CN113866490A - Motor phase current overcurrent detection method and device, motor controller and vehicle - Google Patents

Motor phase current overcurrent detection method and device, motor controller and vehicle Download PDF

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Publication number
CN113866490A
CN113866490A CN202010611901.XA CN202010611901A CN113866490A CN 113866490 A CN113866490 A CN 113866490A CN 202010611901 A CN202010611901 A CN 202010611901A CN 113866490 A CN113866490 A CN 113866490A
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value
motor
phase current
detection period
detection
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CN113866490B (en
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潘森林
胡荣光
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Guangdong Welling Auto Parts Co Ltd
Anhui Welling Auto Parts Co Ltd
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Guangdong Welling Auto Parts Co Ltd
Anhui Welling Auto Parts Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
    • G01R19/16566—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533
    • G01R19/16571—Circuits and arrangements for comparing voltage or current with one or several thresholds and for indicating the result not covered by subgroups G01R19/16504, G01R19/16528, G01R19/16533 comparing AC or DC current with one threshold, e.g. load current, over-current, surge current or fault current
    • 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
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)
  • Protection Of Generators And Motors (AREA)

Abstract

The invention provides a motor phase current overcurrent detection method and device, a motor controller and a vehicle, wherein the method comprises the following steps: acquiring a phase current instantaneous value of the motor in each detection period and a corresponding rotor angle value at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same; determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value; and if the accumulated angle value corresponding to the detection period is larger than the angle threshold value, determining that the phase current of the motor is over-current in the detection period. According to the method, on the premise that the hardware cost is not increased, the phase current of the motor and the corresponding rotor angle value are used for determining the angle accumulated value, so that the over-current detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.

Description

Motor phase current overcurrent detection method and device, motor controller and vehicle
Technical Field
The invention relates to the technical field of motors, in particular to a motor phase current overcurrent detection method and device, a motor controller and a vehicle.
Background
The application scenarios of the motor as a power energy output device are more and more diversified, so that the control of the output torque of the motor is extremely important, and if the motor is controlled to output a stable torque, the phase current supplied to the motor by a motor controller must be well controlled. If the phase current is too large, not only can the motor be burnt out, but also dangerous accidents can be caused, so that the personal safety is endangered, and therefore, the overcurrent diagnosis of the phase current of the motor is very necessary.
In the related art, under the condition that a motor rotor rotates, a hardware circuit is mainly adopted to carry out overcurrent diagnosis on current, namely, a logic circuit is built to judge whether the current is overcurrent, and the method increases the development cost.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a motor phase current over-current detection method, so as to determine an angle accumulated value by using a phase current of a motor and a corresponding rotor angle value on the premise of not increasing hardware cost, thereby implementing over-current detection on the motor phase current according to the angle accumulated value, and reducing detection cost on the basis of ensuring reliable and accurate detection results.
The second purpose of the invention is to provide a motor phase current over-current detection device.
A third object of the present invention is to provide a motor controller.
A fourth object of the invention is to propose a vehicle.
A fifth object of the invention is to propose a readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for detecting an overcurrent of a phase current of a motor, including: acquiring a phase current instantaneous value and a corresponding rotor angle value of the motor in each detection period at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same; determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value in the detection period is greater than a current threshold value and the absolute value of the difference value of the previous adjacent rotor angle value; and if the angle accumulated value corresponding to the detection period is larger than the angle threshold value, determining that the motor phase current is overcurrent in the detection period.
According to the motor phase current overcurrent detection method, firstly, a phase current instantaneous value and a corresponding rotor angle value of a motor in each detection period are collected at a preset sampling frequency, then, an angle accumulated value corresponding to each detection period is determined according to the phase current instantaneous value and the corresponding rotor angle value of the motor in each detection period, and finally, if the angle accumulated value corresponding to the detection period is larger than an angle threshold value, the motor phase current overcurrent is determined in the detection period.
Therefore, on the premise of not increasing hardware cost, the method determines the angle accumulated value by using the phase current of the motor and the corresponding rotor angle value, so that the over-current detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In addition, the motor phase current overcurrent detection method according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, before determining that the motor phase current is over-current in the detection period if the accumulated value of the angle corresponding to the detection period is greater than the angle threshold, the method further includes: and determining the angle threshold according to the absolute value of the difference value of two corresponding angle values of the current threshold in each detection period of the phase current oscillogram of the motor.
According to an embodiment of the present invention, after the determining that the motor phase current is over-current in the detection period, the method further includes: setting the value of the overcurrent flag bit corresponding to the detection period as a first preset value; detecting values of over-current flag bits corresponding to the first N detection periods adjacent to the detection period respectively, and determining that the motor has over-current fault if the over-current flag bits of at least M detection periods are all first preset values in the first N detection periods adjacent to the detection period, wherein N and M are positive integers, and M is smaller than N.
According to an embodiment of the present invention, the detection period is an lth detection period, where after setting the value of the overcurrent flag corresponding to the detection period to a first preset value, the method further includes:
according to CL＝CL-1+ X, determining the over-current fault accumulated value corresponding to the previous L detection periods; according to Δ C ═ CL-CL-N-1Determining an overcurrent fault accumulated value of the first N detection periods adjacent to the Lth detection period; if the delta C is larger than or equal to M, determining that the motor has overcurrent fault, wherein CLAn accumulated value of over-current faults, C, corresponding to the first L detection periodsL-1The accumulated value of the overcurrent faults corresponding to the first L-1 detection periods, X is the value of the overcurrent flag bit of the current detection period, CL-N-1The accumulated value is the overcurrent fault accumulated value corresponding to the first L-N-1 detection periods.
According to an embodiment of the present invention, the method for detecting overcurrent of phase current of a motor further includes: and setting the angle accumulated value to zero when the direction change of the phase current instantaneous value of the motor is detected.
According to an embodiment of the present invention, the method for detecting overcurrent of phase current of a motor further includes: and when the instantaneous value of the phase current of the motor is detected to change from large to small and is smaller than the current threshold value in each detection period, setting the angle accumulated value to zero.
According to an embodiment of the present invention, after determining the angle accumulated value corresponding to each detection period according to the phase current instantaneous value and the corresponding rotor angle value of the motor in each detection period, the method further includes: and when the phase current instantaneous value of the motor is detected to change from large to small in each detection period and is smaller than the current threshold value, subtracting the absolute value of the difference value of the two rotor angle values corresponding to each two collected adjacent phase current instantaneous values from the angle accumulated value until the angle accumulated value corresponding to each detection period is zero.
In order to achieve the above object, a second embodiment of the present invention provides a phase current over-current detection device for a motor, including: the acquisition module is used for acquiring a phase current instantaneous value of the motor in each detection period and a corresponding rotor angle value at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same; the first determining module is used for determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value in the detection period is greater than a current threshold value and the absolute value of the difference value of the previous adjacent rotor angle value; and the second determination module is used for determining that the motor phase current is overcurrent in the detection period if the angle accumulated value corresponding to the detection period is greater than an angle threshold value.
According to the motor phase current overcurrent detection device provided by the embodiment of the invention, the phase current instantaneous value and the corresponding rotor angle value of the motor in each detection period are collected through the collection module at the preset sampling frequency; determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value through a first determination module; and determining that the motor phase current is overcurrent in the detection period if the accumulated angle value corresponding to the detection period is greater than the angle threshold value through a second determination module.
Therefore, on the premise of not increasing hardware cost, the device determines the angle accumulated value by using the phase current of the motor and the corresponding rotor angle value, so that the over-current detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In addition, the motor phase current overcurrent detection device according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the invention, the second determining module, after determining that the motor phase current is over-current in the detection period, is further configured to: setting the value of the overcurrent flag bit corresponding to the detection period as a first preset value; and obtaining values of over-current flag bits corresponding to the first N detection periods adjacent to the detection period respectively, and determining that the motor has an over-current fault if the over-current flag bits of at least M detection periods are all first preset values in the first N detection periods adjacent to the detection period, wherein N and M are positive integers, and M is smaller than N.
In order to achieve the above object, an embodiment of a third aspect of the present invention provides a motor controller, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the motor phase current overcurrent detection method according to the embodiment of the first aspect of the present invention.
According to the motor controller provided by the embodiment of the invention, when the at least one processor executes the instructions stored in the memory, the accumulated value of the absolute value of the angle difference can be determined by utilizing the phase current of the motor and the corresponding rotor angle value on the premise of not increasing the hardware cost, so that the over-current detection of the phase current of the motor is realized according to the accumulated value of the absolute value of the angle difference, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In order to achieve the above object, a fourth aspect of the present invention provides a vehicle including the motor phase current overcurrent detection apparatus set forth in the second aspect of the present invention, or the motor controller set forth in the third aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the motor phase current over-current detection device or the motor controller provided by the embodiment of the invention can determine the angle accumulated value by using the phase current of the motor and the corresponding rotor angle value on the premise of not increasing the hardware cost, so that the over-current detection of the motor phase current is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In order to achieve the above object, a fifth embodiment of the present invention provides a readable storage medium, on which a motor phase current detection program is stored, and when the program is executed by a processor, the method for detecting overcurrent of phase current of a motor is implemented.
According to the readable storage medium of the embodiment of the invention, when the motor phase current detection program stored on the readable storage medium is executed by the processor, the angle accumulated value can be determined by utilizing the phase current of the motor and the corresponding rotor angle value on the premise of not increasing the hardware cost, so that the over-current detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a motor phase current over-current detection method according to an embodiment of the present invention;
FIG. 2 is a graph of an angle threshold analysis of motor phase currents according to one embodiment of the present invention;
FIG. 3 is a flow chart of a motor phase current over-current detection method according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of over-current detection during a single detection cycle according to an example of the present invention;
FIG. 5 is a schematic diagram of over-current detection during a single detection cycle according to another example of the present invention;
FIG. 6 is a flow chart of a motor phase current over-current detection method according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of motor over-current fault determination from an accumulated value of over-current faults for a single detection cycle according to a specific example of the present invention;
fig. 8 is a block diagram of a structure of a motor phase current overcurrent detection apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a motor phase current overcurrent detection method and device, a motor controller and a vehicle according to an embodiment of the invention with reference to the drawings.
It should be noted that the phase current waveform of the motor is a sine waveform, and the instantaneous value of the phase current of the motor is the instantaneous value of the sine current, and according to the sine waveform, when the direction of the instantaneous value of the phase current of the motor changes, the phase current will start to change, i.e. start to increase in the forward direction or increase in the reverse direction, until the phase current amplitude is reached. The different phase current instantaneous values correspond to different rotor angles, that is, the rotor angle of the motor changes along with the phase current. Therefore, the change of the phase current in each detection period can be represented by the accumulated value of the absolute value of the angle difference. Based on the above, the embodiment of the invention provides a motor phase current overcurrent detection method.
Fig. 1 is a flowchart of a motor phase current overcurrent detection method according to an embodiment of the invention.
As shown in fig. 1, the method comprises the steps of:
s101, acquiring a phase current instantaneous value and a corresponding rotor angle value of the motor in each detection period at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same.
Specifically, in the running process of the motor, namely when the motor works, the phase current instantaneous value of the motor in each detection period is acquired at a preset sampling frequency, the rotor angle value corresponding to the phase current instantaneous value can be acquired through the revolution change sensor, and then the phase current instantaneous value and the corresponding rotor angle value can be stored in the memory to be called later. The preset sampling frequency can be determined according to actual conditions.
It should be noted that the phase current waveform of the motor is a sine waveform, and a detection period is defined between the direction change of the instantaneous value of the phase current and the direction change of the instantaneous value of the next phase current, that is, in each detection period, the direction of the instantaneous value of the phase current of the motor is the same, and a half period of the sine waveform is a detection period.
And S102, determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value in the detection period is greater than a current threshold value and the absolute value of the difference value of the previous adjacent rotor angle value.
Wherein the previous is the previous current sampling point. The current threshold may be any value between 0 and the motor phase current magnitude (maximum), and the current threshold is not equal to 0 and the phase current magnitude.
Specifically, the phase current instantaneous value acquired in step S101 may be compared with a current threshold, and if the absolute value of the phase current instantaneous value is greater than the current threshold, the rotor angle value corresponding to the phase current instantaneous value is determined, the previous phase current instantaneous value adjacent to the phase current instantaneous value and the previous rotor angle value corresponding to the previous phase current instantaneous value are determined, and then the rotor angle value corresponding to the phase current instantaneous value greater than the current threshold and the absolute value of the difference between the previous rotor angle value are calculated and accumulated, and the accumulated sum is the angle accumulated value in one detection period. That is, if the absolute value of the current phase current sampling value is greater than the current threshold, the absolute value of the difference between the current rotor angle value corresponding to the current phase current sampling value and the rotor angle value corresponding to the previous phase current sampling value is determined. The absolute value may be determined according to a rotor angle value at a current sampling time and a rotor angle value at a previous sampling time, which are fed back by an RDC (Resolver-to-Digital Converter).
It should be noted that, in this embodiment, if the absolute value of the instantaneous value of the phase current is smaller than or equal to the current threshold, the negative value of the absolute value of the angle difference between the rotor angle value corresponding to the instantaneous value of the phase current and the previous rotor angle value can be determined.
S103, if the angle accumulated value corresponding to the detection period is larger than the angle threshold value, determining that the current is excessive in the motor phase current detection period. Specifically, after the angle accumulated value corresponding to each detection period is determined, the magnitude relation between each angle accumulated value and the angle threshold value can be respectively judged, and if the angle accumulated value is larger than the angle threshold value, it is judged that the motor phase current is excessive in the detection period corresponding to the angle accumulated value.
In this embodiment, the angle accumulated value may be updated once each phase current instantaneous value greater than the current threshold is determined, and the updated angle accumulated value is compared with the angle threshold once each angle accumulated value is updated, so that when the updated angle accumulated value is greater than the angle threshold, it is determined that the motor phase current is overcurrent in the current detection period. Therefore, the real-time comparison between the angle accumulated value and the angle threshold value can be realized, and the real-time detection of the motor phase current overcurrent detection is realized.
It should be noted that, in the operation process of the motor, the maximum bearing value exists in the motor phase current instantaneous value, the maximum value (peak value) of the motor phase current cannot exceed the maximum bearing value, and if the maximum value of the phase current exceeds the maximum bearing value, it indicates that the phase current has an overcurrent phenomenon in the current detection period. The maximum bearing value can be determined according to the actual working condition of the motor, and the maximum bearing value should be larger than the current threshold value. The angle threshold in this embodiment is an angle accumulated value corresponding to the maximum value of the phase current in each detection period being the maximum withstanding value. Therefore, whether the maximum value of the phase current exceeds the maximum withstand value can be judged according to the magnitude relation between the angle difference accumulated value and the angle threshold value.
It should be understood that, since the phase current waveform of the motor is sinusoidal, a complete cycle of the phase current flowing through includes two detection periods, and the above steps S101 to S103 should be executed once in each detection period, so as to determine whether the phase current in each detection period is finally excessive. Therefore, by repeating the above steps S101 to S103 twice, it can be determined whether the phase current is over-current for a complete cycle.
Compared with the scheme of detecting whether the current is over-current by a hardware circuit in the related technology, the method for detecting the over-current of the phase current of the motor disclosed by the embodiment of the invention does not need to additionally add the hardware circuit, realizes over-current diagnosis of the phase current by acquiring the phase current of the motor and the corresponding rotor angle value thereof on the premise of not increasing the hardware cost, and has the advantages of lower realization cost, less occupied resources and easiness in realization.
In general, in each detection period, the motor phase current over-current detection method firstly obtains a plurality of motor phase current instantaneous values and corresponding rotor angle values thereof, further determines an absolute value of an angle difference value when the absolute value of the phase current instantaneous value is greater than a current threshold value, determines an angle accumulated value by using the absolute value of the angle difference value, and finally determines whether the motor phase current is over-current or not according to the magnitude relation between the angle accumulated value and the angle threshold value, thereby realizing real-time over-current diagnosis of the phase current in each detection period. Furthermore, the motor phase current over-current detection method provided by the embodiment of the invention can detect whether the motor is over-current or not in real time, and avoids motor burnout and dangerous accidents caused by overlarge motor phase current, thereby ensuring the personal safety of users.
Therefore, on the premise of not increasing hardware cost, the method determines the angle accumulated value by using the phase current of the motor and the corresponding rotor angle value, so that the over-current detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
It should be noted that, as a result of research, it has been found that, for a sinusoidal current, the current threshold TH intercepts the sinusoidal current by a fixed angle value when the maximum current value is greater than the current threshold TH by a fixed difference value. A fixed angle value can be obtained as long as a fixed difference is determined, regardless of the frequency of the sinusoidal current. For example, for a phase current of amplitude 1A (amperes), the value of the angle at which the sinusoidal waveform is intercepted by the current threshold TH of 1/2a is 150 ° -30 ° -120 °, it can be derived: the angle value correspondingly intercepted by the current threshold TH larger than 1/2A is smaller than 120 degrees, and at the moment, the difference between the maximum current value and the current threshold TH is smaller; a current threshold TH less than 1/2a corresponds to a truncated angle value greater than 120 deg., at which the current maximum value differs significantly from the current threshold TH. Wherein, the truncated angle value of 120 ° is the angle threshold in the embodiment of the present invention.
However, the phase current of the embodiment of the present invention is sinusoidal, and therefore, based on the above findings, the embodiment of the present invention can determine the angle threshold by the following embodiments:
in an embodiment of the present invention, in step S106, before determining that the motor phase current is over-current in the detection period if the accumulated angle value corresponding to the detection period is greater than the angle threshold, the method further includes: and determining the angle threshold according to the absolute value of the difference value of two corresponding angle values of the current threshold in each detection period of the phase current waveform diagram of the motor.
In this embodiment, the phase current waveform diagram of the motor is a sine waveform shown in fig. 2, and the current threshold TH corresponds to two angle values in each detection period of the phase current waveform diagram of the motor, which are two points where the current threshold TH intersects with the sine waveform in one detection period, and correspond to the angle values respectively. The difference between the two angle values is calculated, and the absolute value of the difference is taken as the angle threshold in this embodiment.
Specifically, as shown in fig. 2, in the embodiment of the present invention, the difference between the maximum withstand value MAX of the motor phase current and the current threshold TH may be set as a fixed difference, and the angle value obtained by cutting the phase current with the maximum withstand value MAX by the current threshold TH is referred to as the angle threshold θ. That is, when the maximum value of the phase current is equal to the maximum withstand value MAX, the angle value intercepted by the current threshold value TH is the angle threshold value θ.
For example, if the current threshold TH is 400A and the maximum allowable value MAX is 410A, the corresponding angle threshold θ is 25 °. Wherein the fixed difference between the maximum acceptable value MAX and the current threshold value TH is in direct proportion to the angle accumulated value.
In this embodiment, when determining whether the motor phase current is over-current according to the magnitude relationship between the angle accumulated value θ x and the angle threshold θ, specifically, the magnitude relationship between the angle accumulated value θ x and the angle threshold θ may be determined, if θ x > θ, it is determined that the difference between the maximum value of the phase current in the current detection period and the current threshold TH exceeds a fixed difference, and further, it is determined that the maximum value of the phase current exceeds the maximum tolerance value MAX, and it is determined that the motor phase current is over-current in the current detection period; if thetax is less than or equal to theta, judging that the difference value between the maximum value of the phase current in the current detection period and the current threshold TH does not exceed a fixed difference value, further judging that the maximum value of the phase current does not exceed the maximum bearing value MAX, and determining that the phase current of the motor does not overflow in the current detection period.
It should be noted that the angle threshold θ satisfies the formula:
θ＝Δt*ω (1)
where Δ t is the hardware sampling time and ω is the electrical angular frequency of the rotor. Therefore, the angle accumulation process is not affected by the motor rotation speed, so that the angle corresponding to the portion of the phase current (sinusoidal current) with the same amplitude intercepted by the equal current threshold TH is a fixed value no matter what the actual rotation speed is.
Therefore, the angle accumulation process is not influenced by the rotating speed of the motor, and the detection process is not influenced by the reduction of the number of sampling points caused by the overhigh rotating speed.
In an embodiment of the present invention, as shown in fig. 3, after determining that the motor phase current is over-current in the detection period, i.e. after implementing the above step S103, the method further includes the following steps:
and S104, setting the value of the overcurrent flag bit corresponding to the detection period as a first preset value.
Specifically, each detection period of the motor phase current may correspond to one overcurrent Flag _ one. If the phase current of the motor is overcurrent in the detection period, updating the value of the overcurrent Flag _ one corresponding to the detection period to a first preset value; if the phase current of the motor does not flow in the detection period, the value of the overcurrent Flag _ one corresponding to the detection period can be updated to a second preset value. Wherein the first preset value may be 1, and the second preset value may be 0.
It should be noted that, since the comparison between the updated angle accumulated value and the angle threshold is performed in real time, the value of the over-current Flag _ one corresponding to the current detection period may be updated in real time along with the comparison result.
In this example, a threshold flag bit err _ flag may also be set. As shown in fig. 4, if the difference Err between the absolute value of the current sample value and the current threshold TH is greater than 0, the value of the threshold flag Err _ flag may be updated to 1; if Err is less than or equal to 0, the value of the threshold flag Err _ flag may be updated to 0. In a detection period T, when an err _ Flag is 1, an angle accumulated value starts to accumulate absolute values of angle difference values, when the angle accumulated value theta x reaches an angle threshold theta, phase current overcurrent in the current detection period can be indicated, further, an overcurrent Flag _ one of a single detection period is changed into 1, then, when the err _ Flag is changed into 0, the angle accumulated value theta x is continuously kept at the angle threshold theta, namely, phase current in the current detection period is still overcurrent, further, the overcurrent Flag _ one of the single detection period is still kept at 1 until the current detection period is finished. During the accumulation of the angle accumulation value, the state of the over-current Flag _ one remains the same as the previous state.
As described above, in the example of the present invention, in one detection period, only when the absolute value of the instantaneous value of the phase current is greater than the current threshold, the angle accumulated value is updated by using the absolute value of the rotor angle difference, so as to determine whether the phase current is overcurrent according to the updated angle accumulated value. In addition, in a detection period, when the absolute value of the instantaneous value of the phase current is greater than the current threshold, and when the absolute value of the instantaneous value of the phase current is less than or equal to the current threshold, the angle accumulated value may be updated by using the absolute value of the rotor angle difference value, so as to determine whether the phase current is excessive according to the updated angle accumulated value, based on which the following example is proposed:
in an example of the present invention, after determining an angle accumulated value corresponding to each detection period according to a phase current instantaneous value and a corresponding rotor angle value of the motor in each detection period, the method further includes: when the phase current instantaneous value of the motor is detected to change from large to small in each detection period and is smaller than the current threshold value, subtracting the absolute value of the difference value of the two rotor angle values corresponding to each two collected adjacent phase current instantaneous values from the angle accumulated value until the angle accumulated value corresponding to each detection period is zero.
Specifically, in a detection period, when the absolute value of the phase current instantaneous value is larger than a current threshold value, the absolute value of the rotor angle difference value is accumulated to an angle accumulated value; when the absolute value of the instantaneous value of the phase current is less than or equal to the current threshold value, a negative value of the absolute value of the rotor angle difference value is added to the angle added value on the basis of the angle added value previously added. Thus, after the end of a detection period, the updated angle accumulated value should be 0, wherein a amplitude limit value of 0 may be set for the angle accumulated value, and when the angle accumulated value is smaller than 0, the angle accumulated value is still set to 0.
That is, the angle accumulation value is 0 at the beginning of a detection period, at which the absolute value of the current sample value is smaller than the current threshold value, so that 0 accumulates the negative value of the absolute value of an angle difference and after amplitude limiting, the angle accumulation value remains 0 until the instantaneous value of the first current sample value is greater than the current threshold value, at which point 0 accumulates the absolute value of an angle difference and accumulates for a period of time, when the absolute value of the current sample value is smaller than the current threshold value again, the angle accumulation value which has already been accumulated to a certain angle starts accumulating a negative value of the absolute value of the angle difference value, because then the instantaneous values of the current sample values are all smaller than the current threshold value, therefore, the angle accumulated value continuously accumulates the negative value of the absolute value of the angle difference value until the absolute value becomes 0, and then waits for the next detection period after amplitude limiting and keeping 0 unchanged.
In this example, as shown in fig. 5, in one detection period, the angle accumulated value θ x is 0 at the beginning, until the angle accumulated value θ x is 1, the angle accumulated value starts to accumulate the absolute value of the angle difference, when the angle accumulated value θ x reaches the angle threshold θ, it is indicated that the motor phase current in the detection period is overcurrent, and further, the overcurrent Flag _ one of a single detection period becomes 1; after a period of time, when the err _ Flag is 0, the angle accumulated value starts to accumulate and subtract the absolute value of the angle difference, when the angle accumulated value theta is accumulated and subtracted to 0, the over-current Flag _ one of a single detection period is changed to 0, and the angle accumulated value stops accumulating and subtracting. During the accumulation or subtraction of the angle difference accumulated value, the state of the over-current Flag _ one remains the same as the previous state.
And S105, acquiring values of the overcurrent flag bits corresponding to the first N detection periods adjacent to the detection period respectively.
S106, if the overcurrent flag bits of at least M detection periods are all first preset values in the first N detection periods adjacent to the detection period, determining that the overcurrent fault exists in the motor, wherein N and M are positive integers, and M is smaller than N.
It should be noted that, in this embodiment, in consideration of irregularity of current sampling and interference of a burr, a phase current overcurrent phenomenon occurring in a current detection period or a single detection period may not be directly used as a cause of an overcurrent fault of the motor, that is, a value of an overcurrent Flag _ one corresponding to a single detection period is 1, and may not indicate that an overcurrent fault exists in the motor. Therefore, when determining whether the motor has an overcurrent fault, the value of the overcurrent Flag _ one in a plurality of detection periods needs to be considered.
Specifically, when it is determined that the phase current is overcurrent in the current detection period, that is, the value of the overcurrent Flag _ one corresponding to the current detection period is 1, it is further determined whether the motor has an overcurrent fault. First, according to the above steps S101 to S105, the values of the over-current Flag _ one corresponding to the first N detection periods adjacent to the current detection period are detected to obtain the values of the N over-current Flag _ one, and then if at least M1 of the values of the N over-current Flag _ one exist, it is determined that the motor has an over-current fault, and the over-current fault Flag may be updated to 1. N and M may be determined according to specific operating conditions of the motor, which is not limited in this embodiment. For example, in the case of a low motor speed, N-5, M-4; in the case of a high rotational speed of the electric machine, N-20 and M-17 may be provided.
For example, if it is detected that the value of the overcurrent Flag _ one corresponding to the eighth detection period is 1 when N is 5 and M is 4 and the current detection period is the eighth detection period, the first 5 detection periods adjacent to the eighth detection period are further determined: and in the third detection period, the fourth detection period, the fifth detection period, the sixth detection period and the seventh detection period, whether at least 4 Flag bits are 1 exist in the values of the overcurrent Flag bits Flag _ one respectively corresponding to the third detection period, the fourth detection period, the fifth detection period, the sixth detection period and the seventh detection period, if so, the overcurrent fault exists in the motor, and the overcurrent fault Flag bit Flag is updated to be 1.
It can be understood that, on the premise that it is determined that the phase current is overcurrent in the current detection period, that is, the value of the overcurrent Flag _ one corresponding to the current detection period is 1, if at least M values of the overcurrent Flag _ one do not exist in the values of the overcurrent Flag _ one corresponding to the previous N detection periods adjacent to the current detection period are 1, it is determined that the motor has no overcurrent fault, and the overcurrent fault Flag may be updated to 0.
In the process of updating the overcurrent fault Flag, that is, when the detection period before detection and the values of the overcurrent Flag _ one corresponding to the first N detection periods are different, the value of the overcurrent fault Flag is unchanged, that is, the value of the overcurrent fault Flag is kept the same as the value updated last time.
In this embodiment, when the phase current is overcurrent in the current detection period, and there are at least M phase current overcurrents in the first N detection periods adjacent to the current detection period, the motor has a phase current overcurrent fault. Therefore, the influence of sampling irregularity and burrs is avoided, so that a wrong diagnosis result is avoided when the motor overcurrent fault is detected, and the accuracy of motor phase current overcurrent detection is improved.
Further, the detection period is the lth detection period, wherein as shown in fig. 6, after setting the value of the overcurrent flag corresponding to the detection period to the first preset value, that is, after implementing the step S104, the method further includes the following steps:
s107, according to the formula:
CL＝CL-1+X (2)
and determining the overcurrent fault accumulated value corresponding to the first L detection periods. Wherein, CLAn accumulated value of over-current faults, C, corresponding to the first L detection periodsL-1The accumulated value is the overcurrent fault accumulated value corresponding to the first L-1 detection periods, and X is the value of the overcurrent flag bit of the current detection period.
It should be noted that the overcurrent fault accumulated value in this example refers to a sum of the number of detection cycles in which an overcurrent fault occurs, and therefore, the number of detection cycles in which the value of the overcurrent Flag _ one is 1 may be accumulated to obtain the overcurrent fault accumulated value.
S108, according to the formula:
ΔC＝CL-CL-N-1 (3)
and determining an overcurrent fault accumulated value of the first N detection periods adjacent to the Lth detection period. Wherein, CL-N-1The accumulated value is the overcurrent fault accumulated value corresponding to the first L-N-1 detection periods.
And S109, if the delta C is larger than or equal to M, determining that the motor has overcurrent fault.
Specifically, when the value (whether 1 or 0) of the overcurrent Flag _ one corresponding to the detection period is determined, the overcurrent fault accumulated value C corresponding to the first L detection periods is first calculated according to the formula (2)LAnd then calculating an overcurrent fault accumulated value delta C of the first N detection periods adjacent to the L-th detection period according to a formula (3), and finally comparing the magnitude relation between the delta C and the M, wherein if the delta C is greater than or equal to the M, the overcurrent fault accumulated value in the latest N +1 detection periods is greater than or equal to the M, the motor is determined to have overcurrent fault, and the overcurrent fault Flag bit Flag can be updated to be 1.
It should be understood that if Δ C is less than M, which indicates that the accumulated value of the overcurrent faults in the last N +1 detection periods is less than M, it is determined that the motor has no overcurrent fault, and the overcurrent fault Flag may be updated to 0.
In one specific example, the overcurrent fault accumulated value C is calculated in the first 6 detection periods within each last 3 current periods (i.e., 6 detection periods)6Whether 5 is reached is taken as the final judgment basis:
as shown in FIG. 7, it can be seen from the figure that a case where Flag _ one is 1, C6Then add 1, perform C every last 6 detection cycles6A decision of whether or not 5 is reached. In fig. 6, only 3 single detection cycles with the overcurrent Flag _ one being 1 occur in the first 6 detection cycles, so that the overcurrent fault Flag is 0. Later, 6 Flag _ one situations are generated in 6 detection periods and are 1, 5 judgment bases are achieved, and therefore Flag becomes 1, and the overcurrent fault of the motor phase current is represented. Finally, single detection period overcurrent faults do not occur, when C in every last 3 current periods6When the current reaches 5, Flag changes from 1 to 0 again, which indicates that the phase current fault of the motor is recovered to normal.
In this example, in the case where the accumulated value of the overcurrent faults in the last N +1 detection cycles is greater than or equal to M, the motor has a phase current overcurrent fault. Therefore, the influence of sampling irregularity and burrs is avoided, so that a wrong diagnosis result is avoided when the motor overcurrent fault is detected, and the accuracy of motor phase current overcurrent detection is improved.
In an example of the present invention, the method for detecting an overcurrent of a phase current of a motor may further include: the angle accumulation value is set to zero when a change in the direction of the instantaneous value of the phase current of the motor is detected.
Specifically, in one period of the phase current, the phase current instantaneous value has two peak values, and the direction of the phase current instantaneous value is different, so that the angle accumulated value can be set to zero when the direction of the phase current instantaneous value changes and the phase current is about to start to increase in the forward direction; the angle accumulation value may also be set to zero when the direction of the instantaneous value of the phase current changes and the phase current is about to start increasing in reverse. That is, at the beginning of one detection period, the zero setting operation is performed, thereby facilitating the change of the phase current by the angle accumulated value.
In another example of the present invention, the method for detecting an overcurrent of a phase current of a motor may further include: and when the phase current instantaneous value of the motor is detected to change from large to small and is smaller than the current threshold value in each detection period, setting the angle accumulated value to zero.
Specifically, the phase current instantaneous value cannot be always larger than the current threshold value in one cycle of the phase current, and therefore, the angle accumulated value may be set to zero when the phase current instantaneous value of the motor changes from large to small and is smaller than the current threshold value. Thereby being beneficial to reflecting the change of the phase current through the accumulated angle value.
In conclusion, according to the method, on the premise that the hardware cost is not increased, the phase current of the motor and the corresponding rotor angle value are used for determining the angle accumulated value of the motor, so that the overcurrent detection of the phase current of the motor is realized according to the angle accumulated value, the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result, the wrong diagnosis result during the overcurrent fault detection of the motor due to sampling irregularity and burr is avoided, and the accuracy of the overcurrent detection of the phase current of the motor is improved.
In order to implement the embodiment, the invention further provides a motor phase current overcurrent detection device. Fig. 8 is a block diagram of a structure of a motor phase current overcurrent detection apparatus according to an embodiment of the present invention.
As shown in fig. 8, the motor phase current overcurrent detecting apparatus 10 includes: an acquisition module 11, a first determination module 12, and a second determination module 13.
The acquisition module 11 is configured to acquire a phase current instantaneous value of the motor in each detection period and a corresponding rotor angle value at a preset sampling frequency, where directions of the phase current instantaneous values of the motor in each detection period are the same; the first determining module 12 is configured to determine an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor and the corresponding rotor angle value in each detection period, where the angle accumulated value is an accumulated sum of the rotor angle value in which each corresponding phase current instantaneous value in the detection period is greater than a current threshold and an absolute value of a difference between the rotor angle value and an adjacent previous rotor angle value; the second determining module 13 is configured to determine that the phase current of the motor is excessive in the detection period if the accumulated angle value corresponding to the detection period is greater than the angle threshold.
Specifically, in practical application, when the motor runs, firstly, the acquisition module 11 acquires a phase current instantaneous value and a corresponding rotor angle value of the motor in each detection period at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same; then, determining an angle accumulated value corresponding to each detection period through a first determination module 12 according to the phase current instantaneous value of the motor and the corresponding rotor angle value in each detection period, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value is greater than the current threshold value and the absolute value of the difference value of the adjacent previous rotor angle value in the detection period; finally, when the angle accumulated value corresponding to the detection period is larger than the angle threshold value through the second determining module 13, determining that the phase current of the motor is over-current in the detection period
In an embodiment of the present invention, the second determining module 13, after determining that the motor phase current is over-current in the detection period, is further configured to: setting the value of an overcurrent flag bit corresponding to the detection period as a first preset value; and obtaining values of over-current flag bits corresponding to the first N detection periods adjacent to the detection period respectively, and determining that the motor has over-current fault if the over-current flag bits of at least M detection periods are all first preset values in the first N detection periods adjacent to the detection period, wherein N and M are positive integers, and M is smaller than N.
Specifically, after the second determining module 13 determines that the phase current of the motor is overcurrent in the detection period, the value of the overcurrent flag corresponding to the detection period may be set to the first preset value, and then the second determining module 13 obtains the values of the overcurrent flag corresponding to the first N detection periods adjacent to the detection period, respectively, and if the overcurrent flags of at least M detection periods are the first preset values in the first N detection periods adjacent to the detection period, it is determined that the overcurrent fault exists in the motor.
It should be noted that the foregoing explanation of the embodiment of the motor phase current overcurrent detection method is also applicable to the motor phase current overcurrent detection apparatus of this embodiment, and details are not repeated here.
According to the motor phase current overcurrent detection device provided by the embodiment of the invention, on the premise of not increasing hardware cost, the phase current of the motor and the corresponding rotor angle value are used for determining the angle accumulated value, so that the overcurrent detection of the motor phase current is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
The invention also provides a motor controller comprising: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the motor phase current overcurrent detection method of the above embodiment.
When the at least one processor executes the instructions stored in the memory, the motor controller can determine the angle accumulated value by utilizing the phase current of the motor and the corresponding rotor angle value on the premise of not increasing the hardware cost, so that the overcurrent detection of the phase current of the motor is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In addition, the embodiment of the invention also provides a vehicle. Fig. 9 is a block diagram of a vehicle according to an embodiment of the invention.
As shown in fig. 9, the vehicle 100 includes the motor phase current overcurrent detection apparatus 10 according to the above-described embodiment of the present invention, or a motor controller (not shown) according to the above-described embodiment of the present invention.
It should be noted that the vehicle 100 according to the embodiment of the present invention may be a hybrid vehicle, a pure electric vehicle, a pure fuel vehicle, or the like.
According to the vehicle provided by the embodiment of the invention, the motor phase current over-current detection device or the motor controller provided by the embodiment of the invention can determine the angle accumulated value by using the phase current of the motor and the corresponding rotor angle value on the premise of not increasing the hardware cost, so that the over-current detection of the motor phase current is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In order to implement the foregoing embodiments, the present invention further provides a readable storage medium, on which a motor phase current over-current detection program is stored, and when the program is executed by a processor, the method for detecting motor phase current over-current of the foregoing embodiments is implemented.
When the motor phase current detection program stored in the readable storage medium is executed by the processor, the phase current of the motor and the corresponding rotor angle value are utilized to determine the angle accumulated value on the premise of not increasing hardware cost, so that the over-current detection of the motor phase current is realized according to the angle accumulated value, and the detection cost is reduced on the basis of ensuring the reliability and accuracy of the detection result.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (12)

1. A motor phase current over-current detection method is characterized by comprising the following steps:
acquiring a phase current instantaneous value and a corresponding rotor angle value of the motor in each detection period at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same;
determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value in the detection period is greater than a current threshold value and the absolute value of the difference value of the previous adjacent rotor angle value;
and if the angle accumulated value corresponding to the detection period is larger than the angle threshold value, determining that the motor phase current is overcurrent in the detection period.
2. The method of claim 1, wherein before determining that the motor phase current is over-current during the detection period if the accumulated value of angles corresponding to the detection period is greater than the angle threshold, further comprising:
and determining the angle threshold according to the absolute value of the difference value of two corresponding angle values of the current threshold in each detection period of the phase current oscillogram of the motor.
3. The method of claim 1, after said determining that the motor phase current is over-current during the detection period, further comprising:
setting the value of the overcurrent flag bit corresponding to the detection period as a first preset value;
acquiring values of over-current flag bits corresponding to the first N detection periods adjacent to the detection period respectively;
and if the overcurrent flag bits of at least M detection periods in the first N detection periods adjacent to the detection period are all first preset values, determining that the motor has overcurrent faults, wherein N and M are positive integers, and M is smaller than N.
4. The method of claim 3, wherein the detection period is the L-th detection period, and wherein after setting the value of the over-current flag corresponding to the detection period to the first preset value, the method further comprises:
according to CL＝CL-1+ X, determining the over-current fault accumulated value corresponding to the previous L detection periods;
according to Δ C ═ CL-CL-N-1Determining an overcurrent fault accumulated value of the first N detection periods adjacent to the Lth detection period;
if the deltaC is greater than or equal to M, determining that the motor has an overcurrent fault,
wherein, CLAn accumulated value of over-current faults, C, corresponding to the first L detection periodsL-1The accumulated value of the overcurrent faults corresponding to the first L-1 detection periods, X is the value of the overcurrent flag bit of the current detection period, CL-N-1The accumulated value is the overcurrent fault accumulated value corresponding to the first L-N-1 detection periods.
5. The method of any of claims 1-4, further comprising:
and setting the angle accumulated value to zero when the direction change of the phase current instantaneous value of the motor is detected.
6. The method of any of claims 1-4, further comprising:
and when the instantaneous value of the phase current of the motor is detected to change from large to small and is smaller than the current threshold value in each detection period, setting the angle accumulated value to zero.
7. The method according to any one of claims 1 to 4, wherein after determining the accumulated angle value corresponding to each detection period according to the instantaneous phase current value and the corresponding rotor angle value of the motor in each detection period, the method further comprises:
and when the phase current instantaneous value of the motor is detected to change from large to small in each detection period and is smaller than the current threshold value, subtracting the absolute value of the difference value of the two rotor angle values corresponding to each two collected adjacent phase current instantaneous values from the angle accumulated value until the angle accumulated value corresponding to each detection period is zero.
8. A motor phase current over-current detection device, comprising:
the acquisition module is used for acquiring a phase current instantaneous value of the motor in each detection period and a corresponding rotor angle value at a preset sampling frequency, wherein the direction of the phase current instantaneous value of the motor in each detection period is the same;
the first determining module is used for determining an angle accumulated value corresponding to each detection period according to the phase current instantaneous value of the motor in each detection period and the corresponding rotor angle value, wherein the angle accumulated value is the accumulated sum of the rotor angle value of which each corresponding phase current instantaneous value in the detection period is greater than a current threshold value and the absolute value of the difference value of the previous adjacent rotor angle value;
and the second determination module is used for determining that the motor phase current is overcurrent in the detection period if the angle accumulated value corresponding to the detection period is greater than an angle threshold value.
9. The apparatus of claim 8, wherein the second determination module, after determining that the motor phase current is over-current during the detection period, is further to:
setting the value of the overcurrent flag bit corresponding to the detection period as a first preset value;
and obtaining values of over-current flag bits corresponding to the first N detection periods adjacent to the detection period respectively, and determining that the motor has an over-current fault if the over-current flag bits of at least M detection periods are all first preset values in the first N detection periods adjacent to the detection period, wherein N and M are positive integers, and M is smaller than N.
10. A motor controller, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the motor phase current over-current detection method of any one of claims 1-7.
11. A vehicle comprising the motor phase current overcurrent detection apparatus according to claim 8 or 9, or the motor controller according to claim 10.
12. A readable storage medium on which a motor phase current detection program is stored, the program, when executed by a processor, implementing the motor phase current overcurrent detection method according to any one of claims 1 to 7.
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