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CN-114977905-B - Motor control method, apparatus and computer readable storage medium

CN114977905BCN 114977905 BCN114977905 BCN 114977905BCN-114977905-B

Abstract

The embodiment of the invention discloses a motor control method, a motor control device and a computer readable storage medium. The method comprises the steps of determining a speed given value, a speed actual value and an integral link output value of a frequency converter aiming at a speed control process of the motor, judging whether the motor is in a zero-speed running state or not based on the speed given value, the speed actual value and the integral link output value, and resetting the integral link output value when the motor is judged to be in the zero-speed running state. According to the embodiment of the invention, the accurate judgment of the zero-speed running state of the motor is realized, the essential reason that the motor still rotates in the zero-speed running state is determined, and the unexpected motor rotation in the zero-speed running state can be avoided by zero clearing the output value of the integration link.

Inventors

  • YANG ZHENJIANG
  • ZHOU CHAO
  • XU XUEYUAN

Assignees

  • 西门子（中国）有限公司

Dates

Publication Date
20260505
Application Date
20220613

Claims (16)

  1. 1. A motor control method (100), characterized by comprising: Determining a speed set value, a speed actual value and an integration link output value (101) of a frequency converter aiming at a speed control process of the motor; Judging whether the motor is in a zero-speed running state or not based on the speed given value, the speed actual value and the integration link output value (102); When the motor is judged to be in a zero-speed running state, the output value of the integration link is cleared (103), wherein, Said determining whether said motor is in a zero speed operating state (102) based on said speed setpoint, said speed actual value and said integration element output value comprises: And when the absolute value of the speed given value is smaller than a preset first threshold value, the absolute value of the speed actual value is smaller than a preset second threshold value and the absolute value of the integral link output value is smaller than a preset third threshold value, judging that the motor is in a zero-speed running state, wherein the first threshold value and the second threshold value are respectively related to the speed reference value of the motor, the third threshold value is related to the moment reference value of the motor, and the first quotient of dividing the first threshold value by the speed reference value of the motor and the second quotient of dividing the second threshold value by the speed reference value of the motor are respectively smaller than or equal to 0.01.
  2. 2. The motor control method (100) according to claim 1, wherein the first threshold value is a product of a% and the speed reference value, the second threshold value is a product of b% and the speed reference value, and the third threshold value is a product of c% and the torque reference value, wherein a has a value in the range of [0,0.04], B has a value in the range of [0,0.08], and C has a value in the range of [1,8].
  3. 3. The motor control method (100) according to claim 1 or 2, wherein the zeroing (103) the integration element output value comprises: and when the duration time of the motor in the zero-speed running state is greater than or equal to the preset delay time, resetting the output value of the integration link.
  4. 4. The motor control method according to claim 1 or 2, characterized in that the zeroing (103) of the integration element output value comprises: The speed controller enable command is disabled for a predetermined period of time by setting the inverter control word.
  5. 5. The motor control method (100) of claim 4, wherein the predetermined period of time is greater than one sampling period of the speed control process.
  6. 6. The motor control method (100) according to claim 4, wherein the zeroing (103) the integration element output value comprises: Generating a positive pulse signal with the duration of the preset time period based on a speed given value, a speed actual value and the integration link output value; turning over the positive pulse signal into a negative pulse signal; the undershoot signal is provided to a control bit in the inverter control word for enabling or disabling the speed controller enable command.
  7. 7. A motor control device (800), comprising: a determining module (801) configured to determine a speed setpoint of the motor, a speed actual value and an integration link output value of the frequency converter for a speed control process of the motor; a determining module (802) configured to determine whether the motor is in a zero-speed operating state based on the speed given value, the speed actual value, and the integration output value; a cancellation module (803) configured to zero the integration element output value when it is determined that the motor is in a zero speed operating state, wherein, The judging module (802) is configured to judge that the motor is in a zero-speed running state when the absolute value of the speed given value is smaller than a preset first threshold value, the absolute value of the speed actual value is smaller than a preset second threshold value and the absolute value of the integration link output value is smaller than a preset third threshold value, wherein the first threshold value and the second threshold value are respectively related to the speed reference value of the motor, the third threshold value is related to the moment reference value of the motor, and a first quotient of dividing the first threshold value by the speed reference value of the motor and a second quotient of dividing the second threshold value by the speed reference value of the motor are respectively smaller than or equal to 0.01.
  8. 8. The motor control device (800) of claim 7, wherein the first threshold value is a product of a% and the speed reference, the second threshold value is a product of b% and the speed reference, and the third threshold value is a product of c% and the torque reference, wherein a has a value in the range of [0,0.04], B has a value in the range of [0,0.08], and C has a value in the range of [1,8].
  9. 9. The motor control device (800) according to claim 7 or 8, wherein, The cancellation module (803) is configured to zero the integration element output value when the duration of the motor in the zero-speed operating state is greater than or equal to a predetermined delay time.
  10. 10. The motor control device (800) according to claim 7 or 8, wherein, The cancellation module (803) is configured to disable the speed controller enable command for a predetermined period of time by setting a frequency converter control word.
  11. 11. The motor control device (800) of claim 10, wherein the predetermined period of time is greater than one sampling period of the speed control process.
  12. 12. The motor control device (800) of claim 11 wherein, The cancellation module (803) is configured to generate a positive pulse signal with a duration of the predetermined period of time based on a speed set point value, a speed actual value and the integration link output value, flip the positive pulse signal into a negative pulse signal, and provide the negative pulse signal to a control bit in a frequency converter control word for enabling or disabling the speed controller enable command.
  13. 13. The motor control device (800) of claim 12, wherein the cancellation module (803) comprises: A first absolute value taking unit configured to output a first absolute value of a first quotient of the speed given value divided by a speed reference value of the motor; a second absolute value taking unit configured to output a second absolute value of a second quotient of the actual speed value divided by the speed reference value; a third absolute value taking unit configured to output a third absolute value of a third quotient of the integration element output value divided by the torque reference value of the motor; A first numerical comparator unit configured to output a first logic value having a first absolute value smaller than a first threshold value; A second value comparator unit configured to output a second logic value having a second absolute value smaller than a second threshold value; a second value comparator unit configured to output a third logic value having a third absolute value smaller than a third threshold value; An AND gate logic circuit for performing a logical AND operation on the first logical value, the second logical value and the third logical value to generate a logical AND operation result; The power-on delay timer is used for filtering the logical AND operation result in delay time; A positive pulse generator for generating a positive pulse signal of a predetermined period of time based on the filtered logical AND operation result; And a converter for converting the positive pulse signal into the negative pulse signal, wherein the negative pulse signal is provided to the control bit.
  14. 14. A motor control device (900), comprising: a memory (901) configured to store computer readable code; A processor (902) configured to invoke the computer readable code to perform the motor control method (100) of any of claims 1-6.
  15. 15. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer readable instructions, which when executed by a processor, cause the processor to execute the motor control method (100) according to any one of claims 1 to 6.
  16. 16. Computer program product, characterized in that it is tangibly stored on a computer-readable storage medium and comprises computer-readable instructions, which, when executed, cause a processor to perform the motor control method (100) according to any one of claims 1-6.

Description

Motor control method, apparatus and computer readable storage medium Technical Field The embodiment of the invention relates to the technical field of motors, in particular to a motor control method, a motor control device and a computer readable storage medium. Background Motor control refers to control of starting, accelerating, running, decelerating, and stopping the motor. According to the types of different motors and the use occasions of the motors, the motor control has different requirements and purposes. The motor is controlled to achieve the purposes of quick start, quick response, high efficiency, high torque output and high overload capacity. There are times when the motor is required to run at zero speed, either an ac speed governor or a dc speed governor. To fulfill this need, two motor control methods are currently generally employed. In the first method, the frequency converter directly gives a stopping command (ON/OFF 1=0), the motor in operation is decelerated to zero along a deceleration slope along with the arrival of a falling edge of the command, and then the frequency converter removes a trigger pulse, so that the motor is not controlled any more. In method two, the operating command of the frequency converter is kept unchanged (ON/OFF 1=1), but the speed set point is set to zero, and the motor in operation is decelerated to zero along the deceleration ramp as well. Disclosure of Invention Embodiments of the present invention provide a motor control method, apparatus, and computer-readable storage medium. In a first aspect, an embodiment of the present invention provides a motor control method, including: determining a speed set value, a speed actual value and an integral link output value of a frequency converter aiming at a speed control process of the motor; judging whether the motor is in a zero-speed running state or not based on the speed given value, the speed actual value and the integral link output value; and when the motor is judged to be in a zero-speed running state, resetting the output value of the integration link. Therefore, the embodiment of the invention can accurately judge whether the motor is in a zero-speed running state or not based on the speed given value, the speed actual value and the integral link output value. In addition, the embodiment of the invention determines the essential reason that the motor still rotates slowly in the zero-speed running state, and can separate from the unexpected motor rotation in the zero-speed running state by clearing the output value of the integral link. In an exemplary embodiment, the determining whether the motor is in a zero-speed running state based on the speed given value, the speed actual value, and the integration output value includes: And when the absolute value of the speed given value is smaller than a preset first threshold value, the absolute value of the speed actual value is smaller than a preset second threshold value and the absolute value of the integral link output value is smaller than a preset third threshold value, judging that the motor is in a zero-speed running state, wherein the first threshold value and the second threshold value are respectively related to the speed reference value of the motor, the third threshold value is related to the moment reference value of the motor, and the first quotient of dividing the first threshold value by the speed reference value of the motor and the second quotient of dividing the second threshold value by the speed reference value of the motor are respectively smaller than or equal to 0.01. Therefore, the embodiment of the invention can accurately determine whether the motor is in a zero-speed running state based on a threshold value judging mode. In an exemplary embodiment, the first threshold value is the product of A% and the speed reference value, the second threshold value is the product of B% and the speed reference value, and the third threshold value is the product of C% and the torque reference value, wherein the value range of A is [0,0.04], the value range of B is [0,0.08], and the value range of C is [1,8]. It can be seen that the preferred value intervals for each threshold value are presented in the embodiments of the present invention. In an exemplary embodiment, the zeroing the integration section output value includes: and when the duration time of the motor in the zero-speed running state is greater than or equal to the preset delay time, resetting the output value of the integration link. It can be seen that by comparing the durations of the zero speed operating conditions, the embodiments of the present invention can avoid erroneous condition decisions. In an exemplary embodiment, the zeroing the integration element output value includes: The speed controller enable command is disabled for a predetermined period of time by setting the inverter control word. Therefore, the embodiment of the invention realizes quick control by setting the con