Motor deceleration method, device, storage medium and system

Abstract

The embodiment of the invention relates to a motor deceleration method and device, a storage medium and a system. The method comprises the following steps: acquiring a deceleration state signal; executing a control deceleration operation according to a control deceleration value determined by the deceleration state signal; acquiring a deceleration condition signal in the execution process of controlling the deceleration operation, and judging whether the deceleration condition signal meets a deceleration out-of-control condition or not; and under the condition that the deceleration condition signal meets the deceleration out-of-control condition, brake deceleration operation is executed until the motor speed is detected to reach the target speed. According to the technical scheme provided by the embodiment of the invention, the motor can be fully decelerated on the premise of considering the bus voltage safety and the deceleration speed and avoiding high mechanical loss caused by a brake program.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a motor deceleration method, device, storage medium and system. Background Art

[0002] There are two motor deceleration scenarios in the existing technology. One is when the input motor speed control signal is 0 speed, indicating that the motor speed needs to be actively adjusted to 0; the other is when the motor is powered off, the motor speed drops to 0 without power input.

[0003] Currently, in the above two motor deceleration scenarios, the methods used include directly starting the motor braking program to achieve deceleration, and actively adjusting the motor speed to make it decelerate quickly, and monitoring the bus voltage in real time during the process. When the bus voltage is found to have increased, the motor deceleration speed is reduced to avoid excessive bus voltage and damage to components.

[0004] However, the two deceleration methods mentioned above each have technical problems. The former has no protection measures for the busbar. During the rapid deceleration process of the motor, the mechanical energy is converted into electrical energy, and the motor will reversely charge the busbar capacitor, which can easily cause the busbar voltage to be too high and damage the components. Moreover, if the brake is directly activated, the wind wheel or water pump impeller will be subjected to a large sudden force, affecting its life. Although the latter takes into account the protection measures for the busbar, it needs to adjust the deceleration speed in real time according to the busbar voltage. The design is cumbersome and difficult to implement. In order to avoid the busbar voltage rising, the deceleration speed is slow and the deceleration process takes a long time. In addition, the existing observer has difficulty controlling the motor speed at low speeds, and will not be able to continue to actively adjust the speed after decelerating to a certain speed. Summary of the Invention

[0005] The present invention provides a motor deceleration method, device, storage medium and system, the purpose of which is to achieve sufficient motor deceleration while taking into account bus voltage safety and deceleration speed, while avoiding mechanical losses caused by directly activating the motor braking program.

[0006] In a first aspect, an embodiment of the present invention provides a motor deceleration method, comprising:

[0007] Get the deceleration status signal;

[0008] executing a controlled deceleration operation according to a controlled deceleration value determined by the deceleration state signal;

[0009] obtaining a deceleration condition signal during the execution of the controlled deceleration operation, and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition;

[0010] When it is determined that the deceleration condition signal satisfies the deceleration out-of-control condition, a braking deceleration operation is performed until it is detected that the motor speed reaches the target speed.

[0011] Optionally, the deceleration state signal includes: a deceleration adjustment signal;

[0012] The controlling deceleration value determined according to the deceleration state signal and performing the controlling deceleration operation includes:

[0013] The controlled deceleration operation is performed according to a first deceleration value determined by the deceleration adjustment signal.

[0014] Optionally, obtaining a deceleration condition signal during the execution of the controlled deceleration operation and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition includes:

[0015] Get real-time motor speed;

[0016] Determine whether the real-time motor speed is less than a controllable speed threshold.

[0017] Optionally, before determining the control deceleration value according to the deceleration state signal and performing the control deceleration operation with the control deceleration value, the method further includes:

[0018] Perform busbar protection operations.

[0019] Optionally, the deceleration state signal includes: a power-off deceleration signal;

[0020] The controlling deceleration value determined according to the deceleration state signal and performing the controlling deceleration operation includes:

[0021] The controlled deceleration operation is performed according to a second deceleration value determined by the power-off deceleration signal.

[0022] Optionally, obtaining a deceleration condition signal during the execution of the controlled deceleration operation and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition includes:

[0023] Get real-time bus voltage;

[0024] Determine whether the real-time bus voltage is less than a controllable voltage threshold.

[0025] Optionally, after determining the control deceleration value according to the deceleration state signal and performing the control deceleration operation with the control deceleration value, the method further includes:

[0026] During the execution of the controlled deceleration operation, obtaining a real-time bus voltage, and determining whether the real-time bus voltage is greater than a safety voltage threshold;

[0027] In the case where it is determined that the real-time bus voltage is greater than the safety voltage threshold, determining the control deceleration value as a first deceleration value;

[0028] Wherein, the first deceleration value is smaller than the second deceleration value.

[0029] In a second aspect, an embodiment of the present invention provides a motor reduction device, comprising:

[0030] A state acquisition module is used to obtain a deceleration state signal;

[0031] a control deceleration module, configured to execute a control deceleration operation according to a control deceleration value determined by the deceleration state signal;

[0032] an out-of-control judgment module, configured to obtain a deceleration condition signal during the execution of the controlled deceleration operation, and judge whether the deceleration condition signal satisfies a deceleration out-of-control condition;

[0033] The braking and deceleration module is used to perform a braking and deceleration operation when it is determined that the deceleration condition signal meets the deceleration out-of-control condition, until it is detected that the motor speed reaches the target speed.

[0034] In a third aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the motor deceleration method provided by any embodiment of the present invention.

[0035] In a fourth aspect, an embodiment of the present invention provides a motor deceleration system, comprising: a central control circuit and a motor drive circuit; the central control circuit is connected to the motor drive circuit; the central control circuit can execute the motor deceleration method provided in any embodiment of the present invention, and control the motor drive circuit to decelerate the motor.

[0036] The embodiments of the present invention provide a motor deceleration method, device, storage medium and system, which determine the corresponding control deceleration value according to the obtained deceleration status signal, control the deceleration operation of the motor, monitor the operating status of the motor during the deceleration process in real time, and activate the motor braking program at the right time, thereby solving the problems of excessive bus voltage risk during motor deceleration, mechanical loss caused by directly activating the braking program, and difficulty in quickly and fully decelerating the motor, and achieving full deceleration of the motor while taking into account the bus voltage safety and deceleration speed, and avoiding high mechanical loss caused by the braking program. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a motor deceleration method provided in Example 1 of the present invention;

[0038] Figure 2 This is a flow chart of a motor deceleration method provided in Example 1 of the present invention;

[0039] Figure 3This is a flow chart of a motor deceleration method provided in Example 1 of the present invention;

[0040] Figure 4 A schematic structural diagram of a motor deceleration device provided in the second embodiment of the present invention;

[0041] Figure 5 A schematic structural diagram of a motor deceleration system provided in a fourth embodiment of the present invention;

[0042] Figure 6 This is a structural diagram of a motor deceleration system provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] Example 1

[0045] Figure 1 This is a flow chart of a motor deceleration method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where a motor needs to be decelerated. The method can be performed by a motor deceleration device, which can be implemented by hardware and / or software and can generally be integrated into an electronic device, such as a computer device. The method specifically includes:

[0046] Step 110: Obtain a deceleration state signal.

[0047] The deceleration state signal may be a signal describing a motor deceleration requirement or scenario, for example, a motor deceleration requirement determined based on an input motor speed control signal, or a motor deceleration requirement generated by detecting a disconnection of an input power supply.

[0048] Specifically, the deceleration state signal may be obtained by any achievable means known to those skilled in the art, such as receiving a motor speed control signal or real-time monitoring of the input voltage.

[0049] Optionally, the deceleration state signal may be a deceleration adjustment signal or a power-off deceleration signal.

[0050] Optionally, the deceleration state signal may include: a deceleration adjustment signal.

[0051] The deceleration adjustment signal may be a signal describing a motor deceleration requirement determined according to an input motor speed control signal. Optionally, the deceleration adjustment signal may be a motor speed control signal indicating that the speed is reduced to zero.

[0052] Optionally, the deceleration state signal may include: a power-off deceleration signal.

[0053] The power-off deceleration signal may be a signal describing a motor deceleration requirement generated by detecting a disconnection of the input power supply. Optionally, the power-off deceleration signal may specifically be a detected input voltage and / or current of zero.

[0054] Step 120 : Execute a controlled deceleration operation according to the controlled deceleration value determined by the deceleration state signal.

[0055] The controlled deceleration value may be data describing the speed of the motor deceleration. The controlled deceleration operation may be an action of actively adjusting and reducing the motor speed.

[0056] The current motor deceleration requirement or scenario can be determined based on the deceleration status signal, so that the appropriate control deceleration value can be determined based on the deceleration requirement and scenario, so that when the motor is decelerating at the control deceleration value, it can be ensured that the bus voltage in the circuit will not increase to damage the device and the fastest deceleration speed under this premise can be achieved.

[0057] Since the motor speed is still relatively high at this point, deceleration can be achieved by actively adjusting the motor speed. Alternatively, controlling the motor's deceleration based on the input motor speed control signal can utilize energy provided by the circuit's power supply. Upon detecting a disconnection of the input power supply, controlling the motor's deceleration can utilize electrical energy converted from the motor's mechanical energy after deceleration. Therefore, methods known to those skilled in the art can be employed to control the deceleration value.

[0058] Optionally, performing a controlled deceleration operation according to a controlled deceleration value determined by a deceleration state signal may include performing a controlled deceleration operation according to a first deceleration value determined by a deceleration adjustment signal.

[0059] The first deceleration value may be a predetermined motor deceleration speed, or a maximum deceleration speed that ensures that the bus voltage of the circuit does not increase during motor deceleration. Alternatively, the first deceleration value may be obtained through actual testing.

[0060] Since the circuit still has power input when the deceleration state signal is a deceleration adjustment signal, it is necessary to control the deceleration speed of the motor to ensure that the electrical energy converted from the mechanical energy during the deceleration process does not reversely charge the bus and cause the bus voltage to increase.

[0061] Optionally, performing the controlled deceleration operation according to the controlled deceleration value determined by the deceleration state signal may include performing the controlled deceleration operation according to a second deceleration value determined by the power-off deceleration signal.

[0062] The second deceleration value may be a predetermined motor deceleration speed, or a deceleration speed that ensures that the bus voltage of the circuit shows signs of increasing during the motor deceleration process. Optionally, the second deceleration value may be obtained through actual testing.

[0063] Since the circuit has no power input when the deceleration state signal is a power-off deceleration signal, the circuit can be powered by the electrical energy converted from the motor's mechanical energy during rapid deceleration to ensure that the circuit has enough energy to execute the deceleration control operation. This technical solution recycles and utilizes the motor's mechanical energy, improving the efficiency of the overall system and reducing energy loss.

[0064] Step 130: Acquire a deceleration condition signal during the execution of the controlled deceleration operation, and determine whether the deceleration condition signal satisfies a deceleration out-of-control condition.

[0065] The deceleration condition signal may be a signal describing a state in the circuit caused by motor deceleration. The deceleration out-of-control condition may be a condition satisfied by a signal describing a state in which the circuit cannot continue to perform a controlled deceleration operation.

[0066] During the controlled deceleration process, the motor speed gradually decreases, affecting some circuit parameters and / or device states, which are reflected in the deceleration condition signal. Therefore, it is necessary to obtain the deceleration condition signal in real time during the controlled deceleration process and determine whether it meets the deceleration runaway condition, so as to promptly identify the circuit state that cannot continue to perform the controlled deceleration operation.

[0067] The deceleration runaway condition can be pre-set, and different deceleration status signals can correspond to different deceleration condition signals and / or deceleration runaway conditions, which can be predetermined based on the motor deceleration requirements or scenarios described by the deceleration status signal. For example, the deceleration condition signal can be the bus voltage, and the deceleration runaway condition can be when the bus voltage exceeds a preset safety threshold. The deceleration condition signal can also be the current motor speed, and the deceleration runaway condition can be when the current motor speed is less than a controllable minimum speed threshold.

[0068] Optionally, obtaining a deceleration condition signal during the execution of the control deceleration operation and determining whether the deceleration condition signal meets the deceleration out-of-control condition may include: obtaining the real-time motor speed; and determining whether the real-time motor speed is less than a controllable speed threshold.

[0069] The real-time motor speed may be the speed of the motor detected in real time, and the controllable speed threshold may be the minimum speed of the motor that can be controlled by the observer in the circuit.

[0070] During the execution of the controlled deceleration operation, the motor speed gradually decreases at the speed of the controlled deceleration value. During this process, the motor speed is detected in real time to obtain the real-time motor speed. It is possible to promptly determine whether the real-time motor speed is less than the controllable speed threshold, thereby promptly identifying the situation where the current deceleration degree causes the motor speed to be unable to be controlled by the observer.

[0071] Optionally, before determining the controlled deceleration value according to the deceleration state signal and performing the controlled deceleration operation with the controlled deceleration value, the method may further include: performing a bus protection operation.

[0072] The busbar protection operation may be an action of limiting the input energy on the busbar. Optionally, the busbar protection operation may specifically be controlling the relay between the input power supply and the busbar to be turned off.

[0073] Before starting the controlled deceleration operation, you can first take bus protection operation on the bus to cut off the energy of the power input. At this time, if you start the controlled deceleration operation again, the bus voltage will be limited to a controllable range to prevent the mechanical energy caused by motor deceleration from being converted into electrical energy and transmitted back to the bus, resulting in excessive bus voltage and causing device damage.

[0074] The above technical solution cuts off the external energy input of the bus, further ensuring that the bus voltage will not increase excessively. During the execution of the deceleration operation, the motor deceleration process can be monitored only by obtaining the real-time motor speed and judging whether the real-time motor speed is less than the controllable speed threshold. There is no need to monitor the bus voltage in real time and make corresponding adjustments frequently, which simplifies the technical solution and circuit design and improves the efficiency of motor deceleration.

[0075] Optionally, obtaining a deceleration condition signal during the execution of the control deceleration operation and determining whether the deceleration condition signal meets the deceleration out-of-control condition may include: obtaining the real-time bus voltage; and determining whether the real-time bus voltage is less than a controllable voltage threshold.

[0076] The real-time bus voltage may be the voltage on the bus detected in real time, and the controllable voltage threshold may be a minimum voltage sufficient to provide working power to the observer to control the motor deceleration.

[0077] When the deceleration state signal is a power-off deceleration signal, as the controlled deceleration operation is executed, the overall energy of the circuit gradually depletes, and the electrical energy converted from the mechanical energy caused by motor deceleration gradually decreases. At this time, in the absence of other external energy sources, the bus voltage gradually decreases. When the bus voltage decreases below the controllable voltage threshold, it indicates that the energy in the circuit is insufficient to continue the controlled deceleration operation, thus promptly identifying the current energy loss level that makes the motor speed uncontrollable by the observer.

[0078] Optionally, after determining the control deceleration value according to the deceleration status signal and performing the control deceleration operation with the control deceleration value, it may also include: obtaining the real-time bus voltage during the execution of the control deceleration operation, and judging whether the real-time bus voltage is greater than the safety voltage threshold; when it is judged that the real-time bus voltage is greater than the safety voltage threshold, determining the control deceleration value as the first deceleration value.

[0079] The first deceleration value is less than the second deceleration value. The safety voltage threshold can be the maximum bus voltage that each component in the circuit can withstand. Optionally, the safety voltage threshold can be selected based on the bus capacitor withstand voltage and the backend component withstand voltage, and can be 0.85 to 0.9 times the minimum component withstand voltage.

[0080] In order to prevent the conversion of mechanical energy into electrical energy during motor deceleration, which may cause the bus voltage to be too high and thus damage the device, the motor's deceleration speed can be reduced in time when the real-time bus voltage exceeds the safety voltage threshold, reducing it from the second deceleration value to the first deceleration value to ensure that the bus voltage does not rise.

[0081] The above technical solution first controls the motor to decelerate rapidly, while monitoring the safety of the bus voltage, and timely adjusts the motor deceleration speed to a preset safety value, thereby achieving rapid motor deceleration to the greatest extent possible while avoiding circuit losses caused by excessive bus voltage.

[0082] Step 140: When it is determined that the deceleration condition signal satisfies the deceleration out-of-control condition, a braking deceleration operation is performed until it is detected that the motor speed reaches the target speed.

[0083] The braking deceleration operation may be an action of reducing the motor speed by activating a motor braking program. The target speed may be a speed that the motor needs to reach after deceleration according to the motor deceleration requirement described by the deceleration state signal or the scenario.

[0084] If the conditional signal meets the deceleration out-of-control condition, it means that the motor speed is too low and the energy loss in the circuit is too large. The circuit can no longer continue to perform the controlled deceleration operation. Therefore, the braking deceleration operation can be performed. The motor braking program is used to achieve deceleration from the motor speed being too low until the speed is reduced to 0.

[0085] Optionally, performing a braking and deceleration operation may include: performing a three-phase line short-circuit operation on the motor.

[0086] The motor three-phase line short-circuit operation may be controlling the motor three-phase line short-circuit.

[0087] Optionally, short-circuiting the three-phase lines of the motor may include: short-circuiting the three-phase lines of the motor at a preset duty cycle; and gradually increasing the preset duty cycle by a preset increment. The preset duty cycle may be a relatively small duty cycle to reduce braking intensity at high motor speeds and avoid mechanical losses. As the motor speed gradually decreases, the duty cycle may be gradually increased to increase the speed of motor braking deceleration and quickly reduce the motor speed to zero.

[0088] Optionally, performing a braking deceleration operation until it is detected that the motor speed reaches the target speed may include: obtaining the real-time braking current; determining whether the real-time braking current is less than the deceleration current threshold; starting to record the braking deceleration time when it is determined that the real-time braking current is less than the deceleration current threshold; and ending the braking deceleration operation when the braking deceleration time reaches the braking time threshold.

[0089] The real-time braking current is the current in the circuit detected in real time. The deceleration current threshold can be the minimum current that each component in the circuit can maintain. The braking deceleration time can be the length of time that the real-time braking current is less than the deceleration current threshold. The braking time threshold can be the length of time that the real-time braking current of the deceleration current threshold can be consumed.

[0090] Optionally, the deceleration current threshold may specifically be 0.05 times the maximum current of the motor circuit.

[0091] When the real-time braking current is less than the deceleration current threshold and lasts for a sufficient time, it can be said that the mechanical energy of the motor has been consumed through the heat loss of the circuit and the motor itself, so the braking deceleration operation can be ended.

[0092] Optionally, after the brake deceleration operation is completed, the relay may be opened. After the brake deceleration operation is completed, the motor speed drops to 0, so the relay may be opened to continue connecting the power supply.

[0093] For example, Figure 2 This is a flow chart of a motor deceleration method provided in Example 1 of the present invention. Assume that the current motor speed is 3000 rpm / min. Figure 2As shown, when the input speed signal is detected to be 0, that is, the deceleration state signal is a deceleration adjustment signal, the relay can be controlled to be turned off first, and finally the motor can be controlled to decelerate rapidly at the preset first deceleration value a1. a1 can be 20rpm / s through actual measurement. Real-time judgment is made as to whether the current speed is less than the preset controllable speed threshold speed, which can be 300rpm / min through actual measurement; if not, the first deceleration value a1 is continued to be decelerated rapidly until the current speed is less than the preset controllable speed threshold speed. The deceleration time is (3000-300) / 60 / 20=2.25s, the motor braking program is enabled, the three-phase line of the motor is controlled to be short-circuited, and the duty cycle is controlled to gradually increase from 1% to 50%~75%. After detecting that the motor braking current in the circuit is less than the preset deceleration current threshold I1 and lasts for 100ms, the braking program is turned off, the relay is turned on, and the motor deceleration process ends. Through actual measurement, the maximum current I max If the deceleration current threshold I1 is 5A, the deceleration current threshold I1 may be 0.25A.

[0094] For example, Figure 3 This is a flow chart of a motor deceleration method provided in Example 1 of the present invention. Figure 3 As shown, when the motor is detected to be in a power-off state, that is, the deceleration state signal is a power-off deceleration signal, the motor can be directly controlled to decelerate rapidly at a preset second deceleration value a2, which can be 30 rpm / s through actual measurement. At the same time, real-time monitoring is performed to determine whether the current bus voltage is greater than the preset safety voltage threshold V busmax , where the busbar capacitor withstand voltage is 400V, then V busmax It can be 360V; if not, you can continue to decelerate quickly at the second deceleration value a2, if yes, you need to reduce the motor deceleration speed to the first deceleration value a1 and continue to decelerate. At the same time, determine whether the current bus voltage is less than the controllable voltage threshold V busmin , V busmin It can be 150V; if so, the motor braking program is enabled, the three-phase lines of the motor are controlled to be short-circuited, and the duty cycle is controlled to gradually increase from 1% to 50%~75% until the motor cannot perform the operation due to insufficient energy, and the motor deceleration process ends.

[0095] The technical solution of this embodiment determines the corresponding control deceleration value according to the obtained deceleration status signal, controls the deceleration operation of the motor, and obtains the deceleration condition signal and compares it with the deceleration out-of-control condition to monitor the operating status of the motor during the deceleration process in real time, and activates the motor braking program at the right time. It solves the problems of excessive bus voltage risk during motor deceleration, mechanical loss caused by directly activating the braking program, and difficulty in quickly and fully decelerating the motor, and achieves full deceleration of the motor while taking into account the bus voltage safety and deceleration speed, and avoiding high mechanical loss caused by the braking program.

[0096] Example 2

[0097] Figure 4 This is a structural diagram of a motor deceleration device provided in the second embodiment of the present invention, as shown in FIG. Figure 4 As shown, the motor deceleration device includes: a state acquisition module 210, a control deceleration module 220, an out-of-control judgment module 230 and a brake deceleration module 240, wherein,

[0098] A state acquisition module 210 is used to obtain a deceleration state signal;

[0099] A control deceleration module 220 is configured to execute a control deceleration operation according to a control deceleration value determined by the deceleration state signal;

[0100] The out-of-control judgment module 230 is used to obtain a deceleration condition signal during the execution of the control deceleration operation and judge whether the deceleration condition signal satisfies the deceleration out-of-control condition;

[0101] The braking and deceleration module 240 is configured to execute a braking and deceleration operation when it is determined that the deceleration condition signal satisfies the deceleration out-of-control condition, until it is detected that the motor speed reaches the target speed.

[0102] The technical solution of this embodiment determines the corresponding control deceleration value according to the obtained deceleration status signal, controls the deceleration operation of the motor, and obtains the deceleration condition signal and compares it with the deceleration out-of-control condition to monitor the operating status of the motor during the deceleration process in real time, and activates the motor braking program at the right time. It solves the problems of excessive bus voltage risk during motor deceleration, mechanical loss caused by directly activating the braking program, and difficulty in quickly and fully decelerating the motor, and achieves full deceleration of the motor while taking into account the bus voltage safety and deceleration speed, and avoiding high mechanical loss caused by the braking program.

[0103] Optionally, the deceleration state signal may include: a deceleration adjustment signal; the control deceleration module 220 may include: a first control unit, configured to execute the control deceleration operation according to a first deceleration value determined by the deceleration adjustment signal.

[0104] Optionally, the out-of-control judgment module 230 may include: a speed acquisition unit, configured to acquire the real-time motor speed; and a speed judgment unit, configured to judge whether the real-time motor speed is less than a controllable speed threshold.

[0105] Optionally, the motor deceleration device may further include: a bus protection module, configured to perform a bus protection operation before determining a control deceleration value according to a deceleration state signal and performing a control deceleration operation with the control deceleration value.

[0106] Optionally, the deceleration state signal may include: a power-off deceleration signal; the control deceleration module 220 may include: a second control unit for performing the control deceleration operation according to a second deceleration value determined by the power-off deceleration signal.

[0107] Optionally, the out-of-control judgment module 230 may include: a voltage acquisition unit, configured to acquire a real-time bus voltage; and a voltage judgment unit, configured to judge whether the real-time bus voltage is less than a controllable voltage threshold.

[0108] Optionally, the motor deceleration device may also include: a deceleration value adjustment module, which is used to determine the control deceleration value according to the deceleration status signal, and after performing the control deceleration operation with the control deceleration value, obtain the real-time bus voltage during the execution of the control deceleration operation, and judge whether the real-time bus voltage is greater than the safety voltage threshold; when it is judged that the real-time bus voltage is greater than the safety voltage threshold, the control deceleration value is determined to be a first deceleration value; wherein the first deceleration value is less than the second deceleration value.

[0109] The motor deceleration device provided in the embodiment of the present invention can execute the motor deceleration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] Example 3

[0111] The third embodiment of the present invention further provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a motor deceleration method, including:

[0112] Get the deceleration status signal;

[0113] executing a controlled deceleration operation according to a controlled deceleration value determined by the deceleration state signal;

[0114] obtaining a deceleration condition signal during the execution of the controlled deceleration operation, and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition;

[0115] When it is determined that the deceleration condition signal satisfies the deceleration out-of-control condition, a braking deceleration operation is performed until it is detected that the motor speed reaches the target speed.

[0116] Of course, the computer executable instructions of the storage medium provided by the embodiment of the present invention are not limited to the operations of the method described above, but can also execute related operations in the motor deceleration method provided by any embodiment of the present invention.

[0117] Example 4

[0118] Figure 5 This is a structural diagram of a motor deceleration system provided by the fourth embodiment of the present invention. Figure 5 As shown, the motor deceleration system includes: a central control circuit 410 and a motor drive circuit 420.

[0119] The central control circuit 410 is connected to the motor driving circuit 420. The central control circuit 410 can control the motor driving circuit 420 to decelerate the motor by executing the motor deceleration method provided by any embodiment of the present invention.

[0120] Optionally, the motor deceleration system may further include a relay circuit connected to the central control circuit 410, the busbars of the motor drive circuit 420, and the input power supply. When the relay circuit is in the on state, it can transmit energy from the input power supply to the motor deceleration system; when in the off state, it can block the transmission of energy from the input power supply to the motor deceleration system. The central control circuit 410 can control the on and off of the relay circuit.

[0121] Optionally, the motor deceleration system may also include a PTC (Positive Temperature Coefficient) circuit connected in parallel with the relay circuit between the input power supply and the busbar. During power-up, the relay can be turned off first, allowing current to flow through the PTC circuit. The PTC heats up, and the higher the temperature, the greater the resistance, which hinders the flow of high current, effectively breaking the circuit. When the back-end circuit has energy, the relay is turned on. Due to the presence of a certain amount of energy, the back-end will not generate a large inrush current. This prevents large inrush currents from impacting the back-end components during power-up, potentially damaging them.

[0122] For example, Figure 6 This is a schematic diagram of the structure of a motor deceleration system provided by the fourth embodiment of the present invention. Figure 6 As shown, the motor deceleration system includes an MCU (Microcontroller Unit), a relay circuit controlled by the MUC, a PTC circuit, and a motor drive circuit including a busbar for storing energy with capacitors and an inverter circuit.

[0123] The technical solution of this embodiment determines the corresponding control deceleration value according to the obtained deceleration status signal, controls the deceleration operation of the motor, and obtains the deceleration condition signal and compares it with the deceleration out-of-control condition to monitor the operating status of the motor during the deceleration process in real time, and activates the motor braking program at the right time. It solves the problems of excessive bus voltage risk during motor deceleration, mechanical loss caused by directly activating the braking program, and difficulty in quickly and fully decelerating the motor, and achieves full deceleration of the motor while taking into account the bus voltage safety and deceleration speed, and avoiding high mechanical loss caused by the braking program.

[0124] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0125] It is worth noting that in the embodiment of the above-mentioned motor reduction device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0126] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A motor deceleration method, characterized in that: include: Get the deceleration status signal; executing a controlled deceleration operation according to a controlled deceleration value determined by the deceleration state signal; obtaining a deceleration condition signal during the execution of the controlled deceleration operation, and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition; When it is determined that the deceleration condition signal satisfies the deceleration out-of-control condition, a braking deceleration operation is performed until it is detected that the motor speed reaches the target speed.

2. The method according to claim 1, characterized in that The deceleration state signal includes: a deceleration adjustment signal; The controlling deceleration value determined according to the deceleration state signal and performing the controlling deceleration operation includes: The controlled deceleration operation is performed according to a first deceleration value determined by the deceleration adjustment signal.

3. The method according to claim 2, characterized in that The acquiring of a deceleration condition signal during the execution of the control deceleration operation and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition includes: Get real-time motor speed; Determine whether the real-time motor speed is less than a controllable speed threshold.

4. The method according to claim 2, characterized in that Before determining the control deceleration value according to the deceleration state signal and performing the control deceleration operation with the control deceleration value, the method further includes: Perform busbar protection operations.

5. The method according to claim 1, wherein The deceleration state signal includes: a power-off deceleration signal; The controlling deceleration value determined according to the deceleration state signal and performing the controlling deceleration operation includes: The controlled deceleration operation is performed according to a second deceleration value determined by the power-off deceleration signal.

6. The method according to claim 5, characterized in that The acquiring of a deceleration condition signal during the execution of the control deceleration operation and determining whether the deceleration condition signal satisfies a deceleration out-of-control condition includes: Get real-time bus voltage; Determine whether the real-time bus voltage is less than a controllable voltage threshold.

7. The method according to claim 5, characterized in that After determining the control deceleration value according to the deceleration state signal and performing the control deceleration operation with the control deceleration value, the method further includes: During the execution of the controlled deceleration operation, obtaining a real-time bus voltage, and determining whether the real-time bus voltage is greater than a safety voltage threshold; In the case where it is determined that the real-time bus voltage is greater than the safety voltage threshold, determining the control deceleration value as a first deceleration value; Wherein, the first deceleration value is smaller than the second deceleration value.

8. A motor reduction device, characterized in that: include: A state acquisition module is used to obtain a deceleration state signal; a control deceleration module, configured to execute a control deceleration operation according to a control deceleration value determined by the deceleration state signal; an out-of-control judgment module, configured to obtain a deceleration condition signal during the execution of the controlled deceleration operation, and judge whether the deceleration condition signal satisfies a deceleration out-of-control condition; The braking and deceleration module is used to perform a braking and deceleration operation when it is determined that the deceleration condition signal meets the deceleration out-of-control condition, until it is detected that the motor speed reaches the target speed.

9. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the motor deceleration method according to any one of claims 1 to 7.

10. A motor deceleration system, characterized in that: include: a central control circuit and a motor drive circuit, wherein the central control circuit is connected to the motor drive circuit; The central control circuit is used to implement the motor deceleration method according to any one of claims 1 to 7, and control the motor drive circuit to decelerate the motor.

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