CN108693436B - Detection method and detection system for phase sequence of power line wiring of permanent magnet synchronous motor - Google Patents

Detection method and detection system for phase sequence of power line wiring of permanent magnet synchronous motor Download PDF

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CN108693436B
CN108693436B CN201710242064.6A CN201710242064A CN108693436B CN 108693436 B CN108693436 B CN 108693436B CN 201710242064 A CN201710242064 A CN 201710242064A CN 108693436 B CN108693436 B CN 108693436B
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phase
power line
motor
phase sequence
sequence
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CN108693436A (en
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纪秉男
郑维
韩光辉
张振宁
王志中
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Yutong Bus Co Ltd
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Zhengzhou Yutong Bus Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/72—Testing of electric windings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/18—Indicating phase sequence; Indicating synchronism

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Abstract

The invention relates to a phase sequence detection method and a detection system for the wiring of a power line of a permanent magnet synchronous motor, which comprises the steps of firstly detecting the position of a motor rotor and the relative positions of the motor rotor and any two phases of motor power lines connected with the power line of a controller respectively; and then whether the wiring phase sequence of the power line of the motor is correct is obtained according to actually detected related data by utilizing the corresponding relation between the data and the wiring phase sequence. The detection method only needs to detect a plurality of parameters and can judge the phase sequence according to the corresponding relation, the detection method is simple in process and high in efficiency, and a specific phase sequence error mode can be identified in a motor static state.

Description

Detection method and detection system for phase sequence of power line wiring of permanent magnet synchronous motor
Technical Field
The invention relates to a phase sequence detection method and a phase sequence detection system for a power line wiring of a permanent magnet synchronous motor, and belongs to the technical field of phase sequence detection of permanent magnet synchronous motors.
Background
The new energy passenger car can effectively reduce carbon emission, and is popularized in China on a large scale along with the improvement of science and technology and the enhancement of environmental protection pressure. The motor system is one of three electricity of new forms of energy passenger train, belongs to new forms of energy passenger train core spare part. The permanent magnet synchronous motor has the important characteristics that main inductances of a direct axis and a quadrature axis are unequal, has the advantages of small volume, light weight, high efficiency, good torque control performance and the like, and is an ideal motor type of a new energy bus. Unless otherwise specified, the permanent magnet synchronous motor in the following part of the present application refers to an interior permanent magnet synchronous motor. At present, a permanent magnet synchronous motor generally adopts a vector control mode to obtain an accurate rotor position, namely a relative position between a rotor magnetic pole N pole and a stator winding U phase, which is a precondition for vector control. The rotor position can be obtained by position sensors such as a rotary transformer, a photoelectric encoder and the like, and can also be obtained by a position-free algorithm. In the new forms of energy passenger train occasion, resolver is owing to can directly acquire the absolute position of rotor, and the sound construction is resistant to vibration, obtains wide application.
The principle of the conventional control method of the permanent magnet synchronous motor is shown in fig. 1. The power line of the motor controller is A, B, C three-phase connection, the power line of the permanent magnet synchronous motor is U, V, W three-phase connection, and the motor controller power line (A, B, C) and the permanent magnet synchronous motor power line (U, V, W) are connected according to a certain phase sequence, so that the motor can normally run. In the production process of the new energy bus, due to various reasons, wiring errors of a power line of a motor controller and a power line of a motor can occur, the motor is reversed or vibrates, further, the vehicle is in a reverse running state or cannot run normally, and at the moment, the power line needs to be checked and reconnected.
Currently, the conventional way to detect whether the phase sequence connection is normal is: after the production of the vehicle is finished, whether the phase sequence connection of the motor system is wrong or not is judged by observing whether the vehicle can normally run or not through an accelerator instruction. If the vehicle runs in the reverse direction or vibrates in situ, the phase sequence between the power line of the motor controller and the power line of the motor is further checked.
Chinese patent application publication No. CN103944477A discloses a method for correcting phase sequence of power lines of a permanent magnet synchronous motor of an electric vehicle, which comprises the steps of firstly judging the phase sequence connection method between a driver power line and a motor power line, correcting the collected rotor electrical angle to a certain extent, then starting the motor, and sequentially performing the above steps. The correction method has the disadvantages that the process is very complicated, the detection method needs to be repeated continuously, the collected rotor electric angle is corrected continuously until the motor can run normally, the detection process efficiency is low, and the method has a fatal problem that the synchronous motor cannot be kept static in the detection process and can only be detected in the motor running process, namely, the detection is carried out in the vehicle running process, so that the vehicle can be stopped suddenly or run backwards suddenly, and the personal safety of detection personnel can be seriously damaged.
Disclosure of Invention
The invention aims to provide a method for detecting a phase sequence of a power line connection wire of a permanent magnet synchronous motor, which is used for solving the problem that the existing detection method cannot detect the phase sequence of the motor in a static state of the motor. The invention also provides a system for detecting the phase sequence of the power line wiring of the permanent magnet synchronous motor.
In order to achieve the purpose, the scheme of the invention comprises a method for detecting the phase sequence of the power line connection of a permanent magnet synchronous motor, which comprises the following steps:
(1) detecting the position of a motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively;
(2) according to the actually detected position of the motor rotor and the relative positions between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively, looking up a table to obtain whether the wiring phase sequence of the motor power lines is correct or not;
the table is a corresponding relation table of the relative position between the position of the motor rotor and the motor power line connected with any two phases of the power line of the controller and the wiring phase sequence of the motor rotor.
And detecting the position of the motor rotor by using a rotary transformer, and detecting the relative positions of the motor rotor and any two phases of motor power lines connected with the power lines of the controller by using a high-frequency injection method.
The relative position between the motor rotor and any two phases of motor power lines connected with the controller power lines is as follows: the relative position between the motor rotor and the motor power line connected with the controller power line A, and the relative position between the motor rotor and the motor power line connected with the controller power line B.
The wiring phase sequence is divided into a correct phase sequence and a wrong phase sequence, wherein the correct phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the U phase, the V phase and the W phase of the power line of the motor; the error phase sequence includes the following five types, and the first error phase sequence is: a phase, a phase B and a phase C of the power line of the controller respectively correspond to a phase U, a phase W and a phase V of the power line of the motor, and a second wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the W phase and the U phase of the power line of the motor, and the third error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the U phase and the W phase of the power line of the motor, and the fourth wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the V phase and the U phase of the power line of the motor, and the fifth error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the U phase and the V phase of the power line of the motor.
The correspondence in the table is: when theta isA＝θR，θB＝θRThe +120 degree corresponds to the correct phase sequence; when theta isA＝θR，θB＝θR-120 ° corresponds to a first wrong phase sequence; when theta isA＝θR+120°，θB＝θR-120 ° corresponds to a second wrong phase sequence; when theta isA＝θR+120°，θB＝θRCorresponding to a third wrong phase sequence; when theta isA＝θR-120°，θB＝θRWhen +120 degrees, corresponding to a fourth wrong phase sequence; when theta isA＝θR-120°，θB＝θRIf so, corresponding to a fifth error phase sequence; wherein, thetaRIs the motor rotor position, thetaAIs the relative position between the rotor of the motor and the motor power line connected to the controller power line A, thetaBIs the relative position between the motor power lines connected with the controller power line B.
A permanent magnet synchronous motor power line wiring phase sequence detection system comprises:
the data detection module is used for detecting the position of the motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively;
the phase sequence detection module is used for looking up a table to obtain whether the wiring phase sequence of the motor power line is correct or not according to the actually detected position of the motor rotor and the relative positions between the motor rotor and any two phases of motor power lines connected with the controller power line respectively;
the table is a corresponding relation table of the relative position between the position of the motor rotor and the motor power line connected with any two phases of the power line of the controller and the wiring phase sequence of the motor rotor.
And detecting the position of the motor rotor by using a rotary transformer, and detecting the relative positions of the motor rotor and any two phases of motor power lines connected with the power lines of the controller by using a high-frequency injection method.
The relative position between the motor rotor and any two phases of motor power lines connected with the controller power lines is as follows: the relative position between the motor rotor and the motor power line connected with the controller power line A, and the relative position between the motor rotor and the motor power line connected with the controller power line B.
The wiring phase sequence is divided into a correct phase sequence and a wrong phase sequence, wherein the correct phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the U phase, the V phase and the W phase of the power line of the motor; the error phase sequence includes the following five types, and the first error phase sequence is: a phase, a phase B and a phase C of the power line of the controller respectively correspond to a phase U, a phase W and a phase V of the power line of the motor, and a second wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the W phase and the U phase of the power line of the motor, and the third error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the U phase and the W phase of the power line of the motor, and the fourth wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the V phase and the U phase of the power line of the motor, and the fifth error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the U phase and the V phase of the power line of the motor.
The correspondence in the table is: when theta isA＝θR，θB＝θRThe +120 degree corresponds to the correct phase sequence; when theta isA＝θR，θB＝θR-120 ° corresponds to a first wrong phase sequence; when theta isA＝θR+120°，θB＝θR-120 ° corresponds to a second wrong phase sequence; when theta isA＝θR+120°，θB＝θRCorresponding to a third wrong phase sequence; when theta isA＝θR-120°，θB＝θRWhen +120 degrees, corresponding to a fourth wrong phase sequence; when theta isA＝θR-120°，θB＝θRIf so, corresponding to a fifth error phase sequence; wherein, thetaRIs the motor rotor position, thetaAIs the relative position between the rotor of the motor and the motor power line connected to the controller power line A, thetaBIs the relative position between the motor power lines connected with the controller power line B.
According to the phase sequence detection method provided by the invention, the relevant position information of the motor rotor can be effectively detected in a motor static state, whether a phase sequence error exists between the power line of the controller and the power line of the motor can be judged according to the detected three data information and the corresponding relation between the three data information and the wiring phase sequence, and a specific phase sequence error mode can be further identified. The detection method only needs to detect a plurality of parameters and can judge the phase sequence according to the corresponding relation, the detection method has simple process and higher detection efficiency, and can identify the specific mode of phase sequence error under the static state of the motor without starting the motor for many times and continuously correcting the parameters in the process of running the motor for many times until the motor can normally run.
Drawings
Fig. 1 is a schematic diagram of a conventional control method of a permanent magnet synchronous motor;
FIG. 2 is a schematic diagram of a phase sequence detection method for power line wiring of a permanent magnet synchronous motor.
Detailed Description
Method for detecting phase sequence of power line wiring of permanent magnet synchronous motor
The invention provides a phase sequence detection method for a power line wiring of a permanent magnet synchronous motor, which mainly comprises two steps, wherein the first step is a data detection step and is used for detecting various required parameter data; the second step is a phase sequence detection step for judging the wiring phase sequence.
For the first step, three data are detected: the position of the motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the controller power lines are respectively shown. These three parameters are all detected when the motor is stationary.
Wherein, the motor rotor position is marked as thetaR. In this embodiment, the position of the motor rotor is detected by using a resolver, but as another embodiment, the position of the motor rotor may also be detected by using another method, for example, by using a position sensor such as a photoelectric encoder or another detection method. Since the detection of the rotor position of the motor by using the resolver is a conventional technical means, the embodiment will not be described in detail.
In this embodiment, the relative positions of the motor rotor and any two phases of motor power lines connected to the controller power line are detected by a high-frequency injection method, where the high-frequency injection method is: a sensorless control method for injecting high frequency carrier signal excitation into a motor to track rotor salient poles provides accurate position and speed estimation at low, or even zero, speeds. Since the detection by the high-frequency implantation method is a conventional technique, the high-frequency implantation method itself will not be described in detail in this embodiment. In the present invention, the relative position between the motor rotor and any two phases of motor power lines connected to the controller power lines is obtained by a position detection algorithm capable of detecting the motor rotor in a stationary state of the motor, and therefore, as another embodiment, the parameter may be detected by another position detection algorithm capable of detecting the motor rotor in a stationary state of the motor, and is not limited to the high-frequency injection method.
In this embodiment, the relative positions between the motor rotor and any two phases of motor power lines connected to the controller power line specifically refer to: the relative position between the motor rotor and the motor power line connected to the controller power line A is marked as thetaAAnd the relative position between the motor power lines connected to the controller power line B, denoted by θB。
And for the second step, judging whether the actual wiring phase sequence is correct or not and the specific wiring phase sequence according to the three parameters obtained in the first step and by combining the three parameters and the corresponding relation table between the wiring phase sequence modes.
In general, the wiring phase sequence has two types, namely a correct phase sequence and a wrong phase sequence, wherein the correct phase sequence is the wiring phase sequence under the normal operation of the motor and is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the U phase, the V phase and the W phase of the power line of the motor. The wrong phase sequence refers to that the motor can not normally run under the wrong phase sequence, the wrong phase sequence has the following five types, and the first wrong phase sequence is as follows: a phase, a phase B and a phase C of the power line of the controller respectively correspond to a phase U, a phase W and a phase V of the power line of the motor, and a second wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the W phase and the U phase of the power line of the motor, and the third error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the U phase and the W phase of the power line of the motor, and the fourth wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the V phase and the U phase of the power line of the motor, and the fifth error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the U phase and the V phase of the power line of the motor.
In addition, the wrong phase sequence has two main types of reverse connection and same-direction connection, wherein the reverse connection comprises three types, which are respectively: a first, third, and fourth wrong phase sequence; the homodromous connection method comprises two methods, respectively: a second wrong phase sequence and a fifth wrong phase sequence.
Therefore, based on the motor rotor position θRAnd the relative position theta between the motor rotor and the motor power line connected with the controller power line AAAnd a relative position theta between the motor power line connected to the controller power line BBTable 1 shows the correspondence between these three parameters and the phase sequence of each wire.
TABLE 1
θA＝θR,θB＝θR+120° Phase sequence error-free
θA＝θR,θB＝θR-120° ABC->UWV
θA＝θR+120°,θB＝θR-120° ABC->VWU
θA＝θR+120°,θB＝θR ABC->VUW
θA＝θR-120°,θB＝θR+120° ABC->WVU
θA＝θR-120°,θB＝θR ABC->WUV
From Table 1, when θA＝θR，θB＝θRThe +120 degree corresponds to the correct phase sequence; when theta isA＝θR，θB＝θRThe corresponding wiring phase sequence at-120 DEG is ABC->UWV, i.e., the first wrong phase sequence described above; when theta isA＝θR+120°，θB＝θRThe corresponding wiring phase sequence at-120 DEG is ABC->VWU, which is the second wrong phase sequence; when theta isA＝θR+120°，θB＝θRThe phase sequence of the corresponding wiring is ABC->VUW, i.e. the third wrong phase sequence; when theta isA＝θR-120°，θB＝θRThe corresponding wiring phase sequence at +120 DEG is ABC->WVU, which is the fourth wrong phase sequence; when theta isA＝θR-120°，θB＝θRThe phase sequence of the corresponding wiring is ABC->WUV, this is the fifth wrong phase sequence.
Therefore, according to the actually detected θR、θAAnd thetaBThe satisfied relations are combined with the corresponding relations given in table 1 to find out whether the wiring phase sequence is correct or not and what the specific wiring phase sequence is. Such as: if the detected actual data satisfies: thetaA＝θR+120°，θB＝θR120 DEG, the wiring phase sequence between the power line of the controller and the power line of the motor is incorrect, and the wrong phase sequence is ABC->VWU, namely, the phases A, B and C of the controller power lines respectively correspond to the phases V, W and U of the motor power lines.
In the above embodiment, the detecting parameters include: as other embodiments, the relative position between the motor rotor and the motor power line connected to the controller power line a and the relative position between the motor rotor and the motor power line connected to the controller power line B may also be selected as parameters of any two other phases of the three phases, such as: the relative positions of the motor rotor and the motor power line connected to the controller power line a and the relative position of the motor rotor and the motor power line connected to the controller power line C are adjusted accordingly, but the detection principle based on the table is not changed.
Permanent magnet synchronous motor power line wiring phase sequence detection system embodiment
In this embodiment, the phase sequence detection system of power line wiring of permanent magnet synchronous motor includes:
the data detection module is used for detecting the position of the motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively;
and the phase sequence detection module is used for looking up a table to obtain whether the wiring phase sequence of the motor power line is correct or not according to the actually detected position of the motor rotor and the relative positions between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively.
The table is a corresponding relation table of the relative position between the position of the motor rotor and the motor power line connected with any two phases of the power line of the controller and the wiring phase sequence.
The phase sequence detection system is added to an original permanent magnet synchronous motor control system, wherein a data detection module is composed of a module for detecting the position of a motor rotor and a module for detecting the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of a controller respectively, in the embodiment, a high-frequency injection module is used for detecting the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively, as shown in fig. 2. And the phase sequence detection module judges the phase sequence according to the obtained data.
Therefore, each module in the phase sequence detection system is a software module, and the detection system is loaded in the control system in a software program mode to realize corresponding functions, so the phase sequence detection system is still a method per se, and since the method is described in detail in the above method embodiment, the method is not specifically described here.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.

Claims (10)

1. A method for detecting the phase sequence of a power line connection wire of a permanent magnet synchronous motor is characterized by comprising the following steps:
(1) detecting the position of a motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively;
(2) according to the actually detected position of the motor rotor and the relative positions between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively, looking up a table to obtain whether the wiring phase sequence of the motor power lines is correct or not;
the table is a corresponding relation table of the relative position between the position of the motor rotor and the motor power line connected with any two phases of the power line of the controller and the wiring phase sequence of the motor rotor.
2. The method for detecting the phase sequence of the permanent magnet synchronous motor power line connection wire according to claim 1, wherein a rotary transformer is used for detecting the position of the motor rotor, and a high-frequency injection method is used for detecting the relative positions of the motor rotor and the motor power lines connected with any two phases of the controller power lines.
3. The method for detecting the phase sequence of the permanent magnet synchronous motor power line wiring according to claim 1 or 2, wherein the relative positions of the motor rotor and any two phases of motor power lines connected with the controller power line are specifically as follows: the relative position between the motor rotor and the motor power line connected with the controller power line A, and the relative position between the motor rotor and the motor power line connected with the controller power line B.
4. The method for detecting the wiring phase sequence of the power line of the permanent magnet synchronous motor according to claim 3, wherein the wiring phase sequence is divided into a correct phase sequence and a wrong phase sequence, wherein the correct phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the U phase, the V phase and the W phase of the power line of the motor; the error phase sequence includes the following five types, and the first error phase sequence is: a phase, a phase B and a phase C of the power line of the controller respectively correspond to a phase U, a phase W and a phase V of the power line of the motor, and a second wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the W phase and the U phase of the power line of the motor, and the third error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the U phase and the W phase of the power line of the motor, and the fourth wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the V phase and the U phase of the power line of the motor, and the fifth error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the U phase and the V phase of the power line of the motor.
5. The method for detecting the phase sequence of the power line connection of the permanent magnet synchronous motor according to claim 4, wherein the table has the following correspondence relations: when theta isA＝θR，θB＝θRThe +120 degree corresponds to the correct phase sequence; when theta isA＝θR，θB＝θR-120 ° corresponds to a first wrong phase sequence; when theta isA＝θR+120°，θB＝θR-120 ° corresponds to a second wrong phase sequence; when theta isA＝θR+120°，θB＝θRCorresponding to a third wrong phase sequence; when theta isA＝θR-120°，θB＝θRWhen +120 degrees, corresponding to a fourth wrong phase sequence; when theta isA＝θR-120°，θB＝θRIf so, corresponding to a fifth error phase sequence; wherein, thetaRIs the motor rotor position, thetaAIs the relative position between the rotor of the motor and the motor power line connected to the controller power line A, thetaBIs the relative position between the motor power lines connected with the controller power line B.
6. The utility model provides a PMSM power line wiring phase sequence detecting system which characterized in that includes:
the data detection module is used for detecting the position of the motor rotor and the relative position between the motor rotor and any two phases of motor power lines connected with the power lines of the controller respectively;
the phase sequence detection module is used for looking up a table to obtain whether the wiring phase sequence of the motor power line is correct or not according to the actually detected position of the motor rotor and the relative positions between the motor rotor and any two phases of motor power lines connected with the controller power line respectively;
the table is a corresponding relation table of the relative position between the position of the motor rotor and the motor power line connected with any two phases of the power line of the controller and the wiring phase sequence of the motor rotor.
7. The system for detecting the phase sequence of the permanent magnet synchronous motor power line wiring according to claim 6, wherein a rotary transformer is used for detecting the position of the motor rotor, and a high-frequency injection method is used for detecting the relative positions of the motor rotor and any two phases of motor power lines connected with the controller power line.
8. The system for detecting the phase sequence of the permanent magnet synchronous motor power line wiring according to claim 6 or 7, wherein the relative positions of the motor rotor and any two phases of motor power lines connected with the controller power line are specifically as follows: the relative position between the motor rotor and the motor power line connected with the controller power line A, and the relative position between the motor rotor and the motor power line connected with the controller power line B.
9. The PMSM power line wiring phase sequence detection system of claim 8, wherein the wiring phase sequence is divided into a correct phase sequence and a wrong phase sequence, wherein the correct phase sequence is: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the U phase, the V phase and the W phase of the power line of the motor; the error phase sequence includes the following five types, and the first error phase sequence is: a phase, a phase B and a phase C of the power line of the controller respectively correspond to a phase U, a phase W and a phase V of the power line of the motor, and a second wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the W phase and the U phase of the power line of the motor, and the third error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the V phase, the U phase and the W phase of the power line of the motor, and the fourth wrong phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the V phase and the U phase of the power line of the motor, and the fifth error phase sequence is as follows: the A phase, the B phase and the C phase of the power line of the controller respectively correspond to the W phase, the U phase and the V phase of the power line of the motor.
10. The system of claim 9, wherein the table includes the following relationships: when theta isA＝θR，θB＝θRThe +120 degree corresponds to the correct phase sequence; when theta isA＝θR，θB＝θR-120 ° corresponds to a first wrong phase sequence; when theta isA＝θR+120°，θB＝θR-120 ° corresponds to a second wrong phase sequence; when theta isA＝θR+120°，θB＝θRCorresponding to a third wrong phase sequence; when theta isA＝θR-120°，θB＝θRWhen +120 degrees, corresponding to a fourth wrong phase sequence; when theta isA＝θR-120°，θB＝θRIf so, corresponding to a fifth error phase sequence; wherein, thetaRIs the motor rotor position, thetaAIs the relative position between the rotor of the motor and the motor power line connected to the controller power line A, thetaBIs the relative position between the motor power lines connected with the controller power line B.
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