Servo motor thermal management method and system based on variable heat dissipation area

Abstract

The invention discloses a servo motor thermal management method and system based on a variable heat dissipation area, and relates to the technical field of motor thermal management, and the method comprises the steps: obtaining the corresponding relation between the heating rate of each site and each control parameter and environment parameter, and storing the corresponding relation as a heat production model; acquiring a thermal diffusion path and a diffusion velocity of each site, and storing the thermal diffusion path and the diffusion velocity as a diffusion model; obtaining control parameters and environmental parameters at a future set time point, and generating a heating rate, a heat diffusion path and a diffusion speed of each site based on the heat production model and the diffusion model according to the control parameters and the environmental parameters; a target site is determined according to the heating rate, and at least one adjusting site is selected for refrigeration so as to block the heat diffusion path of the target site and / or reduce the heating rate of the target site. According to the scheme, the basic heat dissipation mode and the targeted heat dissipation mode are combined, extra refrigeration is carried out on the temperature anomaly site of the servo motor, the site temperature is reduced, and a heat diffusion path is blocked, so that internal temperature accumulation of the servo motor is avoided, and the stability and reliability of operation of the servo motor are maintained.

Description

Technical Field

[0001] The present application belongs to the technical field of motor thermal management, and relates to a servo motor thermal management method and system based on a variable heat dissipation area. Background Art

[0002] Servo motors are widely used in automation, robotics, CNC machine tools, power tools, and other fields. The stability and reliability of servo motors and drive systems are crucial in these applications. During servo motor operation, heat is inevitably generated in the motor windings and stator core when power is applied. Furthermore, additional frictional heat can be generated by bearing wear, insufficient lubrication of transmission components (such as the lead screw), or improper assembly. Both the accumulation and dissipation of this heat can negatively impact the stability and reliability of the motor. Effective thermal management not only extends the motor's lifespan but also improves system performance and reliability.

[0003] The current heat dissipation methods of servo motors mainly include natural heat dissipation, air cooling and liquid cooling. As the name suggests, natural heat dissipation uses the motor's own structure, such as the fins on the casing to dissipate heat; air cooling includes natural air cooling and forced air cooling, such as using an axial fan to dissipate the heat inside the motor through the heat dissipation duct; thermal cooling includes oil cooling and water cooling. Water cooling includes installing a water cooling jacket on the motor casing and using circulating cold water to take away the heat from the stator coil. Oil cooling can directly inject cooling oil into the motor to form a closed oil circuit to dissipate heat. In addition, heat pipes can be used to quickly dissipate heat in the motor through heat exchange.

[0004] Through the above analysis, it is not difficult to find that the current servo motor heat dissipation mostly adopts a fixed and passive heat dissipation mode, that is, the heat dissipation process does not pay attention to the location where heat is generated or accumulated. For example, the oil cooling process often leads to uneven heat distribution inside the motor, and the air cooling process often causes heat to accumulate in the airflow dead corner area. The above situation directly causes some important components of the servo motor to be exposed to a high temperature environment for a long time, resulting in accelerated component aging, local deformation and other consequences, which directly affects the stability and reliability of the servo motor operation.

[0005] How to quickly and accurately remove the heat generated during the operation of the servo motor is the key to improving the operating stability and reliability of the servo motor. Summary of the Invention

[0006] In response to the problem in the prior art that the servo motor heat dissipation path is fixed and single, resulting in poor local heat dissipation effect and heat accumulation in the servo motor, the first purpose of this application is to provide a servo motor thermal management method based on variable heat dissipation areas. By predicting the heat generation site and conduction path in the servo motor, it changes the heat dissipation mode and efficiency of each point in the motor in a targeted manner, ultimately ensuring that the servo motor and drive system remain within an appropriate temperature range during operation, thereby ensuring the reliability, performance and service life of the system. In order to achieve the above-mentioned servo motor thermal management method, the second purpose of this application is to propose a servo motor thermal management system based on variable heat dissipation areas. The specific scheme is as follows: A servo motor thermal management method based on a variable heat dissipation area, comprising: Obtain the corresponding relationship between the heating rate of each point on the servo motor and each control parameter and environmental parameter, and store it as a heat generation model; Obtain the heat dissipation rate of each point on the servo motor under various environmental parameter conditions and basic heat dissipation mode, and store them as a basic heat dissipation model; Obtain the heat diffusion path and diffusion speed of each point and store them as a diffusion model; Multiple adjustment points are configured on the servo motor to temporarily adjust the temperature of the set points on the servo motor or the corresponding heat diffusion path; Obtaining and generating the heating rate, heat diffusion path, and diffusion speed of each point based on the heat generation model and the diffusion model according to the control parameters and environmental parameters at a set time point in the future; Determine a target site based on the heating rate, and select at least one adjustment site for cooling to block the heat diffusion path of the target site and / or reduce its heating rate; The step of generating the cooling rate of the adjustment site includes: Obtain the heat generation rate Pg of the target site, the heat gain rate Po of heat obtained from other sites through heat conduction, and the heat dissipation rate Pr under the basic heat dissipation mode to generate the required heat dissipation rate Pt required by the target site; Generate the cooling rate P required for the adjustment site according to the required heat dissipation rate Pt total ; ; Pt=Pg+Po-Pr; P total is the cooling rate of a certain adjustment point or the sum of the cooling rates of multiple adjustment points, ω i P is the cooling loss coefficient corresponding to the cooling conduction from the ith adjustment site to the target site or the set heat diffusion path, i is the cooling rate of the i-th regulating site, n is the number of regulating sites that output cooling to the target site, and H is a positive real number.

[0007] Through the above technical solution, when managing the heat dissipation of the servo motor, while using the basic heat dissipation components for heat dissipation, the conduction direction of the heat inside the servo motor is also actively intervened, so as to avoid excessive accumulation of heat in a certain area; since the refrigeration action of the adjustment site does not operate all the time, the entire heat dissipation system does not need to introduce additional high-power refrigeration components, and during the entire heat dissipation process, heat dissipation actions can be taken in advance according to the distribution of heat inside the servo motor, so as to ensure that the temperatures of all sites during the operation of the servo motor are maintained within a suitable range, thereby ensuring the reliability, performance and service life of the system.

[0008] Further, the selecting at least one adjustment site for refrigeration includes: Obtain the site closest to each adjustment site on the heat diffusion path corresponding to the target site, and mark it as the blocking site; Obtain the heat generation rate of the target site at each time point, and calculate the heat generation rate of the blocking site on the heat diffusion path corresponding to the target site at each time point according to the diffusion speed corresponding to each heat diffusion path; Analyze the cold quantity transmission time and cold quantity loss rate required for the cold quantity of each adjustment site to be transmitted to its corresponding blocking site; Set a transmission time threshold T and a cold quantity loss threshold Q cooling , if it satisfies α·T + β·Q cooling < K, then select the above adjustment site as the adjustment site for blocking the heat conduction of the target site, and output refrigeration before the time point t1; Among them, α and β are the calculation weights of the transmission time threshold and the cold quantity loss threshold respectively, and K is a constant for constraint and limitation; t1 = L1 / V1 - L2 / V2, where L1 is the distance between the target site and the blocking site, V1 is the diffusion speed of the heat of the target site along the heat diffusion path, L2 is the distance between the selected adjustment site and the blocking site, and V2 is the transmission speed of the cold quantity of the selected adjustment site to the blocking site.

[0009] Through the above technical solution, the adjustment site for blocking the heat conduction of the target site can be accurately obtained. By using the above adjustment site to output refrigeration in advance, the heat diffusion of the target site can be effectively inhibited, the heat accumulation on the servo motor can be avoided, and the temperature can be maintained within a suitable range.

[0010] Further, the servo motor heat management method further includes: Establish a cold quantity transmission path between two adjacent adjustment sites; According to the correlation between the temperature of each site on the servo motor and the operation stability of the servo motor, set corresponding temperature thresholds for each site on the servo motor; According to the control parameters and environmental parameters at a set time point in the future, the heat generation rate and heat gain rate of the target site are obtained based on the heat generation model, and the current temperature value of the target site and its corresponding temperature threshold are obtained, and it is analyzed whether the temperature of the target site at the set time point in the future exceeds its corresponding temperature threshold; If the temperature threshold is exceeded, the conduction state of the cold transmission path between each adjustment point is controlled to introduce the set amount of cold energy to the adjustment point adjacent to the target point.

[0011] Through the above technical solution, it can be ensured that the temperature of key points in the servo motor will not exceed the set threshold, thereby ensuring that the motor can operate smoothly and reliably. The above solution allows the various adjustment points to share a set amount of cooling capacity, improves the adjustment response speed of the thermal management system to abnormal temperature rise conditions, and ensures that the temperature of each point is maintained in an appropriate range.

[0012] Furthermore, after the set amount of cooling energy is introduced into the adjustment site adjacent to the target site, the servo motor thermal management method further includes: Obtain temperature data of target sites in real time and analyze temperature change trends; Obtain the remaining execution time of the control instruction corresponding to the current control parameter, and calculate the temperature of the target site when the control instruction is completed based on the temperature change trend; If the above temperature exceeds the temperature threshold, an alarm is output and the execution of the current control instruction is stopped; Among them, real-time acquisition of temperature data of the target site includes: Directly collect and acquire the temperature data using a temperature collection component configured at the target site; or The temperature data is obtained indirectly by collecting temperature values using temperature collection components arranged at adjacent locations and then processing the data.

[0013] Through the above technical solution, when the temperature of a certain point on the servo motor cannot be limited within the temperature threshold, an alarm can be output in advance and the operation of the servo motor can be suspended, thereby protecting the key components of the servo motor from damage due to excessive temperature.

[0014] Furthermore, the adjustment site is connected to an external liquid cooling device; Controlling the cooling rate of the adjustment point includes: changing the volume and temperature of the cooling liquid delivered to the adjustment point by the liquid cooling device per unit time.

[0015] Through the above technical solution, the cooling rate of each adjustment point can be quickly changed according to the cooling needs, and the control is simple and reliable.

[0016] Furthermore, the basic heat dissipation mode of the servo motor is configured with multiple heat dissipation gears; The servo motor thermal management method further includes: Obtain and store the average heat dissipation rate of each heat dissipation level in the basic heat dissipation mode under various environmental parameter conditions; Based on the control parameters and environmental parameters in the future set period, the total heating rate value of each point of the servo motor is generated and counted; Obtain the maximum cooling rate of the external liquid cooling device connected to each adjustment point; If the sum of the average heat dissipation rate and the maximum cooling rate is less than the total value of the heat generation rate, the heat dissipation level of the basic heat dissipation mode and / or the maximum cooling rate of the external liquid cooling device are changed.

[0017] Through the above technical solution, the heat dissipation gear of the basic heat dissipation mode is adjusted when the overall temperature of the servo motor rises, thereby controlling the overall temperature of the servo motor within an appropriate range.

[0018] A servo motor thermal management system based on a variable heat dissipation area, comprising: The data storage unit is configured to store the following relationship model: the corresponding relationship between the heating rate of each point on the servo motor and each control parameter and environmental parameter, the heat dissipation rate of each point on the servo motor under each environmental parameter condition and the basic heat dissipation mode, and the heat diffusion path and diffusion speed of each point; A data acquisition unit is configured to acquire the temperature of a set location on the servo motor, as well as control parameters and environmental parameters at a set time point in the future; A data processing unit is configured to obtain and generate, based on the control parameters and environmental parameters at the future set time point, a heating rate, a heat diffusion path, and a diffusion speed for each point at the future set time point based on the relationship model stored in the data storage unit; The heat dissipation execution unit includes a basic heat dissipation module and a plurality of adjustment points provided on the servo motor for temporarily adjusting the temperature of a set point on the servo motor or its corresponding heat diffusion path, each of the adjustment points being connected to an external liquid cooling device via a cooling pipe; The heat dissipation control unit includes a regulating site selection module and a regulating site cooling control module, which is configured to determine the target site according to the heating rate of each site, select at least one regulating site for cooling to block the heat diffusion path of the target site and / or reduce its heating rate, wherein the cooling rate P of the regulating site is total for: ; Pt=Pg+Po-Pr; Pg is the heat generation rate of the target site, Po is the heat gain rate from other sites through heat conduction, Pr is the heat dissipation rate under the basic heat dissipation mode, and Pt is the required heat dissipation rate Pt required by the target site; P total It is the cooling rate of a certain adjustment point or the sum of the cooling rates of multiple adjustment points; ω i is the cooling loss coefficient corresponding to the cooling energy of the ith adjustment point being transferred to the target point or the set heat diffusion path; P i is the cooling rate of the i-th regulating site, n is the number of regulating sites that output cooling to the target site, and H is a positive real number.

[0019] Furthermore, the adjustment site is provided with a liquid cooling shell connected to an external liquid cooling device via a cooling pipe, and a circulating pump is provided on the cooling pipe to form a circulating cooling circuit; A cooling capacity sharing pipeline is provided between the liquid cooling shells configured at two adjacent adjustment points and the cooling pipes connected thereto, and an electrically controlled three-way valve is provided at the connection between the cooling capacity sharing pipeline, the liquid cooling shell and the cooling pipe; The data storage unit stores temperature thresholds corresponding to various points on the servo motor; The data processing unit is further configured to obtain a current temperature value of the target site and a corresponding temperature threshold value thereof, and analyze whether the temperature of the target site at a set time point in the future exceeds the corresponding temperature threshold value in combination with the heat generation rate and heat gain rate of the target site, and output an emergency cooling control signal if the temperature exceeds the temperature threshold value; The heat dissipation control unit also includes a cooling capacity sharing control module, which receives and responds to the emergency cooling control signal, controls the electrically controlled three-way valve to connect two adjacent circulating cooling circuits to form a new circulating cooling circuit, and introduces a set amount of cooling capacity to the adjustment point near the target point.

[0020] Through the above technical solution, in an emergency, the circulating cooling circuits corresponding to adjacent adjustment points can be turned on to share the coldness in the cooling pipes, thereby quickly dissipating the heat from the temperature abnormalities and ensuring that the key components in the servo motor are not damaged.

[0021] Furthermore, the basic heat dissipation module includes: A water cooling assembly, comprising a water cooling jacket sleeved on the servo motor housing, the water cooling jacket being connected to an external cold water circulation device; An air cooling assembly, comprising an independently driven cooling fan disposed at the rear end of the servo motor; The heat dissipation control unit also includes a basic heat dissipation control module for controlling the heat dissipation rate of the water cooling component and the air cooling component.

[0022] Furthermore, the data processing unit further includes: a temperature change trend generation module configured to obtain temperature data of a target site in real time and analyze and output a temperature change trend; A duration acquisition module configured to acquire the remaining execution duration of the control instruction corresponding to the current control parameter; a temperature estimation module configured to calculate an estimated temperature of the target site when the control instruction is executed based on the current temperature of the target site and the temperature change trend; an alarm determination module configured to compare the estimated temperature with a temperature threshold corresponding to the target site and output a comparison result; The servo motor thermal management system further includes an alarm execution module configured to be signal-connected to the alarm determination module, and configured to output an alarm and stop executing the current control instruction when the estimated temperature is higher than the temperature threshold.

[0023] This application has at least one of the following beneficial effects: (1) In the process of heat dissipation management of the servo motor, the basic heat dissipation mode is combined with the targeted heat dissipation mode to provide additional cooling for specific heat-generating sites on the servo motor, thereby reducing the temperature of the heat-generating sites themselves and blocking the heat diffusion path. This can avoid the accumulation of temperature inside the servo motor and maintain the stability and reliability of the servo motor operation. (2) The cooling action corresponding to the adjustment point in the application plan does not run all the time. Therefore, the entire heat dissipation system does not need to introduce additional high-power cooling components. It is suitable for the assembly of small servo motors. In addition, during the entire heat dissipation process, the heat dissipation action can be made in advance according to the heat distribution inside the servo motor. This ensures that the temperature of each point during the operation of the servo motor is maintained in an appropriate range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall steps of the servo motor thermal management method of this application; Figure 2 Schematic diagram of the method for applying for overheating alarm; Figure 3 This is a schematic diagram of the functional module connections of the servo motor thermal management system of this application; Figure 4 Schematic diagram of a circulating cooling loop composed of adjustment sites.

[0025] Figure numerals: 100, data storage unit; 200, data acquisition unit; 300, data processing unit; 310, temperature change trend generation module; 320, duration acquisition module; 330, temperature estimation module; 340, alarm determination module; 400, heat dissipation execution unit; 410, external liquid cooling device; 420, cooling pipe; 430, liquid cooling shell; 440, circulation pump; 450, electronically controlled three-way valve; 500, heat dissipation control unit. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings.

[0027] Throughout this specification, reference to the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0028] A servo motor thermal management method based on variable heat dissipation area, such as Figure 1 As shown, it mainly includes the following steps: S100, model construction steps: S110, obtaining a corresponding relationship between the heating rate of each point on the servo motor and each control parameter and environmental parameter, and storing the relationship as a heat generation model; S120, obtaining various environmental parameter conditions and heat dissipation rates of various points on the servo motor in a basic heat dissipation mode, and storing them in a basic heat dissipation model; S130 , obtaining the heat diffusion path and diffusion speed of each point, and storing them as a diffusion model.

[0029] S200, configuring a plurality of adjustment points on the servo motor to temporarily adjust the temperature of the set points on the servo motor or the corresponding heat diffusion paths; S300, obtaining and generating a heating rate, a heat diffusion path, and a diffusion speed for each point based on the heat generation model and the diffusion model according to control parameters and environmental parameters at a set future time point; S400 , determining a target site based on a heating rate, and selecting at least one adjustment site for cooling to block a heat diffusion path of the target site and / or reduce its heating rate.

[0030] In the embodiment of the present application, in step S100, the correspondence between the heating rate of each point and the control parameters and environmental parameters, the heat dissipation rate of each point in the basic heat dissipation mode, and the heat diffusion path and diffusion speed of each point can all be obtained during the servo motor finished product testing stage.

[0031] Obtaining the correspondence between the heating rate of each point and the control parameters and environmental parameters includes the following steps: setting multiple gradients of control parameters for testing and their corresponding environmental parameters, the above control parameters mainly include rated power, rated speed, maximum torque, rated current and rated voltage, etc., and the above control parameters can be adjusted by a servo controller. Environmental parameters include ambient temperature and ambient humidity, and in a specific embodiment, also include the electromagnetic field strength of the environment. During the test, the finished servo motor is placed in an environmental chamber and connected to an external controller, and corresponding test instructions are generated based on various control parameters. In order to obtain the temperature changes of each point of the servo motor during the test, a plurality of infrared thermal probes are configured in the environmental chamber, and patch-type temperature sensors and plug-in temperature sensors are set at set positions inside the servo motor to monitor and collect temperature data of each set point inside the servo motor at each time point.

[0032] Based on the aforementioned temperature sensor and environmental chamber parameter configuration, the heat diffusion path and diffusion rate at each location can be analyzed by acquiring temperature data at different time points. Similarly, the heat dissipation rate at each location under the basic heat dissipation mode can be analyzed and obtained. In a specific embodiment, an external heat source can be used to directly heat a specific location on the servo motor. The temperature changes at that location and its surrounding area can then be measured and obtained under the basic heat dissipation mode to determine the heat diffusion path, diffusion rate, and heat dissipation rate at that location.

[0033] In this embodiment, the servo motor is equipped with an air cooling channel and its housing is covered with a water cooling jacket. The basic cooling mode is configured with multiple cooling gears, which adjust the overall heat dissipation rate of the servo motor by changing the air speed in the air cooling channel and the flow rate of the cooling water in the water cooling jacket.

[0034] In step S200, the specific process of configuring multiple adjustment sites on the servo motor includes: obtaining the heating area and heat diffusion path of the servo motor through theoretical calculation combined with test data analysis. Preferably, without affecting the normal operation state of the servo motor, the center position of the heating area and the intersection position of the heating area and the heat diffusion path are selected as the adjustment site, thereby quickly dissipating the heat at the target site and the heat diffusion path.

[0035] In the embodiment of the present application, the adjustment site is equipped with a liquid cooling shell, and the liquid cooling shell is connected to the external liquid cooling device via a liquid cooling pipe. The shape and size of the liquid cooling shell are adapted to the structure of the servo motor, such as a circular ring that fits the bearing or a tile that is set in the stator gap. The external liquid cooling device includes a circulation pump and a heat exchange component. The coolant circulates along the cooling pipe and the cooling cavity shell under the pumping of the circulation pump, and takes away the heat from the cooling cavity shell. In actual applications, the adjustment site at the local position can be directly implemented using a heat pipe with active heat dissipation function. Based on the above structural setting, controlling the cooling rate of the adjustment site includes: changing the volume of coolant and the temperature of the coolant delivered to the above adjustment site by the liquid cooling device per unit time. For ease of control, the inlet water temperature of the coolant in this application is a constant value, preferably 32°C. Based on the above scheme, the cooling rate of each adjustment site can be quickly changed according to the cooling needs during the operation of the motor, and the control is simple and reliable.

[0036] In step S400, the cooling rate of the adjustment site needs to be generated in advance, specifically including: S410 , based on the heat generation model and the diffusion model, obtain the heat generation rate Pg of the target site, the heat gain rate Po of heat obtained from other sites through heat conduction, and the heat dissipation rate Pr in the basic heat dissipation mode, and generate the required heat dissipation rate Pt required by the target site; S420, generating the cooling rate P required for the adjustment site according to the required heat dissipation rate Pt total ; in, ; Pt=Pg+Po-Pr; P total is the cooling rate of a certain adjustment point or the sum of the cooling rates of multiple adjustment points, ω i P is the cooling loss coefficient corresponding to the cooling energy transferred from the ith adjustment site to the target site or the set heat diffusion path, which is usually obtained during the finished product test; i is the cooling rate of the i-th regulating site, n is the number of regulating sites that output cooling to the target site, and H is a positive real number used as a constraint to avoid excessive cooling of the regulating site and causing excessive temperature differences inside the motor.

[0037] In this application, to facilitate the assembly of the servo motor, the external liquid cooling device connected to it is relatively small in structure, and the cooling capacity it provides per unit time is relatively small. Therefore, it is necessary to rationally distribute the cooling capacity obtained by each adjustment point, and to specifically reduce the temperature of the points with excessive temperature rise while minimizing energy consumption. Therefore, in this application, selecting at least one adjustment point for cooling includes: S430: Obtain the site on the heat diffusion path corresponding to the target site that is closest to each of the regulation sites and mark it as a blocking site. In a specific embodiment, the blocking site can be the target site itself.

[0038] S440. Obtain the heat generation rate of the target site at each time point, and calculate the heat generation rate of the blocking site on the heat diffusion path corresponding to the target site at each time point according to the diffusion speed corresponding to each heat diffusion path.

[0039] S450. Analyze the cold quantity transmission time and cold quantity loss rate required for the cold quantity of each regulation site to be transmitted to its corresponding blocking site.

[0040] S460. Set a transmission time threshold T and a cold quantity loss threshold Q cooling , if it satisfies α·T + β·Q cooling <K, then select the above regulation site as the regulation site for regulating the heat conduction of the blocking target site, and output refrigeration before the time point t1; where α and β are respectively the calculation weights of the transmission time threshold and the cold quantity loss threshold, and K is a constant for constraint and limitation; t1 = L1 / V1 - L2 / V2, L1 is the distance between the target site and the blocking site, V1 is the diffusion speed of the heat of the target site along the heat diffusion path, L2 is the distance between the selected regulation site and the blocking site, and V2 is the transmission speed of the cold quantity of the selected regulation site to the blocking site.

[0041] Through the above technical solution, the regulation site for blocking the heat conduction of the target site can be accurately obtained. By using the above regulation site to output refrigeration in advance, the heat diffusion of the target site can be effectively inhibited, the heat accumulation on the servo motor can be avoided, the temperature can be maintained in an appropriate range, and at the same time, it can be ensured that the cold quantity will not be released too much, avoiding excessive cold and heat temperature difference.

[0042] In order to ensure that the temperature of the key site in the servo motor does not exceed the set threshold, in the embodiment of the present application, as Figure 2 shown, the servo motor thermal management method further includes an overheat warning step: S510. Establish a cold quantity transmission path between two adjacent regulation sites.

[0043] S520. According to the correlation between the temperature of each site on the servo motor and the running stability of the servo motor, set corresponding temperature thresholds for each site on the servo motor. For example, if the temperature of the stator coil is too high, it will cause the resistance value of the coil to decrease, which will affect the control accuracy of the motor. Therefore, the temperature threshold of the above site is set in an appropriate range to ensure the stable operation of the motor.

[0044] S530: Based on the control parameters and environmental parameters at the future set time point, the heat generation rate and heat gain rate of the target site are obtained based on the heat generation model, as well as the current temperature value of the target site and its corresponding temperature threshold, and an analysis is performed to determine whether the temperature of the target site exceeds the corresponding temperature threshold at the future set time point. In actual applications, the magnitude of the temperature increase is analyzed by the data processing unit in the controller. By obtaining the heat generation rate and heat dissipation rate of the target site, combined with the target site's volume and material specific heat capacity, the temperature value of the target site at the future set time point can be estimated.

[0045] S531: If the estimated temperature value exceeds the temperature threshold, the conduction state of the cooling transmission path between each adjustment point is controlled to introduce the set amount of cooling to the adjustment point adjacent to the target point.

[0046] The above scheme is based on the structure of mutually selectively conductive adjustment sites. Each adjustment site can share a set amount of cooling capacity, improving the adjustment response speed of the thermal management system to abnormal temperature rise conditions, so that the temperature of each point is maintained in an appropriate range.

[0047] After the above step S531, in which the set amount of cooling energy is introduced to the adjustment site adjacent to the target site, the servo motor thermal management method further includes: S5310, real-time acquisition of temperature data at the target site and analysis of temperature change trends; S5311, obtaining the remaining execution time of the control instruction corresponding to the current control parameter; S5312, calculating an estimated temperature of the target site when the control instruction is executed based on the temperature change trend; S5313, compare the estimated temperature with the temperature threshold corresponding to the target site: If the above temperature exceeds the temperature threshold, an alarm is output and the execution of the current control instruction is stopped; If the temperature does not exceed the temperature threshold, the set amount of cold energy is continuously introduced into the adjustment site adjacent to the target site.

[0048] In step S5310, obtaining temperature data of the target site in real time includes: The temperature data is directly acquired by using a temperature acquisition component, such as a temperature sensor, configured at the target site, or is acquired by using a temperature acquisition component configured at an adjacent site and then indirectly acquired through data processing.

[0049] In the present application, based on the configuration of multiple heat dissipation gears of the servo motor basic heat dissipation mode, the servo motor thermal management method also includes: S610: Obtain and store the average heat dissipation rate for each heat dissipation level in the basic heat dissipation mode under various environmental parameter conditions. For example, the average heat dissipation rate of a motor in the natural heat dissipation level may be obtained by placing the servo motor in an environmental chamber with a fixed initial temperature and allowing it to rest for a set period of time. The servo motor is then driven at rated power to perform external work for a set period of time, then stopped. The servo motor temperature is detected, and the time required for the servo motor to return to its initial state is measured. The average heat dissipation rate is then obtained by analyzing the temperature change amplitude and the corresponding time.

[0050] S620: Generate and calculate the sum of the heating rates at each point in the servo motor based on the control parameters and environmental parameters within a future set time period. In practical applications, the sum of the heating rates of the servo motor corresponding to the relevant control parameters can be obtained through experimental testing during product testing, or the total heating power of the motor can be directly obtained by subtracting the external work power from the input power and adding a correction parameter.

[0051] S630: Obtain the maximum cooling rate of the external liquid cooling device connected to each adjustment point.

[0052] S631: If the sum of the average heat dissipation rate and the maximum cooling rate is less than the total value of the heat generation rate, change the heat dissipation level of the basic heat dissipation mode and / or the maximum cooling rate of the external liquid cooling device.

[0053] The above technical solution can adjust the heat dissipation level of the basic heat dissipation mode when the overall temperature of the servo motor rises, thereby controlling the overall temperature of the servo motor within an appropriate range.

[0054] In order to implement the above servo motor thermal management method, the embodiment of the present application also discloses a servo motor thermal management system based on a variable heat dissipation area, such as Figure 3 As shown, it mainly includes: a data storage unit 100, a data acquisition unit 200, a data processing unit 300, a heat dissipation execution unit 400 and a heat dissipation control unit 500.

[0055] The data storage unit 100 is configured to store the following relationship model and related detection data: the corresponding relationship between the heating rate at each point on the servo motor and various control parameters and environmental parameters; the heat dissipation rate at each point on the servo motor under various environmental parameter conditions and a basic heat dissipation mode; and the heat diffusion path and diffusion rate at each point. In practical applications, the data storage unit 100 can be configured as a dedicated memory chip.

[0056] The data acquisition unit 200 is configured to acquire the temperature at a set point on the servo motor, as well as control parameters and environmental parameters at a set future time. In practice, these sensors include surface mount temperature sensors and plug-in temperature sensors to collect temperature data at specific points on the servo motor. The control parameters at the set future time are directly retrieved from the data table storing the servo motor control program. Environmental parameters primarily include the temperature and humidity of the servo motor's environment, collected primarily by temperature and humidity sensors.

[0057] The data processing unit 300 directly uses a single-chip microcomputer or an FPGA control module to complete data processing. It is configured to be connected to the data storage unit 100 and the data acquisition unit 200, and is used to obtain and, based on the control parameters and environmental parameters at a future set time point, retrieve the relationship model stored in the data storage unit 100 to generate the heating rate, heat diffusion path and diffusion speed of each point at a future set time point.

[0058] The heat dissipation execution unit 400 includes a basic heat dissipation module and a plurality of adjustment points arranged on the servo motor for temporarily adjusting the temperature of a set point on the servo motor or its corresponding heat diffusion path. Each of the adjustment points is connected to the external liquid cooling device 410 via a cooling pipe 420.

[0059] The heat dissipation control unit 500 is configured as a single-chip microcomputer or FPGA control module, which is functionally divided into an adjustment site selection module and an adjustment site cooling control module. It is configured to determine the target site according to the heating rate of each site, select at least one adjustment site for cooling to block the heat diffusion path of the target site and / or reduce its heating rate, wherein the cooling rate of the adjustment site meets the specified requirements of the aforementioned method step S420.

[0060] Detailed, such as Figure 4 As shown, the adjustment site is equipped with a liquid cooling shell 430 connected to the external liquid cooling device 410 via a cooling pipe 420. A circulating pump 440 is installed on the cooling pipe 420 to form a circulating cooling loop. A cooling capacity sharing pipeline is installed between the liquid cooling shells 430 and the cooling pipes 420 connected to the two adjacent adjustment sites. An electric-controlled three-way valve 450 is installed at the connection between the cooling capacity sharing pipeline, the liquid cooling shells 430 and the cooling pipes 420. Figure 4 As shown, by controlling the electrically controlled three-way valve 450 , two adjacent circulating cooling circuits can be connected to form a new circulating cooling circuit, and the cooling capacity in the two circulating cooling circuits can be shared.

[0061] Based on the above structure, the data storage unit 100 stores the temperature thresholds corresponding to each point on the servo motor, and the temperature thresholds are determined based on the correlation between the temperature of each point on the servo motor and the operating stability of the servo motor. The data processing unit 300 is also configured to obtain the current temperature value of the target point and its corresponding temperature threshold, and analyze whether the temperature of the target point at a set time point in the future exceeds its corresponding temperature threshold in combination with the heating rate and heat gain rate of the target point. If the temperature threshold is exceeded, an emergency refrigeration control signal is output. The heat dissipation control unit 500 also includes a cooling capacity sharing control module, which receives and responds to the emergency refrigeration control signal, controls the electrically controlled three-way valve 450 to conduct two adjacent circulating cooling circuits to form a new circulating cooling circuit, and introduces a set amount of cooling capacity into the adjustment point adjacent to the target point to ensure that the key components in the servo motor will not be damaged due to overheating.

[0062] In the embodiment of the present application, the basic heat dissipation module includes a water-cooling component and an air-cooling component. The water-cooling component includes a water-cooling jacket mounted on the servo motor housing, the water-cooling jacket being connected to an external cold water circulation device, and the cooling rate of the water-cooling jacket being adjustable by adjusting the pumping power of the water pump. The air-cooling component includes an independently driven heat dissipation fan mounted on the rear end of the servo motor, the heat dissipation fan being control-connected to the heat dissipation control unit 500, and the fan speed being adjustable according to relevant control instructions. Accordingly, the heat dissipation control unit 500 also includes a basic heat dissipation control module for controlling the heat dissipation rates of the water-cooling component and the air-cooling component.

[0063] In order to prevent the servo motor and key components in the system from being damaged due to overheating, the data processing unit 300 further includes a temperature change trend generation module 310 , a duration acquisition module 320 , a temperature estimation module 330 and an alarm determination module 340 .

[0064] The temperature change trend generation module 310 is configured to obtain temperature data of the target site in real time and analyze and output the temperature change trend. The duration acquisition module 320 is configured to obtain the remaining execution time of the control instruction corresponding to the current control parameter. The remaining time can be accurately calculated by the clock cycle corresponding to the control instruction. The temperature estimation module 330 is configured to calculate the estimated temperature of the target site when the control instruction is executed based on the current temperature of the target site and the temperature change trend. The alarm determination module 340 is configured to compare the estimated temperature with the temperature threshold corresponding to the target site and output the comparison result.

[0065] The servo motor thermal management system further includes an alarm execution module configured to be data-connected to the alarm determination module 340, receive the comparison result, and output an alarm and stop executing the current control instruction when the estimated temperature exceeds the temperature threshold. This ensures that the temperature of key locations on the servo motor does not exceed the corresponding temperature threshold.

[0066] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A servo motor thermal management method based on variable heat dissipation area, characterized in that: include: Obtain the corresponding relationship between the heating rate of each point on the servo motor and each control parameter and environmental parameter, and store it as a heat generation model; Obtain the heat dissipation rate of each point on the servo motor under various environmental parameter conditions and basic heat dissipation mode, and store them as a basic heat dissipation model; Obtain the heat diffusion path and diffusion speed of each point and store them as a diffusion model; Multiple adjustment points are configured on the servo motor to temporarily adjust the temperature of the set points on the servo motor or the corresponding heat diffusion path; Obtaining and generating the heating rate, heat diffusion path, and diffusion speed of each point based on the heat generation model and the diffusion model according to the control parameters and environmental parameters at a set time point in the future; Determine a target site based on the heating rate, and select at least one adjustment site for cooling to block the heat diffusion path of the target site and / or reduce its heating rate; The step of generating the cooling rate of the adjustment site includes: Obtain the heat generation rate Pg of the target site, the heat gain rate Po of heat obtained from other sites through heat conduction, and the heat dissipation rate Pr under the basic heat dissipation mode to generate the required heat dissipation rate Pt required by the target site; Generate the cooling rate P required for the adjustment site according to the required heat dissipation rate Pt total ; ； Pt=Pg+Po-Pr; P total is the cooling rate of a certain adjustment point or the sum of the cooling rates of multiple adjustment points, ω i P is the cooling loss coefficient corresponding to the cooling conduction from the ith adjustment site to the target site or the set heat diffusion path, i is the cooling rate of the i-th regulating site, n is the number of regulating sites that output cooling to the target site, and H is a positive real number.

2. The servo motor thermal management method according to claim 1, characterized in that: The selecting at least one adjustment site for refrigeration comprises: Obtain the site on the heat diffusion path corresponding to the target site that is closest to each regulatory site and mark it as a blocking site; Obtain the heating rate of the target site at each time point, and calculate the heating rate of the blocking site on the heat diffusion path corresponding to the target site at each time point based on the diffusion rate corresponding to each heat diffusion path; Analyze the cooling time and cooling loss rate required for the cooling capacity of each regulating point to be transferred to its corresponding blocking point; Set a transmission time threshold T and a cooling capacity loss threshold Q cooling , if α·T + β·Q cooling < K, then select the above adjustment site as the adjustment site for blocking the heat conduction of the target site, and output refrigeration before the time point t1; Among them, α and β are the calculation weights of the transmission time threshold and the cooling loss threshold respectively, and K is a constraint constant; t1=L1 / V1-L2 / V2, L1 is the distance between the target site and the blocking site, V1 is the diffusion rate of heat at the target site along the heat diffusion path, L2 is the distance between the selected adjustment site and the blocking site, and V2 is the speed at which the coldness of the selected adjustment site is transmitted to the blocking site.

3. The servo motor thermal management method according to claim 1, characterized in that: The servo motor thermal management method further includes: Establishing a cold transfer path between two adjacent regulating sites; According to the correlation between the temperature of each point on the servo motor and the operating stability of the servo motor, a corresponding temperature threshold is set for each point on the servo motor; According to the control parameters and environmental parameters at a set time point in the future, the heat generation rate and heat gain rate of the target site are obtained based on the heat generation model, and the current temperature value of the target site and its corresponding temperature threshold are obtained, and it is analyzed whether the temperature of the target site at the set time point in the future exceeds its corresponding temperature threshold; If the temperature threshold is exceeded, the conduction state of the cold transmission path between each adjustment point is controlled to introduce the set amount of cold energy to the adjustment point adjacent to the target point.

4. The servo motor thermal management method according to claim 1, characterized in that: After introducing the set amount of cooling energy into the adjustment location adjacent to the target location, the servo motor thermal management method further includes: Obtain temperature data of target sites in real time and analyze temperature change trends; Obtain the remaining execution time of the control instruction corresponding to the current control parameter, and calculate the estimated temperature of the target site when the control instruction is completed based on the current temperature of the target site and the temperature change trend; If the estimated temperature exceeds the temperature threshold, an alarm is output and the execution of the current control instruction is stopped; Among them, real-time acquisition of temperature data of the target site includes: Directly collect and acquire the temperature data using a temperature collection component configured at the target site; or The temperature data is obtained indirectly by collecting temperature values using temperature collection components arranged at adjacent locations and then processing the data.

5. The servo motor thermal management method according to claim 1, characterized in that: The adjustment site is connected to an external liquid cooling device; Controlling the cooling rate of the adjustment point includes: changing the volume and temperature of the cooling liquid delivered to the adjustment point by the liquid cooling device per unit time.

6. The servo motor thermal management method according to claim 5, characterized in that: The basic heat dissipation mode of the servo motor is configured with multiple heat dissipation gears; The servo motor thermal management method further includes: Obtain and store the average heat dissipation rate of each heat dissipation level in the basic heat dissipation mode under various environmental parameter conditions; Based on the control parameters and environmental parameters in the future set period, the total heating rate value of each point of the servo motor is generated and counted; Obtain the maximum cooling rate of the external liquid cooling device connected to each adjustment point; If the sum of the average heat dissipation rate and the maximum cooling rate is less than the total value of the heat generation rate, the heat dissipation level of the basic heat dissipation mode and / or the maximum cooling rate of the external liquid cooling device are changed.

7. A servo motor thermal management system based on variable heat dissipation area, characterized in that: include: The data storage unit (100) is configured to store the following relationship model: the corresponding relationship between the heating rate of each point on the servo motor and each control parameter and environmental parameter, the heat dissipation rate of each point on the servo motor under each environmental parameter condition and basic heat dissipation mode, and the heat diffusion path and diffusion speed of each point; A data acquisition unit (200) is configured to acquire the temperature of a set location on the servo motor, as well as control parameters and environmental parameters at a future set time point; The data processing unit (300) is configured to obtain and generate, based on the control parameters and environmental parameters at the future set time point, the heating rate, heat diffusion path and diffusion speed of each point at the future set time point based on the relationship model stored in the data storage unit (100); The heat dissipation execution unit (400) includes a basic heat dissipation module and a plurality of adjustment points arranged on the servo motor for temporarily adjusting the temperature of a set point on the servo motor or its corresponding heat diffusion path, each of the adjustment points being connected to an external liquid cooling device (410) via a cooling pipe (420); The heat dissipation control unit (500) comprises a regulating site selection module and a regulating site cooling control module, configured to determine a target site according to the heating rate of each site, select at least one regulating site for cooling to block the heat diffusion path of the target site and / or reduce its heating rate, wherein the cooling rate P of the regulating site is total for: ； Pt=Pg+Po-Pr; Pg is the heat generation rate of the target site, Po is the heat gain rate from other sites through heat conduction, Pr is the heat dissipation rate under the basic heat dissipation mode, and Pt is the required heat dissipation rate Pt required by the target site; P total It is the cooling rate of a certain adjustment point or the sum of the cooling rates of multiple adjustment points; ω i is the cooling loss coefficient corresponding to the cooling energy of the ith adjustment site being transferred to the target site or the set heat diffusion path; P i is the cooling rate of the i-th regulating site, n is the number of regulating sites that output cooling to the target site, and H is a positive real number.

8. The servo motor thermal management system according to claim 7, characterized in that: The adjustment site is provided with a liquid cooling shell (430) connected to an external liquid cooling device (410) via a cooling pipe (420), and a circulating pump (440) is provided on the cooling pipe (420) to form a circulating cooling loop; A cooling capacity sharing pipeline is provided between the liquid cooling shells (430) configured at two adjacent adjustment positions and the cooling pipes (420) connected thereto, and an electrically controlled three-way valve (450) is provided at the connection between the cooling capacity sharing pipeline, the liquid cooling shells (430) and the cooling pipes (420); The data storage unit (100) stores temperature thresholds corresponding to various points on the servo motor; The data processing unit (300) is further configured to obtain the current temperature value of the target site and its corresponding temperature threshold, and analyze whether the temperature of the target site at a future set time point exceeds its corresponding temperature threshold in combination with the heat generation rate and heat gain rate of the target site, and output an emergency cooling control signal if the temperature exceeds the temperature threshold; The heat dissipation control unit (500) further includes a cooling capacity sharing control module, which receives and responds to the emergency cooling control signal, controls the electrically controlled three-way valve (450) to conduct two adjacent circulating cooling circuits to form a new circulating cooling circuit, and introduces a set amount of cooling capacity to a regulating point adjacent to the target point.

9. The servo motor thermal management system according to claim 7, characterized in that: The basic heat dissipation module includes: A water cooling assembly, comprising a water cooling jacket sleeved on the servo motor housing, the water cooling jacket being connected to an external cold water circulation device; An air cooling assembly, comprising an independently driven cooling fan disposed at the rear end of the servo motor; The heat dissipation control unit (500) further comprises a basic heat dissipation control module for controlling the heat dissipation rates of the water cooling component and the air cooling component.

10. The servo motor thermal management system according to claim 8, characterized in that: The data processing unit (300) further includes: a temperature change trend generating module (310), configured to obtain temperature data of a target site in real time and analyze and output a temperature change trend; A duration acquisition module (320) configured to acquire the remaining execution duration of the control instruction corresponding to the current control parameter; A temperature estimation module (330) is configured to calculate an estimated temperature of the target site when the control instruction is executed based on the current temperature of the target site and the temperature change trend; an alarm determination module (340), configured to compare the estimated temperature with a temperature threshold corresponding to the target site and output a comparison result; The servo motor thermal management system further comprises an alarm execution module configured to be signal-connected to the alarm determination module (340) and configured to output an alarm and stop executing a current control instruction when the estimated temperature is higher than the temperature threshold.

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