CN107240906B - Motor rotation blockage protects control method - Google Patents
Motor rotation blockage protects control method Download PDFInfo
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- CN107240906B CN107240906B CN201710649351.9A CN201710649351A CN107240906B CN 107240906 B CN107240906 B CN 107240906B CN 201710649351 A CN201710649351 A CN 201710649351A CN 107240906 B CN107240906 B CN 107240906B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of motor rotation blockages to protect control method.Stall monitoring modular and stall processing module are set in the primary control program of ac-dc-ac inverter driver；The variation of the stall monitoring module monitors DC bus-bar voltage, and first derivative and second dervative are sought to DC bus-bar voltage, according to variation tendency judge whether that stall occurs and obtain the type of stall.It was found that stall processing module reduces the fever risk of motor in such a way that staged reduces current of electric after stall.The present invention is not in the case where changing hardware configuration, by the way that stall monitoring modular and stall the processing modules implement monitoring and processing of stall are arranged in master control program, realizes effective control to stall fever.
Description
Technical field
The present invention relates to a kind of motor rotation blockages to protect control method.
Background technique
There is stall often in driver dragging alternating current generator.In punching machine and press machine system, blocking phenomenon is especially prominent
Out, and when adjusting mold and replacement target materials can frequently occur.
Motor rotation blockage situation usually occurs under two states, and one is when electric motor starting；Another is then in motor
In operational process.Stall in electric motor starting has the characteristics that zero-speed or extremely low speed, motor need to overcome if when starting
Higher torque and inertia generate heat more serious since the overload capacity of motor at this time is relatively poor.And in motor operation
Occur that stall situation is more special in the process, since motor has had certain initial velocity, after stall not because of load behavior
Heat condition with motor also can respectively have difference.
After there is stall, electric current increased dramatically and generate heat in driver, until reaching Drive Module physical carrier
The upper limit.Common solution is: (1) increasing module, in a disguised form improve module capacity, have a disadvantage in that waste module resource；
(2) setting electric current upper limit value, driver is protective module and is jumped automatically as protected mode after arrival, has a disadvantage in that: electricity
Machine applying working condition is complex, and limit value is difficult to determine, be arranged it is excessively high can waste module resource, too low then Drive Module or
Motor is easily damaged, also, conventional protected mode is directly motor to be allowed to power off, but operation is for potential energy loading high in this way
And in the presence of other machinery potential energy be quite dangerous, and the operating condition for not having mechanical potential, directly power-off
There is also the potential risks of injury system attachment.
Summary of the invention
The invention proposes a kind of motor rotation blockages to protect control method, the purpose is to: do not changing driver hardware configuration
Under the premise of, the fever after controlling stall.
Technical solution of the present invention is as follows:
Motor rotation blockage protect control method, in the primary control program of ac-dc-ac inverter driver be arranged stall monitoring modular and
Stall processing module；
The stall monitoring modular determines whether to occur stall according to the variation tendency of DC bus-bar voltage and judges stall
Type；
It was found that stall processing module reduces the fever wind of motor in such a way that staged reduces current of electric after stall
Danger.
Further improvement as the above method: real-time monitoring motor DC bus voltage value, and direct current is calculated in real time
Press the first derivative D1 and second dervative D2 relative to the time；
If motor be in startup stage, D1 less than 0, D1 absolute value be greater than preset single order threshold value one, D2 less than 0, it is same
When D2 absolute value be greater than preset second order threshold value one, then be judged to starting stall；
If the revolving speed of motor is greater than lower than preset motor high and low rotating speed cut off value, D1 less than 0, D1 absolute value preset
Single order threshold value two, D2 are less than 0 while D2 absolute value is greater than preset second order threshold value two, then are determined as low speed stall；
If the revolving speed of motor is higher than preset motor high and low rotating speed cut off value, D1 is greater than 0, D1 absolute value greater than preset
Single order threshold value three, D2 are greater than 0, D2 absolute value is greater than preset second order threshold value three simultaneously, then are determined as high speed stall；The single order
The setting principle of threshold value three and second order threshold value three are as follows: D1 is greater than 0, absolute value equal to preset single order threshold value three at that time and D2 is greater than
0, when absolute value is equal to second order threshold value three, motor status is still not up to the state that protection is jumped in alarm.
Further improvement as the above method: when there is low speed stall or high speed stall in motor, stall processing module
The input current for improving motor first is impacted, if motor is reduced still in locked rotor condition, then by staged after impact
Risk that the mode of current of electric reduces that the motor feels hot.
Further improvement as the above method: if motor is judged as starting stall, first limiting motor input electricity
It flow to 1.2 times of rated current, after for 3 seconds, 0.6 times of limiting motor input current to rated current.
Further improvement as the above method: if motor is judged as low speed stall, the input of motor is improved first
Electric current is impacted, if motor is still in locked rotor condition after impact, the 1.2 of limiting motor input current to rated current
Times, after for 3 seconds, 0.6 times of limiting motor input current to rated current.
Further improvement as the above method: if motor is judged as high speed stall, the input of motor is improved first
Electric current is impacted, if motor is still in locked rotor condition after impact, 1 times of limiting motor input current to rated current,
After for 3 seconds, 0.6 times of limiting motor input current to rated current.
Further improvement as the above method: after 0.6 times of limiting motor input current to rated current, further
Limiting motor input current is to 0.15 times of rated current.
Compared with the existing technology, the present invention has the positive effect that: (1) present invention is not the case where changing hardware configuration
Under, it is right by the way that stall monitoring modular and stall the processing modules implement monitoring and processing of stall are arranged in master control program
Stall fever realizes effective control；(2) present invention asks single order to lead and leads with second order by monitoring DC bus-bar voltage and carrying out
Mode come judge motor whether stall, judged compared to traditional according to current of electric, can quickly be prejudged out
Stall, to take control measure in time before system sounds an alarm；(3) the invention proposes a kind of motor torques of association
Inhibit control program, makes motor that there are certain control means under the precondition for protecting itself, jumped in motor driver
Preferentially to judge that locked rotor condition row order ladder type of going forward side by side limits electric current before protected mode, while the motor feels hot for control, it is
The state instruction of system provides certain reaction time, and the time window to take measures is provided for user, avoids straight
Power-off is connect to damage motor；(4) present invention takes different monitoring modes for startup stage, low speed and fast state
And processing method, have the advantages that judgment accuracy is high, adaptability is good；(5) occur under low-speed or high-speed state when motor stifled
When turning, impact is first attempted to exclude stall obstacle, one kind is provided for system and attempts to solve to block up immediately when stall just occurs
The approach turned, efficiently reduces the influence that stall operates normally system.
Specific embodiment
The following detailed description of technical solution of the present invention:
Motor rotation blockage protect control method, in the primary control program of ac-dc-ac inverter driver be arranged stall monitoring modular and
Stall processing module.
The stall monitoring modular is used to monitor whether that stall to occur and judges the type of stall, real-time monitoring motor DC
Bus voltage value, and first derivative D1 and second dervative D2 of the DC voltage relative to the time, step are calculated in real time are as follows:
(A-1) it has been surprisingly found that after study, the motor rotation blockage state in electric motor starting state is small in addition to rotation speed change, electricity
Other than stream sharply increases, there is also the reductions of instantaneous DC bus-bar voltage to show.Because power input to a machine is limited, although filter
The presence of wave capacitor can be born since the control of driver causes instantaneously to draw the decline of voltage caused by high current, but bus
The reduction situation and trend of voltage are different with the voltage fluctuation caused by rectifying, therefore can be female according to instantaneous direct current
Line voltage reduces phenomenon and judges stall situation.Therefore, if motor is in startup stage, D1 less than 0, D1 absolute value greater than default
Single order threshold value one, D2 less than 0, D2 absolute value is greater than preset second order threshold value one simultaneously, then be judged to starting stall.
(B-1) when motor operation stall occurs in the case where suitable low speed, due to the storage phase of mechanical energy in systems
To less, it is not enough to be formed the energy feedback for system, therefore situation is similar with starting stall.Therefore, if motor turns
Speed lower than preset motor high and low rotating speed cut off value, D1 less than 0, D1 absolute value be greater than preset single order threshold value two, D2 less than 0,
D2 absolute value is greater than preset second order threshold value two simultaneously, then is determined as low speed stall.
(C-1) occurs stall when motor is in high-speed cruising, the variation of voltage is then entirely different, due to being mechanical energy at this time
It is converted into electric energy, and the capacity of bus filter capacitor is limited, and the driver of conventional AC-DC-AC mode does not have energy and returns
Energy regenerative power, therefore can also be according to the variation of DC bus come the occurrence of judging stall.That is, if the revolving speed of motor is higher than
Preset motor high and low rotating speed cut off value, D1 are greater than 0, D1 absolute value and are greater than preset single order threshold value three, D2 greater than 0 while D2
Absolute value is greater than preset second order threshold value three, then is determined as high speed stall；The setting of the single order threshold value three and second order threshold value three
Principle are as follows: D1 is greater than 0, absolute value equal to preset single order threshold value three at that time and D2 is greater than 0, absolute value and is equal to second order threshold value three
When, motor status is still not up to the state that protection is jumped in alarm.
Each threshold value can determine reasonable value according to experimental result combination actual condition.
It was found that stall processing module reduces the fever wind of motor in such a way that staged reduces current of electric after stall
Danger.When processing, when there is low speed stall or high speed stall in motor, stall processing module improve first the input current of motor into
Row impact if motor is still in locked rotor condition after impact, then reduces motor hair in such a way that staged reduces current of electric
Hot wind danger.Method particularly includes:
(A-2) if motor is judged as starting stall, first the 1.2 of limiting motor input current to rated current times,
After for 3 seconds, 0.6 times of limiting motor input current to rated current, if also needing to continue, limiting motor input current is extremely
0.15 times of rated current.
(B-2) if motor is judged as low speed stall, the input current of raising motor first is impacted, if impact
Motor is still in locked rotor condition afterwards, then the 1.2 of limiting motor input current to rated current times, and after for 3 seconds, limiting motor is defeated
Enter electric current to 0.6 times of rated current, if also needing to continue, 0.15 times of limiting motor input current to rated current.
(C-2) if motor is judged as high speed stall, the input current of raising motor first is impacted, if impact
Motor is still in locked rotor condition afterwards, then the 1 of limiting motor input current to rated current times, after for 3 seconds, limiting motor input
Electric current is to 0.6 times of rated current.If also needing to continue, 0.15 times of limiting motor input current to rated current, it is ensured that
Motor will not be burnt.
For whether needing further persistently to limit the input current of motor, judgment criteria is: if in motor rotation blockage
Before processed, do not allow motor to run out of steam, otherwise can occurrence of equipment overturning or equipment situation out of control completely, need at this time
Motor is wanted to keep certain output torque as much as possible, it, can be further to protect motor since this is a kind of prolonged stall
Limiting motor input current is to 0.15 times of rated current.
The stall monitoring modular and stall processing module are attached on main control loop, and with higher should be opened
Dynamic priority, is preferably provided in main interruption.
Claims (6)
1. motor rotation blockage protects control method, it is characterised in that: stall is arranged in the primary control program of ac-dc-ac inverter driver
Monitoring modular and stall processing module；
The stall monitoring modular determines whether to occur stall according to the variation tendency of DC bus-bar voltage and judges the class of stall
Type；
It was found that stall processing module reduces the fever risk of motor in such a way that staged reduces current of electric after stall；
Real-time monitoring motor DC bus voltage value, and first derivative D1 and second order of the DC voltage relative to the time are calculated in real time
Derivative D2；
If motor, which is in startup stage, D1, is greater than preset single order threshold value one, D2 less than 0 while D2 less than 0, D1 absolute value
Absolute value is greater than preset second order threshold value one, then is judged to starting stall；
If the revolving speed of motor is greater than preset single order less than 0, D1 absolute value lower than preset motor high and low rotating speed cut off value, D1
Threshold value two, D2 are less than 0 while D2 absolute value is greater than preset second order threshold value two, then are determined as low speed stall；
If the revolving speed of motor is higher than preset motor high and low rotating speed cut off value, D1 is greater than 0, D1 absolute value and is greater than preset single order
Threshold value three, D2 are greater than 0, D2 absolute value is greater than preset second order threshold value three simultaneously, then are determined as high speed stall；The single order threshold value
Three and second order threshold value three setting principle are as follows: D1, which was greater than 0, absolute value and is equal to preset single order threshold value three and D2, at that time is greater than 0, absolutely
When being equal to second order threshold value three to value, motor status is still not up to the state that protection is jumped in alarm.
2. motor rotation blockage as described in claim 1 protects control method, it is characterised in that: when low speed stall or height occurs in motor
When fast stall, the input current that stall processing module improves motor first is impacted, if motor is still in stall after impact
State, then the risk that in such a way that staged reduces current of electric reduces that the motor feels hot.
3. motor rotation blockage as described in claim 1 protects control method, it is characterised in that: if motor is judged as starting and blocks up
Turn, first the 1.2 of limiting motor input current to rated current times, after for 3 seconds, limiting motor input current to rated current
0.6 times.
4. motor rotation blockage as described in claim 1 protects control method, it is characterised in that: if motor is judged as low speed and blocks up
Turn, the input current of raising motor first is impacted, if motor is still in locked rotor condition, limiting motor input after impact
Electric current is to 1.2 times of rated current, after for 3 seconds, 0.6 times of limiting motor input current to rated current.
5. motor rotation blockage as described in claim 1 protects control method, it is characterised in that: if motor is judged as high speed and blocks up
Turn, the input current of raising motor first is impacted, if motor is still in locked rotor condition, limiting motor input after impact
Electric current is to 1 times of rated current, after for 3 seconds, 0.6 times of limiting motor input current to rated current.
6. the motor rotation blockage as described in claim 3 to 5 is any protects control method, it is characterised in that: limiting motor input electricity
It flow to after 0.6 times of rated current, 0.15 times of further limiting motor input current to rated current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710649351.9A CN107240906B (en) | 2017-08-02 | 2017-08-02 | Motor rotation blockage protects control method |
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| CN201710649351.9A CN107240906B (en) | 2017-08-02 | 2017-08-02 | Motor rotation blockage protects control method |
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| CN107240906B true CN107240906B (en) | 2019-05-21 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031757B (en) * | 2019-03-22 | 2020-08-07 | 中国地质大学（武汉） | Method for rapidly detecting locked rotor of motor closed-loop system |
| CN110554317A (en) * | 2019-09-24 | 2019-12-10 | 格力电器（武汉）有限公司 | Motor locked-rotor experiment monitoring system, monitoring method and monitoring device thereof |
| CN112653093B (en) * | 2019-10-10 | 2023-09-01 | 惠州拓邦电气技术有限公司 | Method and device for preventing alternating current motor from being locked |
| CN110829948B (en) * | 2019-10-24 | 2021-06-22 | 中国第一汽车股份有限公司 | Locked-rotor protection method and device for motor system, vehicle and storage medium |
| CN112398375A (en) * | 2020-11-05 | 2021-02-23 | 中国航空工业集团公司西安航空计算技术研究所 | Permanent magnet synchronous motor control system and comprehensive protection method |
| CN112366656A (en) * | 2020-11-10 | 2021-02-12 | 珠海格力电器股份有限公司 | Motor control method and device, motor equipment and electric equipment |
| CN112737472B (en) * | 2020-12-29 | 2022-05-10 | 深圳贝特莱电子科技股份有限公司 | Method for preventing motor from stalling, motor and steering engine |
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Address after: 264006 No. 17 Fuzhou Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: EURA Drives Electric Co., Ltd. Address before: 264006, 11, the Yellow River Road, Yantai economic and Technological Development Zone, Shandong, China Patentee before: EURA Drives Electric Co., Ltd. |
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