maximum output power PoutMax under the maximum load. Calculate the maximum voltage drop compensation value VdcCompMax = Vdc1 - VdcAvg1 of the average bus voltage, and store the maximum voltage drop compensation value VdcCompMax and the maximum output power PoutMax.

[0075] Write in the set over-voltage protection value VdcOverVoltge and under-voltage protection value VdcUnderVoltage.

[0076] Judge whether the motor is running. If the motor is not running, calculate the average bus voltage VdcAvg as the real-time bus voltage, and compare it with the over-voltage protection value VdcOverVoltge and the under-voltage protection value VdcUnderVoltage respectively to judge whether there is over- or under-voltage. If the motor is running, the following steps are used to judge whether there is over- or under-voltage.

[0077] Calculate the average bus voltage VdcAvg and the real-time output power Pout in real time, and use the average bus voltage VdcAvg as the real-time bus voltage.

[0078] Calculate the proportional coefficient of the real-time output power Pout to the maximum output power PoutMax: K = Pout / PoutMax. If K > 1, set K = 1.

[0079] Calculate the real-time bus voltage compensation value: VdcComp = VdcCompMax × K, and calculate the compensated bus voltage value: Vdc = VdcAvg + VdcComp.

[0080] Compare the compensated bus voltage value Vdc with the overvoltage protection value VdcOverVoltge and the undervoltage protection value VdcUnderVoltage respectively to determine whether there is overvoltage or undervoltage.

[0081] In the motor overvoltage and undervoltage protection method according to the embodiment of the present invention, during real-time operation, the voltage drop compensation value of the bus voltage is calculated based on the maximum voltage drop compensation value and the maximum output power under load, and the real-time bus voltage compensation value calculated according to the method of the embodiment of the present invention is linear. The greater the real-time output power, the greater the real-time bus voltage compensation value. Finally, it is compensated to the real-time bus voltage, and then the compensated real-time bus voltage is compared with the overvoltage and undervoltage protection values to achieve accurate overvoltage and undervoltage judgment.

[0082] The embodiment of the present invention also provides a motor overvoltage and undervoltage protection device, as Figure 5 shown, including:

[0083] The first parameter acquisition module 201 is used to acquire the real-time bus voltage and the real-time output power during the operation of the motor;

[0084] The voltage compensation module 202 is used to perform voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value;

[0085] The first overvoltage and undervoltage judgment module 203 is used to judge whether the motor is overvoltage or undervoltage based on the compensated bus voltage value.

[0086] In the motor overvoltage and undervoltage protection method according to the embodiment of the present invention, by performing voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value, and then judging whether the motor is overvoltage or undervoltage based on the compensated bus voltage value, it is possible to compensate for the voltage drop of the bus voltage. The compensated voltage value is closer to the actually input voltage, enabling the overvoltage and undervoltage protection to dynamically adapt to the working state of the motor under different loads, improving the accuracy of the overvoltage and undervoltage protection, and reducing the risk of motor failure caused by abnormal voltage.

[0087] In some embodiments, the voltage compensation module 202 includes:

[0088] The coefficient calculation module is used to calculate the proportional coefficient according to the real-time output power and the maximum output power of the motor;

[0089] The compensation value calculation module is used to calculate the real-time bus voltage compensation value according to the proportional coefficient and the maximum voltage drop compensation value of the bus voltage, where the maximum voltage drop compensation value is the voltage drop value of the bus voltage when the motor is at the maximum output power;

[0090] The compensation module is used to perform voltage drop compensation on the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value.

[0091] In some embodiments, the coefficient calculation module includes:

[0092] A ratio calculation module, configured to divide the real-time output power by the maximum output power to obtain a power ratio;

[0093] A ratio comparison module, configured to compare the power ratio with a preset maximum ratio. If the power ratio is less than or equal to the preset maximum ratio, the proportional coefficient is equal to the power ratio. If the power ratio is greater than the preset maximum ratio, the proportional coefficient is equal to the preset maximum ratio.

[0094] In some embodiments, the compensation value calculation module includes:

[0095] A multiplication module, configured to multiply the proportional coefficient by the maximum voltage drop compensation value to obtain a real-time bus voltage compensation value.

[0096] In some embodiments, the compensation module includes:

[0097] An addition module, configured to add the real-time bus voltage compensation value to the real-time bus voltage to obtain a compensated bus voltage value.

[0098] In some embodiments, the motor over- and under-voltage protection device further includes:

[0099] A second parameter acquisition module, configured to acquire the real-time bus voltage when the motor is not running;

[0100] A second over- and under-voltage judgment module, configured to judge whether the motor is over-voltage or under-voltage based on the real-time bus voltage.

[0101] In some embodiments, the real-time bus voltage is the average value of the bus voltage calculated by the method of filtering and averaging.

[0102] An embodiment of the present invention further provides a structural schematic diagram of a computer device, as Figure 6 shown. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 6Taking a processor 10 as an example.

[0103] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0104] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiments.

[0105] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0106] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0107] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means, Figure 6 Taking the connection through a bus as an example.

[0108] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (such as an LED), and a tactile feedback device (such as a vibration motor), etc. The above display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0109] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0110] A part of the present invention can be applied as a computer program product, for example, computer program instructions, which when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible by the computer.

[0111] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope protected by the present invention.

Claims

1. A method for over-voltage and under-voltage protection of a motor, characterized in that, Including: Obtain the real-time bus voltage and real-time output power when the motor is running; Based on the real-time output power, perform voltage drop compensation on the real-time bus voltage to obtain the compensated bus voltage value; Based on the compensated bus voltage value, determine whether the motor is overvoltage or undervoltage.

2. The motor over- and under-voltage protection method according to claim 1, wherein The performing voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value includes: Calculate the proportionality coefficient according to the real-time output power and the maximum output power of the motor; Calculate the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage, where the maximum voltage drop compensation value is the voltage drop value of the bus voltage when the motor is at the maximum output power; Perform voltage drop compensation on the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value.

3. The motor over- and under-voltage protection method according to claim 2, characterized in that, The calculating the proportionality coefficient according to the real-time output power and the maximum output power of the motor includes: Divide the real-time output power by the maximum output power to obtain a power ratio; Compare the size of the power ratio and a preset maximum ratio. If the power ratio is less than or equal to the preset maximum ratio, the proportionality coefficient is equal to the power ratio. If the power ratio is greater than the preset maximum ratio, the proportionality coefficient is equal to the preset maximum ratio.

4. The motor over- and under-voltage protection method according to claim 2, characterized in that The calculating the real-time bus voltage compensation value according to the proportionality coefficient and the maximum voltage drop compensation value of the bus voltage includes: Multiply the proportionality coefficient and the maximum voltage drop compensation value to obtain the real-time bus voltage compensation value.

5. The motor over- and under-voltage protection method according to claim 2, wherein, The performing voltage drop compensation on the real-time bus voltage according to the real-time bus voltage compensation value to obtain the compensated bus voltage value includes: Add the real-time bus voltage compensation value and the real-time bus voltage to obtain the compensated bus voltage value.

6. The motor over- and under-voltage protection method according to claim 1, characterized in that The motor over-undervoltage protection method further includes: Obtain the real-time bus voltage when the motor is not running; Based on the real-time bus voltage, determine whether the motor is overvoltage or undervoltage.

7. The motor over- and under-voltage protection method according to claim 1 or 6, characterized in that The real-time bus voltage is the average value of the bus voltage calculated by the filtering and averaging method.

8. An over- and under-voltage protection device for a motor, characterized in that, Including: A first parameter acquisition module for obtaining the real-time bus voltage and real-time output power when the motor is running; A voltage compensation module for performing voltage drop compensation on the real-time bus voltage based on the real-time output power to obtain the compensated bus voltage value; A first over-undervoltage judgment module for determining whether the motor is overvoltage or undervoltage based on the compensated bus voltage value.

9. A computer device, characterized in that, Including: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the motor over-undervoltage protection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the motor over-undervoltage protection method according to any one of claims 1 to 7.

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