Motor overload detection method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a motor overload detection method and device, electronic equipment and a storage medium, and relates to the technical field of motor overload detection, and the electronic equipment can obtain the current current value of a motor and the duration corresponding to the current current value; determining a thermal time coefficient corresponding to the current current value based on a pre-calibrated corresponding relation; according to the determined thermal time coefficient and the duration, determining the heat variation of the motor in the duration; and determining the current accumulated heat based on the heat variation and the accumulated heat, and determining whether the motor is overloaded based on the size relationship between the current accumulated heat and a preset threshold value. Thus, the thermal time coefficient corresponding to the current current value can be quickly determined in a table look-up mode, and then the heat variation is calculated based on the duration and the determined thermal time coefficient without complex differential or exponential operation, so that the required calculation amount can be reduced, and the determination efficiency and the real-time performance can be improved.

Description

Technical Field

[0001] This application relates to the field of motor overload detection technology, and in particular to a method, device, electronic equipment and storage medium for motor overload detection. Background Technology

[0002] During motor operation, if the motor torque exceeds the rated torque, i.e., the motor is overloaded, it will cause the motor to overheat. Especially under continuous overload, the motor will generate severe heat and cannot operate effectively and stably. Current technologies detect motor overload by pre-constructing a total temperature rise equation for the motor. During motor operation, the heat generated by the total temperature rise equation is calculated to determine whether the motor is experiencing continuous overload.

[0003] However, the total temperature rise equation in the above method involves complex differential and exponential operations, so the amount of calculation required to determine whether the motor is overloaded is large, the efficiency is low, and it is difficult to meet the real-time requirements of motor overload detection. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, electronic device, and storage medium for detecting motor overload, so as to reduce the amount of computation required and improve the determination efficiency and real-time performance when determining whether a motor is overloaded. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a method for detecting motor overload, the method comprising:

[0006] Obtain the current current value of the motor and the duration corresponding to the current current value;

[0007] Based on a pre-calibrated correspondence, the thermal time coefficient corresponding to the current current value is determined. The correspondence represents the thermal time coefficient corresponding to each preset current value when the current value of the motor is the preset current value. The thermal time coefficient is the amount of heat change per unit time during the process when the temperature of the motor rises from room temperature to a preset limit temperature or falls from the preset limit temperature to room temperature when the current value of the motor is the preset current value.

[0008] The amount of heat change of the motor during the specified duration is determined based on the determined thermal time coefficient and the specified duration.

[0009] Based on the change in heat and the accumulated heat, the current accumulated heat is determined, and based on the relationship between the current accumulated heat and a preset threshold, it is determined whether the motor is overloaded.

[0010] Optionally, the step of determining the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence includes:

[0011] If the current current value is not less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value, wherein the target current value is two current values ​​among the preset current values, and the range of current values ​​composed of the target current values ​​includes the current current value;

[0012] If the current current value is less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value; or, based on a pre-calibrated correspondence, a preset value corresponding to the current current value is determined as the thermal time coefficient corresponding to the current current value, wherein the thermal time coefficient corresponding to the preset current value that is less than the rated current value in the correspondence is the preset value.

[0013] Optionally, the correspondence is the correspondence between each preset current ratio and the thermal time coefficient, where the preset current ratio is the ratio between the preset current value and the rated current value.

[0014] The step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value includes:

[0015] Calculate the ratio between the current current value and the rated current value to obtain the current current ratio;

[0016] Based on the thermal time coefficient corresponding to the target current ratio, the thermal time coefficient corresponding to the current value is determined, wherein the target current ratio is the ratio between the target current value and the rated current value.

[0017] Optionally, the target current ratio includes a first current ratio and a second current ratio;

[0018] The step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio includes:

[0019] Based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio, the rate of change of the thermal time coefficient between the first current ratio and the second current ratio is determined.

[0020] The change in thermal time coefficient is determined based on the rate of change and the change in the current ratio relative to the reference current ratio, wherein the reference current ratio is the first current ratio or the second current ratio.

[0021] The thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient.

[0022] Optionally, the step of determining the amount of heat change of the motor during the duration based on the determined thermal time coefficient and the duration includes:

[0023] Determine the environmental adaptability coefficient of the current environment of the motor, wherein the environmental adaptability coefficient characterizes the influence of the environment on the heat dissipation of the motor;

[0024] The amount of heat change of the motor during the specified duration is determined based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient.

[0025] Optionally, the step of determining the environmental adaptability coefficient of the current environment of the motor includes:

[0026] Determine the current heat dissipation efficiency of the environment in which the motor is located; based on a pre-established correspondence between heat dissipation efficiency and environmental adaptability coefficient, determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency; or,

[0027] The pre-set environmental adaptability coefficient is used as the environmental adaptability coefficient of the current environment of the motor.

[0028] Optionally, the step of determining the amount of heat change of the motor during the duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient includes:

[0029] If the current value is not less than the rated current value of the motor, the heat change Δhot of the motor during the specified duration is determined according to the following formula, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient:

[0030]

[0031] Where K is the environmental adaptability coefficient, I b Let t be the current current ratio. s The duration is defined as follows: I(1) is the first current ratio, I(2) is the second current ratio, τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient.

[0032] Optionally, the step of determining the currently accumulated heat based on the change in heat and the accumulated heat includes:

[0033] If the current current value is not less than the rated current value of the motor, the sum of the accumulated heat and the change in heat is determined as the current accumulated heat.

[0034] If the current current value is less than the rated current value of the motor, the difference between the accumulated heat and the change in heat is determined as the current accumulated heat.

[0035] Secondly, embodiments of this application provide a motor overload detection device, the device comprising:

[0036] A current acquisition module is used to acquire the current current value of the motor and the duration corresponding to the current current value;

[0037] The coefficient determination module is used to determine the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence relationship. The correspondence relationship represents the thermal time coefficient corresponding to each preset current value when the current value of the motor is the preset current value. The thermal time coefficient is the amount of heat change per unit time during the process when the temperature of the motor rises from room temperature to a preset limit temperature or falls from the preset limit temperature to the room temperature when the current value of the motor is the preset current value.

[0038] The change determination module is used to determine the change in heat of the motor during the duration based on the determined thermal time coefficient and the duration.

[0039] The overload determination module is used to determine the current accumulated heat based on the heat change and the accumulated heat, and to determine whether the motor is overloaded based on the relationship between the current accumulated heat and a preset threshold.

[0040] Optionally, the coefficient determination module includes:

[0041] The first judgment submodule is used to determine the trigger coefficient submodule when the current current value is not less than the rated current value of the motor.

[0042] The second judgment submodule is used to trigger the coefficient determination submodule when the current current value is less than the rated current value of the motor; or, based on a pre-calibrated correspondence, determine a preset value corresponding to the current current value as the thermal time coefficient corresponding to the current current value, wherein the thermal time coefficient corresponding to the preset current value that is less than the rated current value in the correspondence is the preset value.

[0043] The coefficient determination submodule is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value, wherein the target current value is two current values ​​among the preset current values, and the range of current values ​​composed of the target current values ​​includes the current current value.

[0044] Optionally, the correspondence is the correspondence between each preset current ratio and the thermal time coefficient, where the preset current ratio is the ratio between the preset current value and the rated current value.

[0045] The coefficient determination submodule includes:

[0046] A ratio calculation unit is used to calculate the ratio between the current current value and the rated current value to obtain the current ratio.

[0047] The coefficient determination unit determines the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio, wherein the target current ratio is the ratio between the target current value and the rated current value.

[0048] Optionally, the target current ratio includes a first current ratio and a second current ratio;

[0049] The coefficient determination unit includes:

[0050] The rate of change determination subunit is used to determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio.

[0051] The change amount determination subunit is used to determine the change amount of the thermal time coefficient based on the change rate and the change amount of the current ratio relative to the reference current ratio, wherein the reference current ratio is the first current ratio or the second current ratio.

[0052] The coefficient determination subunit is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient.

[0053] Optionally, the change determination module includes:

[0054] The environment determination submodule is used to determine the environmental adaptability coefficient of the current environment of the motor, wherein the environmental adaptability coefficient characterizes the influence of the environment on the heat dissipation of the motor;

[0055] The change determination submodule is used to determine the amount of heat change of the motor during the duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient.

[0056] Optionally, the environment determination submodule includes:

[0057] The first environment determination unit is used to determine the current heat dissipation efficiency of the environment in which the motor is located; and to determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency based on a pre-built correspondence between heat dissipation efficiency and environmental adaptability coefficient.

[0058] The second environment determination unit is used to use a pre-set environment adaptation coefficient as the environment adaptation coefficient of the current environment of the motor.

[0059] Optionally, the change determination submodule includes:

[0060] The change determination unit is used to determine the change in heat Δhot of the motor during the specified duration, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient, according to the following formula, provided that the current current value is not less than the rated current value of the motor:

[0061]

[0062] Where K is the environmental adaptability coefficient, I b Let t be the current current ratio. s The duration is defined as follows: I(1) is the first current ratio, I(2) is the second current ratio, τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient.

[0063] Optionally, the overload determination module includes:

[0064] The first heat determination submodule is used to determine the sum of the accumulated heat and the heat change as the current accumulated heat when the current current value is not less than the rated current value of the motor.

[0065] The second heat determination submodule is used to determine the difference between the accumulated heat and the heat change as the current accumulated heat when the current current value is less than the rated current value of the motor.

[0066] Thirdly, embodiments of this application provide an electronic device, including:

[0067] Memory, used to store computer programs;

[0068] When a processor executes a program stored in memory, it implements any of the methods described in the first aspect above.

[0069] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods described in the first aspect above.

[0070] Beneficial effects of the embodiments in this application:

[0071] In the solution provided in this application embodiment, the electronic device can obtain the current current value of the motor and the duration corresponding to the current current value; based on a pre-calibrated correspondence, it determines the thermal time coefficient corresponding to the current current value, wherein the correspondence characterizes the thermal time coefficient corresponding to each preset current value of the motor, and the thermal time coefficient is the amount of heat change per unit time during the process of the motor temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature when the motor current value is the preset current value; based on the determined thermal time coefficient and the duration, it determines the amount of heat change of the motor within the duration; based on the amount of heat change and the accumulated heat, it determines the current accumulated heat, and based on the relationship between the current accumulated heat and a preset threshold, it determines whether the motor is overloaded. Since the pre-calibrated correspondence can characterize the thermal time coefficient corresponding to each preset current value of the motor, the electronic device can determine the thermal time coefficient corresponding to the current current value of the motor based on the pre-calibrated correspondence. Since the thermal time coefficient corresponding to each preset current value can represent the amount of heat change of the motor per unit time when the motor current value is the preset current value, the electronic device can determine the amount of heat change of the motor within the duration based on the determined thermal time coefficient and the duration. Next, based on the change in heat and the accumulated heat, the current accumulated heat can be determined, and the relationship between the current accumulated heat and a preset threshold can be established to determine whether the motor is overloaded. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table. Then, based on the duration and the determined thermal time coefficient, the change in heat can be calculated without performing complex differential or exponential calculations. This reduces the amount of calculation required to determine whether the motor is overloaded, improving efficiency and real-time performance. Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above simultaneously. Attached Figure Description

[0072] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0073] Figure 1 A flowchart of a motor overload detection method provided in an embodiment of this application;

[0074] Figure 2 Based on Figure 1 A flowchart illustrating a method for determining the thermal time coefficient in the illustrated embodiment;

[0075] Figure 3 for Figure 2 A specific flowchart of step S202 in the illustrated embodiment;

[0076] Figure 4 for Figure 1 A specific flowchart of step S103 in the illustrated embodiment;

[0077] Figure 5 for Figure 1 A specific flowchart of step S104 in the illustrated embodiment;

[0078] Figure 6 This is a schematic diagram of the structure of a motor overload detection device provided in an embodiment of this application;

[0079] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0080] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0081] To reduce the computational load and improve efficiency and real-time performance in determining whether a motor is overloaded, embodiments of this application provide a motor overload detection method, apparatus, electronic device, computer-readable storage medium, and computer program product. The motor overload detection method provided in this application embodiment is described below.

[0082] The motor overload detection method provided in this application embodiment can be applied to any electronic device that needs to detect motor overload, such as a motor controller (Microcontroller Unit, MCU), control device, etc., without specific limitation, and will be referred to as electronic device for clarity.

[0083] The motor described in this application embodiment can be any motor capable of detecting current value, such as a servo motor, a brushless DC motor, a permanent magnet synchronous motor, etc., and is not specifically limited here.

[0084] like Figure 1 As shown, a method for detecting motor overload includes:

[0085] S101, Obtain the current current value of the motor and the duration corresponding to the current current value;

[0086] S102, Based on the pre-calibrated correspondence, determine the thermal time coefficient corresponding to the current current value;

[0087] The correspondence represents the thermal time coefficient corresponding to each preset current value when the current value of the motor is that of the preset current value. The thermal time coefficient is the amount of heat change per unit time when the temperature of the motor rises from room temperature to a preset limit temperature or falls from the preset limit temperature to the room temperature when the current value of the motor is that preset current value.

[0088] S103, Based on the determined thermal time coefficient and the duration, determine the amount of heat change of the motor during the duration;

[0089] S104, based on the change in heat and the accumulated heat, determine the current accumulated heat, and based on the relationship between the current accumulated heat and a preset threshold, determine whether the motor is overloaded.

[0090] As can be seen, in this embodiment, the electronic device can obtain the current current value of the motor and the duration corresponding to the current current value; based on a pre-calibrated correspondence, it determines the thermal time coefficient corresponding to the current current value, wherein the correspondence characterizes the thermal time coefficient corresponding to each preset current value, and the thermal time coefficient is the amount of heat change per unit time during the process of the motor temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature when the motor current value is the preset current value; based on the determined thermal time coefficient and duration, it determines the amount of heat change of the motor within the duration; based on the amount of heat change and the accumulated heat, it determines the current accumulated heat, and based on the relationship between the current accumulated heat and a preset threshold, it determines whether the motor is overloaded. Since the pre-calibrated correspondence can characterize the thermal time coefficient corresponding to each preset current value, the electronic device can determine the thermal time coefficient corresponding to the current current value of the motor based on the pre-calibrated correspondence. Since the thermal time coefficient corresponding to each preset current value can represent the amount of heat change of the motor per unit time when the motor current value is the preset current value, the electronic device can determine the amount of heat change of the motor within the duration based on the determined thermal time coefficient and duration. Next, based on the change in heat and the accumulated heat, the current accumulated heat can be determined, and the relationship between the current accumulated heat and a preset threshold can be established to determine whether the motor is overloaded. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table. Then, based on the duration and the determined thermal time coefficient, the change in heat can be calculated without performing complex differential or exponential calculations. This reduces the amount of calculation required when determining whether the motor is overloaded, improving efficiency and real-time performance.

[0091] When a motor is overloaded, its current value is usually high, leading to significant heat generation. Therefore, to detect whether the motor is overloaded, the electronic device can obtain the current current value of the motor and the corresponding duration, i.e., execute step S101. The aforementioned motor can be any type of motor capable of detecting current values, such as a servo motor.

[0092] In one implementation, the electronic device can use a current sensor to sample the motor's current value at preset time intervals. The current current value of the motor is then the current value sampled by the electronic device, and the duration corresponding to the current current value is the preset time. Typically, the electronic device can perform millisecond-level loops during current sampling. For example, assuming the electronic device samples the motor's current value every 0.001 seconds, and the currently sampled current value is 2A, then the current current value of the motor is 2A, and the duration corresponding to the current current value is 0.001 seconds.

[0093] Specifically, when sampling current values, the electronic device can acquire the direct axis current value I of the motor. d and the quadrature axis current value I q Calculate the current value I of the motor according to the following formula. s :

[0094]

[0095] To facilitate the calculation of the heat change of the motor, it can be performed offline manually. That is, the heat change per unit time during the process of the motor temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature is pre-calibrated when the motor current value is set for each preset current value. This is used as the thermal time coefficient corresponding to the preset current value, thereby obtaining the correspondence between the thermal time coefficients used to characterize the motor current value for each preset current value.

[0096] The preset current values ​​can be a series of manually selected current values, such as 0.2A, 0.4A, 0.6A, 0.8A, 1A, etc. Each preset current value can be calibrated only once. Room temperature refers to the ambient temperature that best meets the application requirements of the motor. The preset limit temperature is the highest temperature the motor can withstand, such as 150℃, 155℃, etc.

[0097] The heat accumulation process of an electric motor can be divided into the heat generation process and the heat dissipation process. The heat sources during the heat generation process can include copper losses (Joule heat generated by winding resistance), iron losses (heat generated by induced current and magnetic field friction), bearing friction heat, and so on. During the heat dissipation process, the motor's heat dissipation methods can include radiation and convection, with convection often being the primary method. Convection heat dissipation is closely related to the motor's cooling method, installation method, installation space, and motor structure.

[0098] Accordingly, the aforementioned thermal time coefficient can specifically include the heating thermal time coefficient and the cooling thermal time coefficient. Since the motor is in an overload condition when the motor current is not less than the rated current, the motor as a whole tends to heat up. Therefore, the amount of heat change per unit time during the process of the motor temperature rising from room temperature to the preset limit temperature can be determined to obtain the heating thermal time coefficient.

[0099] Since the motor is in normal operating condition when the current value is less than the rated current value, the motor is in a heat dissipation trend. Therefore, the amount of heat change per unit time during the process of the motor temperature dropping from the preset limit temperature to room temperature can be determined, and the heat dissipation time coefficient can be obtained.

[0100] After obtaining the current current value of the motor, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the pre-calibrated correspondence mentioned above, that is, execute step S102.

[0101] Since the thermal time coefficient represents the amount of heat change per unit time when the motor current value is the current value, the electronic device can determine the amount of heat change of the motor within the specified time period based on the determined thermal time coefficient and the duration corresponding to the current current value, i.e., execute step S103. In one embodiment, the electronic device can multiply the determined thermal time coefficient by the duration corresponding to the current current value to obtain the amount of heat change of the motor within the specified time period.

[0102] After determining the amount of heat change in the motor over a given period, the electronic device can determine the current accumulated heat based on the amount of heat change and the accumulated heat. The accumulated heat is the heat accumulated by the motor from the start of operation to the previous sampling time, and the accumulated heat can be 0 at the moment the motor starts operating.

[0103] Next, the electronic device can determine whether the motor is overloaded based on the relationship between the current accumulated heat and a preset threshold. Specifically, if the current accumulated heat is not less than the preset threshold, it can be determined that the motor is continuously overloaded; if the current accumulated heat is less than the preset threshold, it can be determined that the motor is not continuously overloaded.

[0104] The preset threshold can be determined based on the amount of heat change during the process of the motor's temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature. In one embodiment, the preset threshold can be the amount of heat change during the process of the motor's temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature. In another embodiment, the preset threshold can be less than the amount of heat change during the process of the motor's temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature, thereby improving the sensitivity of motor overload detection.

[0105] If an overload is detected in the motor, the electronic equipment can immediately shut down to protect it or issue an overheat alarm. At this time, the cycle time can be reduced, that is, the working cycle frequency of the motor can be reduced, so as to control the accumulated heat to not exceed the preset threshold.

[0106] As can be seen, in this embodiment, since the pre-calibrated correspondence can characterize the thermal time coefficient corresponding to each preset current value, the electronic device can determine the thermal time coefficient corresponding to the current current value of the motor based on the pre-calibrated correspondence. Since the thermal time coefficient corresponding to each preset current value can represent the amount of heat change of the motor per unit time when the current value is that preset current value, the electronic device can determine the amount of heat change of the motor within the specified time period based on the determined thermal time coefficient and the duration. Next, based on the amount of heat change and the accumulated heat, the current accumulated heat can be determined, and the relationship between the current accumulated heat and a preset threshold can be established to determine whether the motor is overloaded. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table, and then the amount of heat change can be calculated based on the duration and the determined thermal time coefficient, without the need for complex differential or exponential calculations. This reduces the required calculation amount when determining whether the motor is overloaded, improves the determination efficiency and real-time performance, and thus achieves a simple motor thermal protection function.

[0107] As one implementation of this application, the step of determining the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence may include:

[0108] If the current current value is not less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value.

[0109] If the current current value is less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value; or, based on a pre-calibrated correspondence, a preset value corresponding to the current current value is determined as the thermal time coefficient corresponding to the current current value.

[0110] Next, the above implementation methods will be described in detail:

[0111] Provided the current current of the motor is not less than its rated current, the electronic device can determine two current values ​​from preset current values ​​as target current values. The range of target current values ​​includes the current current value of the motor; that is, one target current value is not less than the current current value, and the other target current value is not greater than the current current value. Specifically, the selection of target current values ​​can follow the principle of proximity, i.e., selecting the two current values ​​adjacent to the current current value from the preset current values ​​as target current values.

[0112] For example, preset current values ​​include 0.2A, 0.4A, 0.6A, 0.8A, 1A, 1.2A, 1.4A, 1.6A, and 1.8A. Assuming the current value is 0.7A, the target current value can be 0.6A or 0.8A; assuming the current value is 1.5A, the target current value can be 1.4A or 1.6A.

[0113] Since the thermal time coefficient corresponding to the target current value can reflect the variation law of the thermal time coefficient within the current value range composed of the target current value, and the current current value of the motor is within the current value range composed of the target current value, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value.

[0114] When the current value is less than the rated current value of the motor, the thermal time coefficient corresponding to the current value can be determined by one of the following two methods:

[0115] In the first embodiment, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value. Since the first embodiment is the same as the embodiment used when the current current value is not less than the rated current value, it can be referred to the previous description and will not be repeated here.

[0116] In the second embodiment, since the range of variation of the thermal time coefficient is small when the motor current value is less than the rated current value, in order to further improve the speed of determining the thermal time coefficient, the thermal time coefficients corresponding to preset current values ​​less than the rated current value in the above correspondence can be set to the same preset value. For example, the preset value can be 1.5KJ / s, 2KJ / s, 3KJ / s, etc., and no specific limitation is made here. In this case, the electronic device can determine the preset value corresponding to the current current value based on the pre-calibrated correspondence, and use it as the thermal time coefficient corresponding to the current current value.

[0117] As can be seen, in this embodiment, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value when the current current value is not less than the rated current value of the motor; or, when the current current value is less than the rated current value of the motor, determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value; or, based on a pre-calibrated correspondence, determine a preset value corresponding to the current current value as the thermal time coefficient corresponding to the current current value. This further improves the speed of determining the thermal time coefficient, thereby improving the speed of determining the amount of heat change.

[0118] As one embodiment of this application, in order to reflect the relationship between preset current values ​​and rated current values, the ratio between each preset current value and the rated current value can be calculated to obtain each preset current ratio. In this case, the aforementioned pre-constructed correspondence can be the correspondence between each preset current ratio and the thermal time coefficient.

[0119] When establishing the above correspondence, the motor current value can be controlled to be the preset current value corresponding to each preset current ratio, and the duration required for the motor temperature to rise from room temperature to preset limit temperature or drop from preset limit temperature to room temperature when the motor current value is the preset current value can be determined.

[0120] Specifically, assuming the preset current ratio is not less than 100%, the heating time required for the motor temperature to rise from room temperature to the preset limit temperature is determined as the duration corresponding to the preset current ratio. If the preset current ratio is less than 100%, the heat dissipation time required for the motor temperature to drop from the preset limit temperature to room temperature is determined as the duration corresponding to the preset current ratio.

[0121] Next, for each preset current ratio, the quotient of the preset heat and the duration corresponding to that preset current ratio can be calculated to obtain the thermal time coefficient corresponding to that preset current ratio. Here, the preset heat can be the amount of heat change during the process of the motor's temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature.

[0122] For example, the above correspondence can be shown in the table below:

[0123] Preset current ratio Duration (s) Thermal time coefficient (kJ / s) 20％ 256.0 3.9062 60％ 510.0 1.9608 80％ 1030.0 0.9709 100％ 1291.0 0.7746 120％ 218.5 4.5767 140％ 125.4 7.9745 160％ 30.0 33.3333 180％ 21.5 46.5116 200％ 16.4 60.9756 220％ 12.3 81.3008 240％ 8.8 113.6364 260％ 6.3 158.7302 280％ 5.4 185.1852 300％ 4.7 212.7660 320％ 4.3 232.5581

[0124] As can be seen, the preset current ratio ranges from 20% to 320%, and the preset heat is 1000 kJ. After determining the duration corresponding to each preset current ratio, the quotient of 1000 kJ and the duration can be calculated to obtain the thermal time coefficient. The thermal time coefficient corresponding to 20% to 80% can be the heat dissipation thermal time coefficient, and the thermal time coefficient corresponding to 100% to 320% can be the heat generation thermal time coefficient. In this case, an overload test of the motor is required.

[0125] The duration in the above correspondence is not involved in the calculation of subsequent heat changes; it is only used to record the calculation process of the thermal time coefficient. Therefore, in practical applications, the above correspondence may only include the preset current ratio and its corresponding thermal time coefficient, excluding the duration.

[0126] After obtaining the above correspondence, the correspondence can be burned into the memory of the electronic device. Since the amount of data occupied by the above correspondence is small, it can save memory compared to complex mathematical models.

[0127] In this case, such as Figure 2 As shown, the step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value may include:

[0128] S201, calculate the ratio between the current current value and the rated current value to obtain the current ratio;

[0129] Electronic devices can calculate the ratio between the current value and the rated current value to obtain the current ratio. In one embodiment, the current ratio I can be calculated according to the following formula. b :

[0130]

[0131] Among them, I s I represents the current value of the motor. r This is the rated current value of the motor.

[0132] S202, Based on the thermal time coefficient corresponding to the target current ratio, determine the thermal time coefficient corresponding to the current value.

[0133] The target current ratio can be the ratio between the target current value and the rated current value. Since the thermal time coefficient corresponding to the target current ratio can reflect the change law of the thermal time coefficient in the range of current ratios composed of the target current ratios, and the current current ratio belongs to the range of current ratios composed of the target current ratios, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio.

[0134] As can be seen, in this embodiment, the electronic device can calculate the ratio between the current current value and the rated current value to obtain the current current ratio; based on the thermal time coefficient corresponding to the target current ratio, the thermal time coefficient corresponding to the current current value is determined, wherein the target current ratio is the ratio between the target current value and the rated current value. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table, and then, based on the thermal time coefficient and the duration corresponding to the current current value, the amount of heat change of the motor during the duration can be calculated. This approach offers a user-friendly and efficient application, avoids complex calculation processes, constructs a protection function to prevent continuous overload of the motor, and achieves motor motion control and safety protection.

[0135] As one embodiment of this application, the target current ratio may include a first current ratio and a second current ratio. In this case, such as Figure 3 As shown, the step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio may include:

[0136] S301, based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio, determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio;

[0137] Since the preset current ratio and the thermal time coefficient have a certain variation law, that is, when the preset current ratio changes by a unit size, the thermal time coefficient will change by a certain size accordingly. Therefore, in order to determine the variation law between the two, the electronic device can determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio.

[0138] In one embodiment, the electronic device can calculate the ratio of the difference between a first thermal time coefficient and a second thermal time coefficient to the ratio of the difference between a first current ratio and a second current ratio, thereby obtaining the rate of change of the thermal time coefficient between the first current ratio and the second current ratio. In another embodiment, the electronic device can obtain the rate of change of the thermal time coefficient between the first current ratio and the second current ratio by calculating the ratio of the difference between the second thermal time coefficient and the first thermal time coefficient to the ratio of the difference between the second current ratio and the first current ratio.

[0139] S302, Based on the rate of change and the change in the current ratio relative to the reference current ratio, determine the change in the thermal time coefficient;

[0140] The rate of change of the thermal time coefficient represents the change in the thermal time coefficient when the preset current ratio changes by a unit value. To calculate the thermal time coefficient corresponding to the current value, either the first current ratio or the second current ratio can be used as a reference current ratio. Furthermore, based on the aforementioned rate of change and the change in the current ratio relative to the reference current ratio, the change in the thermal time coefficient can be determined; that is, the change in the thermal time coefficient corresponding to the current current ratio relative to the thermal time coefficient corresponding to the reference current ratio.

[0141] Specifically, the rate of change can be multiplied by the change in the current ratio to obtain the change in the current ratio relative to the reference current ratio.

[0142] S303, determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient.

[0143] Since the change in thermal time coefficient is the change in thermal time coefficient corresponding to the current current ratio relative to the thermal time coefficient corresponding to the reference current ratio, the electronic device can determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the reference current ratio and the change in thermal time coefficient.

[0144] Assuming the first current ratio is less than the second current ratio, and taking the first current ratio as a reference, the electronic device can multiply the rate of change of the thermal time coefficient by the change in the current ratio relative to the first current ratio to obtain the change in the thermal time coefficient of the current current ratio relative to the first thermal time coefficient. Next, the first thermal time coefficient can be added to the change in the thermal time coefficient to obtain the thermal time coefficient corresponding to the current current value.

[0145] Taking the second current ratio as the reference current ratio as an example, the electronic device can multiply the rate of change of the thermal time coefficient by the change in the current ratio relative to the second current ratio to obtain the change in the thermal time coefficient of the current current ratio relative to the second thermal time coefficient. Next, the second thermal time coefficient can be subtracted from the change in the thermal time coefficient to obtain the thermal time coefficient corresponding to the current current value.

[0146] As can be seen, in this embodiment, the electronic device can determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio; based on the rate of change and the change in the current ratio relative to the reference current ratio, the change in the thermal time coefficient is determined, wherein the reference current ratio is either the first current ratio or the second current ratio; and based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient, the thermal time coefficient corresponding to the current current value is determined. In this way, the pre-defined correspondence plays a crucial role, converting the complex motor thermal characteristics into a dictionary lookup, saving 90% of the computational load. Since only multiplication and addition operations are required, without complex differential or exponential operations, the electronic device only needs to perform basic calculations, making it relatively simple and efficient.

[0147] As one implementation method of this application, such as Figure 4 As shown, the step of determining the amount of heat change of the motor during the specified duration based on the determined thermal time coefficient and the specified duration may include:

[0148] S401, determine the environmental adaptability coefficient of the current environment of the motor;

[0149] Since the humidity and openness of the environment where the motor is located both affect the motor's heat dissipation, specifically, the higher the ambient humidity and the more open the environment, the higher the motor's heat dissipation efficiency. Therefore, in order to compensate for the changes in the motor's heat, electronic equipment can determine the environmental adaptability coefficient of the motor's current environment.

[0150] The environmental adaptability coefficient characterizes the impact of the environment on motor heat dissipation. The aforementioned spaciousness can be determined based on the average space occupied by each motor in the environment; the larger the average space occupied by each motor, the higher the spaciousness of the environment. The aforementioned ambient humidity can be determined by the electronic equipment using a humidity sensor.

[0151] S402, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient, determine the amount of heat change of the motor during the duration.

[0152] Once the environmental adaptability coefficient is determined, environmental compensation can be performed when determining the amount of heat change. Specifically, electronic equipment can determine the amount of heat change of the motor over a given period of time based on the determined thermal time coefficient, duration, and environmental adaptability coefficient.

[0153] In one implementation, since environmental factors may change, the electronic device can re-determine the environmental adaptability coefficient of the motor's current environment at preset intervals, and determine the amount of heat change based on the re-determined environmental adaptability coefficient. For example, the preset interval can be 60 minutes, 90 minutes, 120 minutes, etc., and is not specifically limited here. Since the preset interval is usually set relatively large, environmental compensation low-frequency triggering can be achieved without increasing the real-time burden.

[0154] As can be seen, in this embodiment, the electronic device can determine the environmental adaptability coefficient of the current environment in which the motor is located, wherein the environmental adaptability coefficient characterizes the influence of the environment on the motor's heat dissipation; based on the determined thermal time coefficient, duration, and environmental adaptability coefficient, the amount of heat change of the motor during the duration is determined. In this way, the influence of the environment on the motor's heat dissipation can be considered when determining the amount of heat change, improving the accuracy of the heat change and making it applicable to various motor application scenarios.

[0155] As one embodiment of this application, the step of determining the environmental adaptability coefficient of the current environment of the motor can include either of the following two embodiments:

[0156] Determine the current heat dissipation efficiency of the environment in which the motor is located; based on the pre-established correspondence between heat dissipation efficiency and environmental adaptability coefficient, determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency; or, use the pre-set environmental adaptability coefficient as the environmental adaptability coefficient of the current environment in which the motor is located.

[0157] In the first implementation, a pre-established relationship between heat dissipation efficiency and environmental adaptability coefficient can be constructed. For example, heat dissipation efficiency can be divided into three levels: normal heat dissipation efficiency, low heat dissipation efficiency, and high heat dissipation efficiency, and an environmental adaptability coefficient can be set for each heat dissipation efficiency. Specific values ​​can be shown in the table below:

[0158]

[0159] In this way, the electronic equipment can determine the current heat dissipation efficiency of the environment in which the motor is located, and based on the pre-established correspondence between heat dissipation efficiency and environmental adaptability coefficient, determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency. The current heat dissipation efficiency can be determined by the staff based on the ambient humidity and / or the degree of openness of the environment and then input into the electronic equipment.

[0160] In the second embodiment, the electronic device can use a pre-set environmental adaptability coefficient as the environmental adaptability coefficient of the current environment in which the motor is located. For example, the pre-set environmental adaptability coefficient can be 1, 0.9, 1.1, etc., and no specific limitation is made here.

[0161] As can be seen, in this embodiment, the electronic device can determine the current heat dissipation efficiency of the environment in which the motor is located; based on a pre-established correspondence between heat dissipation efficiency and environmental adaptability coefficient, it can determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency; or, it can use the pre-set environmental adaptability coefficient as the environmental adaptability coefficient of the current environment in which the motor is located. In this way, when determining the amount of heat change of the motor, the influence of the environment on the motor's heat dissipation can be considered, making the amount of heat change more accurate, thereby achieving motor thermal protection.

[0162] As one embodiment of this application, the step of determining the amount of heat change of the motor during the duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient may include:

[0163] If the current value is not less than the rated current value of the motor, the heat change Δhot of the motor during the specified duration is determined according to the following formula, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient:

[0164]

[0165] Where K is the environmental adaptability coefficient, I b t represents the current ratio. s For the duration, I(1) is the first current ratio, I(2) is the second current ratio, I(1) is not greater than I(2), τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient.

[0166] Of course, the above formula can also be equivalent to:

[0167]

[0168] The environmental adaptability coefficient K can include the heating environment adaptability coefficient K1 and the heat dissipation environment adaptability coefficient K2. When the current value of the motor is not less than the rated current value, the motor as a whole shows a heating trend, and the above-mentioned heat change is the heat generation Δhot. + The environmental adaptability coefficient K can be the heating environment adaptability coefficient K1; when the current value of the motor is less than the rated current value, the motor as a whole shows a heat dissipation trend, and the above-mentioned heat change is the heat dissipation Δhot. _ The environmental adaptability coefficient K can be the heat dissipation environmental adaptability coefficient K2.

[0169] For the two scenarios above, there are different formulas for calculating the calorific value Δhot. + and heat dissipation Δhot _ A specific example can be shown below:

[0170]

[0171] As can be seen, in this embodiment of the application, the electronic device can use the above formula to calculate the heat change of the motor. It does not need to adapt to a complex and cumbersome mathematical model, but can use simple addition, subtraction and multiplication operations. The heat change can be easily and conveniently determined through simple calculation, with a small amount of calculation and high determination efficiency.

[0172] As one implementation method of this application, such as Figure 5 As shown, the step of determining the current accumulated heat based on the heat change and the accumulated heat may include:

[0173] S501, determine the relationship between the current current value and the rated current value of the motor; if the current current value is not less than the rated current value of the motor, proceed to step S502; if the current current value is less than the rated current value of the motor, proceed to step S503.

[0174] When the current value is not less than the motor's rated current, the motor tends to heat up, and the amount of heat change should be added to the accumulated heat. When the current value is less than the motor's rated current, the motor tends to dissipate heat, and the amount of heat change should be subtracted from the accumulated heat. Therefore, when accumulating the accumulated heat, to determine the specific accumulation method, the relationship between the current current value and the motor's rated current value can be determined.

[0175] S502, the sum of the accumulated heat and the heat change is determined as the current accumulated heat;

[0176] Since the motor consumes a lot of power and the motor as a whole tends to heat up when the current value is not less than the rated current value of the motor, and the change in heat is positive, the sum of the accumulated heat and the change in heat can be determined as the current accumulated heat. That is, the change in heat is added to the accumulated heat.

[0177] S503, the difference between the accumulated heat and the change in heat is determined as the current accumulated heat.

[0178] Since the power consumption of the motor is relatively small when the current value is less than the rated current value of the motor, the motor as a whole shows a heat dissipation trend, and the heat change is positive, the difference between the accumulated heat and the heat change can be determined as the current accumulated heat, that is, the heat change is subtracted from the accumulated heat.

[0179] For example, assuming the motor's rated current is 3A and the accumulated heat is 200KJ, and in the next sampling period the motor's current is 2A and the heat change is 20KJ, then it can be determined that at the end of this sampling period, the current accumulated heat is 180KJ. Assuming that in the next sampling period the motor's current is 4A and the heat change is 30KJ, then it can be determined that at the end of this sampling period, the current accumulated heat is 210KJ.

[0180] After determining the currently accumulated heat (hot) 累计 Subsequently, the error reporting logic for motor overload detection can be as follows:

[0181]

[0182] In other words, assuming that the current accumulated heat (hot) 累计 If the heat level is not less than a preset threshold, the electronic device can report an error; assuming the current accumulated heat is hot... 累计 If the current value is greater than 0 and less than a preset threshold, the electronic device can continue to sample the current value and accumulate the accumulated heat of the motor; assuming the current accumulated heat is hot... 累计 Not greater than 0. Since heat should be a non-negative value, in this case, the currently accumulated heat (hot) can be used. 累计 Corrected to 0.

[0183] As can be seen, in this embodiment, the electronic device can determine the current accumulated heat as the sum of the accumulated heat and the change in heat when the current value is not less than the rated current value of the motor; when the current value is less than the rated current value of the motor, it can determine the current accumulated heat as the difference between the accumulated heat and the change in heat. In this way, based on the relationship between the current value and the rated current value, it can be determined whether the motor exhibits a cooling or heating trend, and thus quickly iterate the heat, continuously accumulating the accumulated heat. By looking up a table, the current accumulated heat of the motor at a given moment can be quickly determined, thereby protecting the motor's safety characteristics.

[0184] In the technical solution of this application, the operations of obtaining, storing, using, processing, transmitting, providing and disclosing user personal information are all carried out with the user's authorization.

[0185] Corresponding to the above-described method for detecting motor overload, this application also provides a motor overload detection device. The motor overload detection device provided in this application is described below.

[0186] like Figure 6 As shown, a motor overload detection device includes:

[0187] The current acquisition module 601 is used to acquire the current current value of the motor and the duration corresponding to the current current value;

[0188] The coefficient determination module 602 is used to determine the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence relationship, wherein the correspondence relationship characterizes the thermal time coefficient corresponding to each preset current value when the current value of the motor is the preset current value, and the thermal time coefficient is the amount of heat change per unit time during the process of the motor temperature rising from room temperature to a preset limit temperature or falling from the preset limit temperature to room temperature when the current value of the motor is the preset current value.

[0189] The change determination module 603 is used to determine the change in heat of the motor during the duration based on the determined thermal time coefficient and the duration.

[0190] The overload determination module 604 is used to determine the current accumulated heat based on the heat change and the accumulated heat, and to determine whether the motor is overloaded based on the relationship between the current accumulated heat and a preset threshold.

[0191] As can be seen, in this embodiment, since the pre-calibrated correspondence can characterize the thermal time coefficient corresponding to each preset current value, the electronic device can determine the thermal time coefficient corresponding to the current current value of the motor based on the pre-calibrated correspondence. Since the thermal time coefficient corresponding to each preset current value can represent the amount of heat change of the motor per unit time when the current value is that preset current value, the electronic device can determine the amount of heat change of the motor within the specified time period based on the determined thermal time coefficient and the duration. Next, based on the amount of heat change and the accumulated heat, the current accumulated heat can be determined, and the relationship between the current accumulated heat and a preset threshold can be established to determine whether the motor is overloaded. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table, and then the amount of heat change can be calculated based on the duration and the determined thermal time coefficient, without the need for complex differential or exponential calculations. This reduces the required calculation amount when determining whether the motor is overloaded, improves the determination efficiency and real-time performance, and thus achieves a simple motor thermal protection function.

[0192] As one embodiment of this application, the coefficient determination module 602 may include:

[0193] The first judgment submodule is used to determine the trigger coefficient submodule when the current current value is not less than the rated current value of the motor.

[0194] The second judgment submodule is used to trigger the coefficient determination submodule when the current current value is less than the rated current value of the motor; or, based on a pre-calibrated correspondence, determine a preset value corresponding to the current current value as the thermal time coefficient corresponding to the current current value, wherein the thermal time coefficient corresponding to the preset current value that is less than the rated current value in the correspondence is the preset value.

[0195] The coefficient determination submodule is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value, wherein the target current value is two current values ​​among the preset current values, and the range of current values ​​composed of the target current values ​​includes the current current value.

[0196] As one embodiment of this application, the above correspondence can be a correspondence between preset current ratios and thermal time coefficients. The preset current ratio can be the ratio between a preset current value and the rated current value. In this case, the coefficient determination submodule can include:

[0197] A ratio calculation unit is used to calculate the ratio between the current current value and the rated current value to obtain the current ratio.

[0198] The coefficient determination unit determines the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio, wherein the target current ratio is the ratio between the target current value and the rated current value.

[0199] As one embodiment of this application, the target current ratio may include a first current ratio and a second current ratio. In this case, the coefficient determining unit may include:

[0200] The rate of change determination subunit is used to determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio.

[0201] The change amount determination subunit is used to determine the change amount of the thermal time coefficient based on the change rate and the change amount of the current ratio relative to the reference current ratio, wherein the reference current ratio is the first current ratio or the second current ratio.

[0202] The coefficient determination subunit is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient.

[0203] As one embodiment of this application, the change determination module 603 may include:

[0204] The environment determination submodule is used to determine the environmental adaptability coefficient of the current environment of the motor, wherein the environmental adaptability coefficient characterizes the influence of the environment on the heat dissipation of the motor;

[0205] The change determination submodule is used to determine the amount of heat change of the motor during the duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient.

[0206] As one implementation of this application, the above-mentioned environment determination submodule may include:

[0207] The first environment determination unit is used to determine the current heat dissipation efficiency of the environment in which the motor is located; and to determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency based on a pre-built correspondence between heat dissipation efficiency and environmental adaptability coefficient.

[0208] The second environment determination unit is used to use a pre-set environment adaptation coefficient as the environment adaptation coefficient of the current environment of the motor.

[0209] As one implementation of this application, the above-mentioned change determination submodule may include:

[0210] The change determination unit is used to determine the change in heat Δhot of the motor during the specified duration, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient, according to the following formula, provided that the current current value is not less than the rated current value of the motor:

[0211]

[0212] Where K is the environmental adaptability coefficient, I b Let t be the current current ratio. s The duration is defined as follows: I(1) is the first current ratio, I(2) is the second current ratio, τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient.

[0213] As one embodiment of this application, the overload determination module 604 may include:

[0214] The first heat determination submodule is used to determine the sum of the accumulated heat and the heat change as the current accumulated heat when the current current value is not less than the rated current value of the motor.

[0215] The second heat determination submodule is used to determine the difference between the accumulated heat and the heat change as the current accumulated heat when the current current value is less than the rated current value of the motor.

[0216] This application also provides an electronic device, such as... Figure 7 As shown, it includes:

[0217] Memory 701 is used to store computer programs;

[0218] The processor 702, when executing the program stored in the memory 701, implements the motor overload detection method described in any of the above embodiments.

[0219] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 702, communication interface, and memory 701 communicating with each other via the communication bus.

[0220] As can be seen, in this embodiment, the electronic device can obtain the current current value of the motor and the duration corresponding to the current current value; based on a pre-calibrated correspondence, it determines the thermal time coefficient corresponding to the current current value, wherein the correspondence characterizes the thermal time coefficient corresponding to each preset current value, and the thermal time coefficient is the amount of heat change per unit time during the process of the motor temperature rising from room temperature to a preset limit temperature or falling from a preset limit temperature to room temperature when the motor current value is the preset current value; based on the determined thermal time coefficient and duration, it determines the amount of heat change of the motor within the duration; based on the amount of heat change and the accumulated heat, it determines the current accumulated heat, and based on the relationship between the current accumulated heat and a preset threshold, it determines whether the motor is overloaded. Since the pre-calibrated correspondence can characterize the thermal time coefficient corresponding to each preset current value, the electronic device can determine the thermal time coefficient corresponding to the current current value of the motor based on the pre-calibrated correspondence. Since the thermal time coefficient corresponding to each preset current value can represent the amount of heat change of the motor per unit time when the motor current value is the preset current value, the electronic device can determine the amount of heat change of the motor within the duration based on the determined thermal time coefficient and duration. Next, based on the change in heat and the accumulated heat, the current accumulated heat can be determined, and the relationship between the current accumulated heat and a preset threshold can be established to determine whether the motor is overloaded. In this way, the thermal time coefficient corresponding to the current current value can be quickly determined by looking up a table. Then, based on the duration and the determined thermal time coefficient, the change in heat can be calculated without performing complex differential or exponential calculations. This reduces the amount of calculation required when determining whether the motor is overloaded, improving efficiency and real-time performance.

[0221] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0222] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0223] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0224] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0225] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described motor overload detection methods.

[0226] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the motor overload detection methods described above.

[0227] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0228] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0229] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0230] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for detecting motor overload, characterized in that, The method includes: Obtain the current current value of the motor and the duration corresponding to the current current value; Based on a pre-calibrated correspondence, the thermal time coefficient corresponding to the current current value is determined. The correspondence represents the thermal time coefficient corresponding to each preset current value when the current value of the motor is the preset current value. The thermal time coefficient is the amount of heat change per unit time during the process when the temperature of the motor rises from room temperature to a preset limit temperature or falls from the preset limit temperature to room temperature when the current value of the motor is the preset current value. The amount of heat change of the motor during the specified duration is determined based on the determined thermal time coefficient and the specified duration. Based on the change in heat and the accumulated heat, the current accumulated heat is determined, and based on the relationship between the current accumulated heat and a preset threshold, it is determined whether the motor is overloaded.

2. The method according to claim 1, characterized in that, The step of determining the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence includes: If the current current value is not less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value, wherein the target current value is two current values ​​among the preset current values, and the range of current values ​​composed of the target current values ​​includes the current current value; If the current current value is less than the rated current value of the motor, the thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the target current value; or, based on a pre-calibrated correspondence, a preset value corresponding to the current current value is determined as the thermal time coefficient corresponding to the current current value, wherein the thermal time coefficient corresponding to the preset current value that is less than the rated current value in the correspondence is the preset value.

3. The method according to claim 2, characterized in that, The correspondence is the relationship between each preset current ratio and the thermal time coefficient, where the preset current ratio is the ratio between the preset current value and the rated current value. The step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value includes: Calculate the ratio between the current current value and the rated current value to obtain the current current ratio; Based on the thermal time coefficient corresponding to the target current ratio, the thermal time coefficient corresponding to the current value is determined, wherein the target current ratio is the ratio between the target current value and the rated current value.

4. The method according to claim 3, characterized in that, The target current ratio includes a first current ratio and a second current ratio; The step of determining the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio includes: Based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio, the rate of change of the thermal time coefficient between the first current ratio and the second current ratio is determined. The change in thermal time coefficient is determined based on the rate of change and the change in the current ratio relative to the reference current ratio, wherein the reference current ratio is the first current ratio or the second current ratio. The thermal time coefficient corresponding to the current current value is determined based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient.

5. The method according to claim 1, characterized in that, The step of determining the amount of heat change of the motor during the duration based on the determined thermal time coefficient and the duration includes: Determine the environmental adaptability coefficient of the current environment of the motor, wherein the environmental adaptability coefficient characterizes the influence of the environment on the heat dissipation of the motor; The amount of heat change of the motor during the specified duration is determined based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient.

6. The method according to claim 5, characterized in that, The step of determining the environmental adaptability coefficient of the current environment of the motor includes: Determine the current heat dissipation efficiency of the environment in which the motor is located; based on a pre-established correspondence between heat dissipation efficiency and environmental adaptability coefficient, determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency; or, The pre-set environmental adaptability coefficient is used as the environmental adaptability coefficient of the current environment of the motor.

7. The method according to claim 5 or 6, characterized in that, The step of determining the amount of heat change of the motor during the duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient includes: If the current value is not less than the rated current value of the motor, the heat change Δhot of the motor during the specified duration is determined according to the following formula, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient: Where K is the environmental adaptability coefficient, I b Let t be the current current ratio. s The duration is defined as follows: I(1) is the first current ratio, I(2) is the second current ratio, τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient.

8. The method according to any one of claims 1 to 6, characterized in that, The step of determining the current accumulated heat based on the change in heat and the accumulated heat includes: If the current current value is not less than the rated current value of the motor, the sum of the accumulated heat and the change in heat is determined as the current accumulated heat. If the current current value is less than the rated current value of the motor, the difference between the accumulated heat and the change in heat is determined as the current accumulated heat.

9. A motor overload detection device, characterized in that, The device includes: A current acquisition module is used to acquire the current current value of the motor and the duration corresponding to the current current value; The coefficient determination module is used to determine the thermal time coefficient corresponding to the current current value based on a pre-calibrated correspondence relationship. The correspondence relationship represents the thermal time coefficient corresponding to each preset current value when the current value of the motor is the preset current value. The thermal time coefficient is the amount of heat change per unit time during the process when the temperature of the motor rises from room temperature to a preset limit temperature or falls from the preset limit temperature to the room temperature when the current value of the motor is the preset current value. The change determination module is used to determine the change in heat of the motor during the duration based on the determined thermal time coefficient and the duration. The overload determination module is used to determine the current accumulated heat based on the heat change and the accumulated heat, and to determine whether the motor is overloaded based on the relationship between the current accumulated heat and a preset threshold.

10. The apparatus according to claim 9, characterized in that, The coefficient determination module includes: The first judgment submodule is used to determine the trigger coefficient submodule when the current current value is not less than the rated current value of the motor. The second judgment submodule is used to trigger the coefficient determination submodule when the current current value is less than the rated current value of the motor; or, based on a pre-calibrated correspondence, determine a preset value corresponding to the current current value as the thermal time coefficient corresponding to the current current value, wherein the thermal time coefficient corresponding to the preset current value that is less than the rated current value in the correspondence is the preset value. The coefficient determination submodule is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current value, wherein the target current value is two current values ​​among the preset current values, and the range of current values ​​formed by the target current values ​​includes the current current value; and / or, The correspondence is the relationship between each preset current ratio and the thermal time coefficient, where the preset current ratio is the ratio between the preset current value and the rated current value. The coefficient determination submodule includes: A ratio calculation unit is used to calculate the ratio between the current current value and the rated current value to obtain the current ratio. The coefficient determination unit determines the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the target current ratio, wherein the target current ratio is the ratio between the target current value and the rated current value; and / or, The target current ratio includes a first current ratio and a second current ratio; The coefficient determination unit includes: The rate of change determination subunit is used to determine the rate of change of the thermal time coefficient between the first current ratio and the second current ratio based on the difference between the first thermal time coefficient corresponding to the first current ratio and the second thermal time coefficient corresponding to the second current ratio. The change amount determination subunit is used to determine the change amount of the thermal time coefficient based on the change rate and the change amount of the current ratio relative to the reference current ratio, wherein the reference current ratio is the first current ratio or the second current ratio. The coefficient determination subunit is used to determine the thermal time coefficient corresponding to the current current value based on the thermal time coefficient corresponding to the reference current ratio and the change in the thermal time coefficient; and / or, The change determination module includes: The environment determination submodule is used to determine the environmental adaptability coefficient of the current environment of the motor, wherein the environmental adaptability coefficient characterizes the influence of the environment on the heat dissipation of the motor; The change determination submodule is used to determine the amount of heat change of the motor during the specified duration based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient; and / or, The environment determination submodule includes: The first environment determination unit is used to determine the current heat dissipation efficiency of the environment in which the motor is located; and to determine the environmental adaptability coefficient corresponding to the current heat dissipation efficiency based on a pre-built correspondence between heat dissipation efficiency and environmental adaptability coefficient. The second environment determination unit is used to use a pre-set environment adaptability coefficient as the environment adaptability coefficient of the current environment of the motor; and / or, The change determination submodule includes: The change determination unit is used to determine the change in heat Δhot of the motor during the specified duration, based on the determined thermal time coefficient, the duration, and the environmental adaptability coefficient, according to the following formula, provided that the current current value is not less than the rated current value of the motor: Where K is the environmental adaptability coefficient, I b Let t be the current current ratio. s For the duration, I(1) is the first current ratio, I(2) is the second current ratio, τ(1) is the first thermal time coefficient, and τ(2) is the second thermal time coefficient; and / or, The overload determination module includes: The first heat determination submodule is used to determine the sum of the accumulated heat and the heat change as the current accumulated heat when the current current value is not less than the rated current value of the motor. The second heat determination submodule is used to determine the difference between the accumulated heat and the heat change as the current accumulated heat when the current current value is less than the rated current value of the motor.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 8.

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