CN108458812A - The acquisition methods and acquisition device of motor winding temperature - Google Patents

Abstract

The invention discloses a method for acquiring the winding temperature of a motor. The acquisition method includes: calculating the heating coefficient and cooling coefficient according to the system sampling time; calculating the heating temperature according to the heating coefficient; calculating the cooling temperature according to the cooling coefficient; winding temperature. In addition, the invention also discloses an acquisition device. The obtaining method and device of the present invention obtain the motor temperature by measuring the voltage, rotational speed and ambient temperature. Since the above parameters can be obtained conveniently, errors in obtaining the motor temperature and the influence of external factors can be reduced. On the other hand, the heating coefficient and cooling coefficient in the present invention are only related to the inherent properties of the motor and the system sampling time, and have nothing to do with the running state of the motor, so when the running state of the motor changes, it is not necessary to re-obtain the heating coefficient and cooling coefficient .

Description

Method and device for obtaining motor winding temperature

technical field

The invention relates to the field of motor temperature measurement, in particular to a method and device for obtaining the temperature of a motor winding.

Background technique

In the related art, the motor temperature is generally measured by a sensor. For example, use a contact or non-contact temperature sensor to measure. When using a contact temperature sensor to measure, the temperature sensor is generally set on the winding of the motor. It is easy to cause poor contact between the sensor and the motor due to the rotation of the motor. Large motor temperature acquisition error; when using a non-contact temperature sensor, the non-contact temperature sensor is easily affected by external factors, such as light, which increases the error of motor temperature acquisition.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the related art. To this end, embodiments of the present invention provide a method and device for obtaining the temperature of a motor winding.

A method for obtaining the temperature of a motor winding in an embodiment of the present invention comprises the following steps:

Obtain the winding temperature of the motor at the previous moment, the motor speed at the current moment, the supply voltage at the current moment, the ambient temperature at the current moment, and the system sampling time;

Calculate the heating coefficient and cooling coefficient of the motor winding according to the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C and the system sampling time, and the temperature rising coefficient is positively correlated with the system sampling time , is negatively correlated with the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C, the cooling coefficient is positively correlated with the system sampling time and the surface heat dissipation coefficient, and is related to the specific heat capacity and Negative correlation with quality;

Calculate the temperature rise temperature by using the motor speed, the power supply voltage, the winding temperature at the previous moment and the temperature rise coefficient;

calculating the cooling temperature by using the winding temperature at the previous moment, the ambient temperature and the cooling coefficient; and

The winding temperature of the motor at the current moment is calculated according to the winding temperature at the previous moment, the heating temperature and the cooling temperature.

In some embodiments, the temperature rise coefficient is calculated by the following first formula: The cooling coefficient is calculated by the following second formula: Wherein, _R0 is the internal resistance value of the motor at 0°C, c is the specific heat capacity of the motor, m is the mass of the motor, μ is the surface heat dissipation coefficient of the motor, and Δt is the sampling rate of the system time.

In some embodiments, the step of calculating the temperature rise coefficient and temperature drop coefficient of the motor winding according to the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C and the system sampling time includes the following steps step:

Obtain the model of the motor;

Finding the internal resistance value corresponding to the model, the preset system sampling time, the preset heating coefficient and the preset cooling coefficient in a preset database;

Calculate the product of the specific heat capacity and the mass according to the internal resistance value, the preset system sampling time, the preset temperature rise coefficient, the preset temperature drop coefficient, the first formula and the second formula and said surface heat dissipation coefficient; and

The temperature rise coefficient and the temperature drop coefficient are calculated according to the system sampling time, the first formula and the second formula.

In some embodiments, the heating temperature is calculated according to the following third formula: T _heating =(UK _t ω) ² (1+0.00426T _i-1 )C _heating , and the cooling temperature is calculated according to the following fourth formula Obtained: T _cooling =(T _i-1 -T _e )C _cooling , where T _heating is the temperature rise, U is the supply voltage, K _t is the torque coefficient, ω is the motor speed, T _i-1 is the winding temperature at the previous moment, C _heating is the heating coefficient, T _cooling is the cooling temperature, _Te is the ambient temperature, and C _cooling is the cooling coefficient.

In some embodiments, the step of calculating the winding temperature of the motor at the current moment according to the winding temperature at the previous moment, the heating temperature and the cooling temperature includes the following steps:

The temperature obtained by adding the temperature of the winding at the previous moment to the temperature of the heating up minus the temperature of cooling down is taken as the winding temperature of the current moment.

In some embodiments, the step of calculating the winding temperature of the motor at the current moment according to the winding temperature at the previous moment, the heating temperature and the cooling temperature includes the following steps:

judging whether the motor is in a running state;

When the motor is in a running state, the sum of the winding temperature at the previous moment and the temperature rise is taken as the winding temperature at the current moment; and

When the motor is in a stopped state, the difference between the winding temperature at the previous moment and the cooling temperature is taken as the winding temperature at the current moment.

A motor winding temperature acquisition device according to an embodiment of the present invention includes an acquisition module, a first calculation module, a second calculation module, a third calculation module and a fourth calculation module.

The acquiring module is used to acquire the winding temperature of the motor at a previous moment, the motor speed at the current moment, the supply voltage at the present moment, the ambient temperature at the present moment and the system sampling time.

The first calculation module is used to calculate the temperature rise coefficient and temperature drop coefficient of the motor winding according to the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C, and the system sampling time, and the temperature rise coefficient It is positively correlated with the sampling time of the system, negatively correlated with the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C, and the cooling coefficient is positively correlated with the system sampling time and the surface heat dissipation coefficient , is negatively related to the specific heat capacity and mass of the motor.

The second calculating module is used to calculate and obtain the heating temperature by using the motor speed, the supply voltage, the winding temperature at the previous moment and the heating coefficient.

The third calculating module is used to calculate the cooling temperature by using the winding temperature at the previous moment, the ambient temperature and the cooling coefficient.

The fourth calculating module is used to calculate the winding temperature of the motor at the current moment according to the winding temperature at the previous moment, the heating temperature and the cooling temperature.

In some embodiments, the temperature rise coefficient is calculated by the following first formula: The cooling coefficient is calculated by the following second formula: Wherein, _R0 is the internal resistance value of the motor at 0°C, c is the specific heat capacity of the motor, m is the mass of the motor, μ is the surface heat dissipation coefficient of the motor, and Δt is the sampling rate of the system time.

In some implementations, the first calculation module includes an acquisition unit, a search unit, a first calculation unit and a second calculation unit.

The acquisition unit is used to acquire the model of the motor.

The search unit is used to search the internal resistance value corresponding to the model, the preset system sampling time, the preset temperature rise coefficient and the preset temperature drop coefficient in a preset database.

The first calculating unit is used to calculate the set value according to the internal resistance value, the preset system sampling time, the preset heating coefficient, the preset cooling coefficient, the first formula and the second formula The product of the specific heat capacity and the mass and the surface heat dissipation coefficient.

The second calculation unit is configured to calculate the temperature rise coefficient and the temperature drop coefficient according to the system sampling time, the first formula and the second formula.

In some embodiments, the heating temperature is calculated according to the following third formula: T _heating =(UK _t ω) ² (1+0.00426T _i-1 )C _heating , and the cooling temperature is calculated according to the following fourth formula Obtained: T _cooling =(T _i-1 -T _e )C _cooling , where T _heating is the temperature rise, U is the supply voltage, K _t is the torque coefficient, ω is the motor speed, T _i-1 is the winding temperature at the previous moment, C _heating is the heating coefficient, T _cooling is the cooling temperature, _Te is the ambient temperature, and C _cooling is the cooling coefficient.

In some implementations, the fourth calculating module is used to use the winding temperature at the previous moment plus the heating temperature minus the cooling temperature as the winding temperature at the current moment.

In some embodiments, the fourth calculation module includes a judging unit and a third calculation unit.

The judging unit is used for judging whether the motor is in a running state.

The third calculation unit is configured to use the sum of the winding temperature at the previous moment and the heating temperature as the winding temperature at the current moment when the motor is in a running state.

The third calculation unit is configured to use the difference between the winding temperature at the previous moment and the cooling temperature as the winding temperature at the current moment when the motor is in a stopped state.

The acquisition method and acquisition device in the embodiments of the present invention acquire the motor temperature by measuring the voltage, rotational speed and ambient temperature. Since the above parameters can be acquired conveniently, errors in acquiring the motor temperature and the influence of external factors can be reduced.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

FIG. 1 is a schematic flow chart of a method for obtaining a motor winding temperature according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a motor winding temperature acquisition device and a functional module of the motor according to an embodiment of the present invention.

Fig. 3 is another schematic flow chart of the method for obtaining the winding temperature of the motor according to the embodiment of the present invention.

Fig. 4 is a schematic diagram of the functional modules of the first calculation module according to the embodiment of the present invention.

Fig. 5 is another schematic flow chart of the method for obtaining the temperature of the motor winding according to the embodiment of the present invention.

Fig. 6 is another schematic flow chart of the method for obtaining the temperature of the motor winding in the embodiment of the present invention.

Fig. 7 is a schematic diagram of another functional module of the motor winding temperature acquisition device and the motor according to the embodiment of the present invention.

Description of main component symbols:

Acquisition device 10, acquisition module 11, first calculation module 13, acquisition unit 132, search unit 134, first calculation unit 136, second calculation unit 138, second calculation module 15, third calculation module 17, fourth calculation module 19. A judgment unit 194 , a third calculation unit 196 , a motor 20 , and a winding 21 .

Detailed ways

Embodiments of the present invention are described in detail below, embodiments of which are illustrated in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

Referring to Fig. 1, the method for obtaining the temperature of the motor winding in the embodiment of the present invention includes the following steps:

S11: Obtain the winding temperature of the motor at the previous moment, the motor speed at the current moment, the power supply voltage at the current moment, the ambient temperature at the current moment, and the system sampling time;

S13: Calculate the temperature rise coefficient and cooling coefficient of the motor winding according to the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C, and the system sampling time. Internal resistance, surface heat dissipation coefficient, specific heat capacity and mass are negatively correlated, cooling coefficient is positively correlated with system sampling time and surface heat dissipation coefficient, and negatively correlated with motor specific heat capacity and mass;

S15: calculate the heating temperature by using the motor speed, the supply voltage, the winding temperature at the previous moment and the heating coefficient;

S17: Calculate the cooling temperature by using the winding temperature, the ambient temperature and the cooling coefficient at the previous moment; and

S19: Calculate and obtain the winding temperature of the motor at the current moment according to the winding temperature at the previous moment, the heating temperature and the cooling temperature.

Please refer to FIG. 2 , the motor winding temperature acquisition device 10 according to the embodiment of the present invention includes an acquisition module 11 , a first calculation module 13 , a second calculation module 15 , a third calculation module 17 and a fourth calculation module 19 . The acquiring module 11 is used to acquire the winding temperature of the motor at the previous moment, the motor speed at the present moment, the supply voltage at the present moment, the ambient temperature at the present moment and the system sampling time. The first calculation module 13 is used to calculate the temperature rise coefficient and temperature drop coefficient of the motor winding according to the internal resistance value, surface heat dissipation coefficient, specific heat capacity and mass of the motor at 0°C, and the system sampling time. At 0°C, the internal resistance, surface heat dissipation coefficient, specific heat capacity and mass are negatively correlated, the cooling coefficient is positively correlated with system sampling time and surface heat dissipation coefficient, and negatively correlated with the specific heat capacity and mass of the motor. The second calculating module 15 is used to calculate the heating temperature by using the motor speed, the power supply voltage, the winding temperature at the previous moment and the heating coefficient. The third calculation module 17 is used to calculate the cooling temperature by using the winding temperature, the ambient temperature and the cooling coefficient at the previous moment. The fourth calculation module 19 is used to calculate the winding temperature of the motor at the current moment according to the winding temperature at the previous moment, the heating temperature and the cooling temperature.

That is to say, the acquisition method of the embodiment of the present invention can be implemented by the acquisition device 10 of the embodiment of the present invention, wherein, step S11 can be implemented by the acquisition module 11, step S13 can be implemented by the first calculation module 13, and step S15 can be implemented by the second The second calculation module 15 is implemented, step S17 can be implemented by the third calculation module 17 , and step S19 can be implemented by the fourth calculation module 19 .

The acquisition method and the acquisition device 10 of the embodiment of the present invention acquire the motor temperature by measuring the voltage, rotational speed and ambient temperature. Since the above parameters can be acquired conveniently, errors in acquiring the motor temperature and the influence of external factors can be reduced.

Further, the temperature rise coefficient and temperature drop coefficient in the embodiment of the present invention are only related to the inherent properties of the motor 20 and the system sampling time, and have nothing to do with whether the motor is running or not, so when the motor running state changes, it is not necessary to re-acquire the temperature rise coefficient and cooling coefficient, thus simplifying the steps of obtaining the method.

Specifically, in some embodiments, the inherent properties of the motor 20 may refer to properties that the motor 20 has regardless of whether it is running or stopped, such as the internal resistance, mass, specific heat capacity, surface heat dissipation coefficient, and torque coefficient of the motor 20 . The system sampling time can be the sampling period for obtaining the motor temperature. For example, the system sampling time is 1 second, which means that the motor temperature is obtained every second; the current moment refers to the corresponding time point at which the motor temperature is to be obtained; the previous moment refers to the The time point of the previous system sampling at the current moment.

It can be understood that the motor 20 includes a winding 21, and since the temperature of the motor 20 is mainly reflected on the winding 21, the temperature of the winding in the embodiment of the present invention can be regarded as the temperature of the motor. When acquiring the motor temperature for the first time, the ambient temperature of the motor 20 may be taken as the winding temperature at the previous moment, that is, the motor temperature at the previous moment. In addition, the motor speed can be obtained by relevant sensors on the motor 20, such as Hall sensors; the supply voltage can be obtained by measuring relevant characteristics of the circuit; the ambient temperature can also be obtained by relevant sensors on the motor 20, such as temperature sensors.

In some embodiments, the temperature rise coefficient is calculated by the following first formula: The cooling coefficient is calculated by the second formula below: Among them, R ₀ is the internal resistance value of the motor 20 at 0°C, c is the specific heat capacity of the motor 20, m is the mass of the motor 20, μ is the surface heat dissipation coefficient of the motor 20, and Δt is the system sampling time.

In this way, the heating coefficient and cooling coefficient can be calculated according to the first formula and the second formula.

Referring to Fig. 3, in some embodiments, step S13 includes the following steps:

S132: Obtain the model of the motor 20;

S134: Find the internal resistance value corresponding to the model, the preset system sampling time, the preset heating coefficient and the preset cooling coefficient in the preset database;

S136: Calculate the product of the specific heat capacity and the mass and the surface heat dissipation coefficient according to the internal resistance value, the preset system sampling time, the preset temperature rise coefficient, the preset temperature drop coefficient, the first formula and the second formula; and

S138: Calculate the heating coefficient and the cooling coefficient according to the system sampling time, the first formula and the second formula.

Referring to FIG. 4 , in some implementations, the first calculation module 13 includes an acquisition unit 132 , a search unit 134 , a first calculation unit 136 and a second calculation unit 138 .

The acquiring unit 132 is used to acquire the model of the motor 20 . The search unit 134 is used to search the internal resistance value corresponding to the model, the preset system sampling time, the preset temperature rise coefficient and the preset temperature drop coefficient in the preset database. The first calculation unit 136 is used to calculate the product of specific heat capacity and mass and surface heat dissipation coefficient according to internal resistance value, preset system sampling time, preset temperature rise coefficient, preset temperature drop coefficient, first formula and second formula. The second calculation unit 138 is used for calculating the temperature rise coefficient and the temperature drop coefficient according to the system sampling time, the first formula and the second formula.

That is to say, step S132 can be implemented by the acquisition unit 132 , step S134 can be implemented by the search unit 134 , step S136 can be implemented by the first calculation unit 136 , and step S138 can be implemented by the second calculation unit 138 .

In this way, the heating coefficient and cooling coefficient can be directly calculated according to the system sampling time.

Specifically, before the motor 20 leaves the factory or runs, the preset heating coefficient and the preset cooling coefficient can be calibrated through experiments according to the preset system sampling time. For example, the preset system sampling time △t' can be determined by empirical values. After the preset system sampling time △t' is determined, in the experiment, the temperature of the motor is raised to a certain temperature and then the cooling experiment is carried out. According to the preset system sampling time Use the temperature sensor to measure the winding temperature T _i-1 ′ at the previous moment, the winding temperature _{T i} ′ at the current moment and the ambient temperature T _e ′, according to the formula T _i ′=T _i-1 ′-(T _i-1 ′- T _e ′)C _cooling ′, so that the preset cooling coefficient C _cooling ′ can be obtained. When the motor temperature is obtained for the first time, T _i-1 ′ is the ambient temperature.

On the other hand, after the above-mentioned cooling experiment, the heating experiment is carried out, and the winding temperature T _i-1 ′ at the previous moment, the winding temperature T _i ′ at the current moment and the ambient temperature are measured according to the preset system sampling time △t′ and using the temperature sensor T _e ′, then according to T _i ′=T _i-1 ′+(UK _t ω) ² (1+0.00426T _i-1 ′)C _heating ′-(T _i-1 ′-T _e ′)C _cooling ′, by substituting the power supply voltage U, motor speed ω and preset cooling coefficient C _cooling ′ obtained in the experiment into the formula, the torque coefficient K _t and the preset heating coefficient C _heating ′ can be calculated.

Then, cm and μ are calculated according to the internal resistance value R ₀ , the preset system sampling time Δt′, the preset heating coefficient C _heating ′, the preset cooling coefficient C _cooling ′, the first formula and the second formula.

When the motor is in normal use, the obtained system sampling time Δt, cm and μ are substituted into the first formula and the second formula to calculate the corresponding heating coefficient C _heating and cooling coefficient C _cooling .

In some embodiments, some inherent properties of the motor 20, such as the product cm of the specific heat capacity and mass and the surface heat dissipation coefficient μ, cannot be obtained directly, and the product cm of the specific heat capacity and mass and the surface heat dissipation coefficient μ can be calculated through the above experiments, Therefore, when the model of the motor 20 is determined, the heating coefficient C _heating and the cooling coefficient C _cooling can be directly calculated through the system sampling time Δt.

In some embodiments, the inherent properties of the motor 20, such as the product cm of the specific heat capacity and the mass and the surface heat dissipation coefficient μ, are known, then the relevant parameters can be directly substituted into the first formula and the second formula to obtain the temperature rise coefficient and cooling coefficient.

In some embodiments, the heating temperature is calculated according to the following third formula: T _heating =(UK _t ω) ² (1+0.00426T _i-1 )C _heating , and the cooling temperature is calculated according to the following fourth formula: T _cooling ＝(T _i-1 -T _e )C _cooling , where T _heating is the heating temperature, U is the supply voltage, K _t is the torque coefficient, ω is the motor speed, T _i-1 is the winding temperature at the previous moment, C _heating is the heating coefficient, T _cooling is the cooling temperature, T _e is the ambient temperature, and C _cooling is the cooling coefficient.

In this way, the heating temperature and cooling temperature can be calculated according to the third formula and the fourth formula.

It can be understood that the cooling temperature is related to the difference between the winding temperature and the ambient temperature at the previous moment. The larger the difference, the greater the heat exchange between the motor 20 and the environment, and the faster the temperature of the motor will drop. On the other hand, the heating temperature is related to the power supply voltage, torque coefficient, motor speed, winding temperature at the previous moment, and the heating coefficient.

Please refer to Fig. 5, in some embodiments, step S19 includes the following steps:

S192: Take the winding temperature at the previous moment plus the heating temperature minus the cooling temperature as the winding temperature at the current moment.

In some embodiments, the fourth calculating module 19 is used to use the winding temperature at the previous moment plus the heating temperature minus the cooling temperature as the winding temperature at the current moment.

That is to say, step S192 can be implemented by the fourth computing module 19 .

In this way, the winding temperature at the current moment, that is, the temperature of the motor, can be truly and accurately calculated according to the actual situation.

Referring to Fig. 6, in some embodiments, step S19 includes the following steps:

S194: judging whether the motor 20 is in a running state;

S196: When the motor 20 is in the running state, use the sum of the winding temperature at the previous moment and the heating temperature as the winding temperature at the current moment; and

S198: When the motor 20 is in a stopped state, use the difference between the winding temperature at the previous moment and the cooling temperature as the winding temperature at the current moment.

Referring to FIG. 7 , in some implementations, the fourth calculating module 19 includes a judging unit 194 and a third calculating unit 196 .

The judging unit 194 is used for judging whether the motor 20 is in a running state. The third calculation unit 196 is used to take the sum of the winding temperature and the temperature rise temperature at the previous moment as the winding temperature at the current moment when the motor 20 is in the running state, and to use the sum value of the winding temperature at the previous moment when the motor 20 is in the stopped state. The difference between the winding temperature and the cooling temperature is taken as the winding temperature at the current moment.

That is to say, step S194 can be realized by the judging unit 194 , and step S196 and step S198 can be realized by the third calculating unit 196 .

In this way, the process of obtaining the temperature of the motor can be simplified according to the running state of the motor 20 .

It can be understood that during the operation of the motor 20, the temperature of the motor rises at this time, and the heating temperature of the motor 20 is far greater than the cooling temperature of the motor 20, so the cooling temperature of the motor 20 can be ignored, and the winding temperature at the previous moment plus the heating temperature can be used. The winding temperature at the current moment can be obtained. When the motor 20 stops, the heating temperature of the motor 20 is zero, and the temperature of the motor drops at this moment, and the winding temperature at the current moment can be obtained by subtracting the cooling temperature from the winding temperature at the previous moment.

In the description of the embodiments of the invention, the terms "first" and "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a It is a detachable connection, or an integral connection; it can be mechanically connected, it can be electrically connected, or it can communicate with each other; it can be directly connected or indirectly connected through an intermediary, and it can be internal communication between two components or two components interaction relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

In the description of this specification, reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific examples" or "some examples" etc. Specific features, structures, materials, or features described in an embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flowcharts or otherwise described herein may be understood to represent modules, segments or portions of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention belong.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processing modules, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment used. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the program can be read, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable processing if necessary. The program is processed electronically and stored in computer memory.

It should be understood that each part of the embodiments of the present invention may be implemented by hardware, software, firmware or a combination thereof. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the above-mentioned implementation method can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method implementation is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

Although the embodiment of the present invention has been shown and described above, it can be understood that the above embodiment is exemplary and should not be construed as a limitation of the present invention, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (12)

1. a kind of acquisition methods of motor winding temperature, which is characterized in that include the following steps：

Obtain the winding temperature of the previous moment of the motor, the motor speed at current time, the supply voltage at current time, when The environment temperature at preceding moment and systematic sampling time；

According to internal resistance value, surface coefficient of heat transfer, specific heat capacity and quality and systematic sampling time meter of the motor at 0 DEG C The heating coefficient and coefficient of temperature drop of the machine winding, the heating coefficient and the systematic sampling time positive correlation are calculated, with institute It is negatively correlated to state internal resistance value, surface coefficient of heat transfer, specific heat capacity and quality of the motor at 0 DEG C, the coefficient of temperature drop and the system Sampling time and the surface coefficient of heat transfer positive correlation, it is negatively correlated with the specific heat capacity and quality of the motor；

It is calculated using the motor speed, the supply voltage, the winding temperature of the previous moment and the heating coefficient To warming temperature；

Cooling temperature is calculated using the winding temperature of the previous moment, the environment temperature and the coefficient of temperature drop；With

Working as the motor is obtained according to the winding temperature of the previous moment, the warming temperature and the cooling temperature computation The winding temperature at preceding moment.

2. acquisition methods as described in claim 1, which is characterized in that the heating coefficient is public by following first Formula calculates gained：The coefficient of temperature drop calculates gained by following second formula：Wherein, R₀The internal resistance value for being the motor at 0 DEG C, c is the specific heat capacity of the motor, m For the quality of the motor, μ is the surface coefficient of heat transfer of the motor, and △ t are the systematic sampling time.

3. acquisition methods as claimed in claim 2, which is characterized in that internal resistance value, the table according to the motor at 0 DEG C Face coefficient of heat transfer, specific heat capacity and quality and the systematic sampling time calculate the heating coefficient and coefficient of temperature drop of the machine winding The step of include the following steps：

Obtain the model of the motor；

The internal resistance value corresponding with the model, predetermined system sampling time, default heating system are searched in the preset database Several and default coefficient of temperature drop；

According to the internal resistance value, the predetermined system sampling time, the default heating coefficient, the default coefficient of temperature drop, institute It states the first formula and second formula calculates the product of the specific heat capacity and the quality and the surface coefficient of heat transfer；With

The heating coefficient and the cooling are calculated according to the systematic sampling time, first formula and second formula Coefficient.

4. acquisition methods as described in claim 1, which is characterized in that the warming temperature calculates institute according to following third formula ：T_heating=(U-K_tω)²(1+0.00426T_i-1)C_heating, the cooling temperature is according to following 4th formula calculating gained： T_cooling=(T_i-1-T_e)C_cooling, wherein T_heatingFor the warming temperature, U is the supply voltage, K_tFor torque coefficient, ω For the motor speed, T_i-1For the winding temperature of the previous moment, C_heatingFor the heating coefficient, T_coolingFor the drop Temperature, T_eFor the environment temperature, C_coolingFor the coefficient of temperature drop.

5. acquisition methods as described in claim 1, which is characterized in that the winding temperature according to the previous moment, institute The step of stating warming temperature and the winding temperature at cooling temperature computation current time for obtaining the motor includes following step Suddenly：

Using the winding temperature of the previous moment plus the warming temperature subtract it is described cooling temperature after temperature as described in The winding temperature at current time.

6. acquisition methods as described in claim 1, which is characterized in that the winding temperature according to the previous moment, institute The step of stating warming temperature and the winding temperature at cooling temperature computation current time for obtaining the motor includes following step Suddenly：

Judge whether the motor is in operating status；

When the motor is in operating status, by the winding temperature of the previous moment and the warming temperature and be worth conduct The winding temperature at the current time；With

When the motor is in halted state, using the winding temperature of the previous moment with it is described cooling temperature difference as The winding temperature at the current time.

7. a kind of acquisition device of motor winding temperature, which is characterized in that including：

Acquisition module, the acquisition module are used to obtain winding temperature, the motor at current time of the previous moment of the motor Rotating speed, the supply voltage at current time, the environment temperature at current time and systematic sampling time；

First computing module, first computing module are used for internal resistance value according to the motor at 0 DEG C, surface radiating system Number, specific heat capacity and quality and the systematic sampling time calculate the heating coefficient and coefficient of temperature drop of the machine winding, the liter Warm coefficient and the systematic sampling time positive correlation, with internal resistance value of the motor at 0 DEG C, surface coefficient of heat transfer, specific heat capacity With quality negative correlation, the coefficient of temperature drop and the systematic sampling time and the surface coefficient of heat transfer positive correlation, with the electricity The specific heat capacity and quality of machine are negatively correlated；

Second computing module, second computing module be used for using the motor speed, the supply voltage, it is described previous when Warming temperature is calculated in the winding temperature at quarter and the heating coefficient；

Third computing module, the third computing module are used for the winding temperature using the previous moment, the environment temperature Cooling temperature is calculated with the coefficient of temperature drop；With

4th computing module, the 4th computing module is for winding temperature, the warming temperature according to the previous moment The winding temperature at the current time of the motor is obtained with the cooling temperature computation.

8. acquisition device as claimed in claim 7, which is characterized in that the heating coefficient is by following first Formula calculates gained：The coefficient of temperature drop calculates gained by following second formula：Wherein, R₀The internal resistance value for being the motor at 0 DEG C, c is the specific heat capacity of the motor, m For the quality of the motor, μ is the surface coefficient of heat transfer of the motor, and △ t are the systematic sampling time.

9. acquisition device as claimed in claim 8, which is characterized in that first computing module includes：

Acquiring unit, the acquiring unit are used to obtain the model of the motor；

Searching unit, the searching unit for searching corresponding with the model internal resistance value, in advance in the preset database If systematic sampling time, default heating coefficient and default coefficient of temperature drop；

First computing unit, first computing unit are used for according to the internal resistance value, the predetermined system sampling time, described Default heating coefficient, the default coefficient of temperature drop, first formula and second formula calculate the specific heat capacity and described The product of quality and the surface coefficient of heat transfer；With

Second computing unit, second computing unit are used for according to the systematic sampling time, first formula and described Second formula calculates the heating coefficient and the coefficient of temperature drop.

10. acquisition device as claimed in claim 7, which is characterized in that the warming temperature is calculated according to following third formula Gained：T_heating=(U-K_tω)²(1+0.00426T_i-1)C_heating, the cooling temperature is according to following 4th formula calculating institute ：T_cooling=(T_i-1-T_e)C_cooling, wherein T_heatingFor the warming temperature, U is the supply voltage, K_tFor torque system Number, ω are the motor speed, T_i-1For the winding temperature of the previous moment, C_heatingFor the heating coefficient T_coolingFor institute State cooling temperature, T_eFor the environment temperature, C_coolingFor the coefficient of temperature drop.

11. acquisition device as claimed in claim 7, which is characterized in that the 4th computing module for will be described previous when The winding temperature at quarter subtracts winding temperature of the temperature as the current time after the cooling temperature plus the warming temperature Degree.

12. acquisition device as claimed in claim 7, which is characterized in that the 4th computing module includes：

Judging unit, the judging unit is for judging whether the motor is in operating status；

Third computing unit, the third computing unit is used for when the motor is in operating status, by the previous moment Winding temperature and the warming temperature and winding temperature that value is as the current time；With

For when the motor is in halted state, by the difference of the winding temperature of the previous moment and the cooling temperature Winding temperature as the current time.