CN115980579B - Motor detection method, apparatus and storage medium - Google Patents
Motor detection method, apparatus and storage medium Download PDFInfo
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- CN115980579B CN115980579B CN202310084979.4A CN202310084979A CN115980579B CN 115980579 B CN115980579 B CN 115980579B CN 202310084979 A CN202310084979 A CN 202310084979A CN 115980579 B CN115980579 B CN 115980579B
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Abstract
The invention discloses a motor detection method, motor detection equipment and a storage medium, wherein the motor detection method comprises the following steps: acquiring voltage characteristics corresponding to the real-time rotating speed of the motor, wherein the voltage characteristics comprise phase voltage frequency; determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic; and determining whether the motor runs abnormally or not according to the voltage value. The invention accurately identifies the abnormal state of the motor operation and improves the safety of the motor operation.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a motor detection method, apparatus, and storage medium.
Background
Under the condition that the rotary transformer faults occur in the electric control system, the rotating speed of the motor cannot be obtained through the acquisition of signals of the rotary transformer, so that the electric control system cannot obtain the actual real-time rotating speed of the motor, the motor cannot be detected when the rotating speed is abnormal, and the high-voltage devices and the power modules of the electric control system are damaged due to the fact that the high-voltage devices and the power modules of the electric control system are damaged.
Disclosure of Invention
The main object of the present invention is to provide a motor detection method, apparatus and storage medium, aiming at improving the problem of how to improve the safety of motor operation.
In order to achieve the above object, the present invention provides a motor detection method, which includes the following steps:
acquiring voltage characteristics corresponding to the real-time rotating speed of the motor, wherein the voltage characteristics comprise phase voltage frequency;
determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic;
and determining whether the motor runs abnormally or not according to the voltage value.
Optionally, the step of determining whether the motor is abnormal according to the voltage value includes:
when the voltage value is larger than a preset first voltage value, determining that the motor operates in an abnormal state;
and when the voltage value is smaller than or equal to a preset first voltage value, determining that the motor operates in a normal state.
Optionally, after the step of determining that the motor is operating in an abnormal state, the method further includes:
and controlling the motor to be in a non-free rotation safety state so as to enable the motor to reduce the rotating speed under the action of negative moment.
Optionally, after the step of controlling the motor to be in a non-free-rotation safe state, the method further includes:
and when the voltage value is smaller than or equal to a preset second voltage value, controlling the motor to be in a free rotation safety state, so that the motor gradually rotates to stop under the inertia of the current rotating speed.
Optionally, the method further comprises:
acquiring a voltage value corresponding to the motor in real time;
and generating a voltage waveform diagram of the motor operation according to the voltage value and outputting the voltage waveform diagram.
Optionally, the method further comprises:
determining the switching times of the motor in the non-free rotation safety state and the free rotation safety state within a preset time length;
and if the switching times are greater than the preset times, increasing the negative moment corresponding to the non-free rotation safety state.
Optionally, the method further comprises:
in case of a resolver fault, determining a phase voltage frequency from the voltage characteristic;
determining the current rotating speed of the motor according to the mapping relation between the phase voltage frequency and the rotating speed, and obtaining the target rotating speed of the motor;
and controlling the output torque of the motor according to the current rotating speed of the motor and the target rotating speed.
In order to achieve the above object, the present invention also provides a motor detection apparatus including a memory, a processor, and a motor detection program stored in the memory and executable on the processor, which when executed by the processor, implements the respective steps of the motor detection method as described above.
Optionally, the detection circuit comprises a circuit conversion and comparison processing module and a switching module, wherein the circuit conversion and comparison processing module is used for determining a voltage value corresponding to the motor at the real-time rotating speed according to the voltage characteristic and determining whether the motor operates abnormally according to the voltage value; the switching module is used for carrying out state switching between a non-free rotation safety state and a free rotation safety state.
To achieve the above object, the present invention also provides a computer-readable storage medium storing a motor detection program which, when executed by a processor, implements the respective steps of the motor detection method described above.
The invention provides a motor detection method, motor detection equipment and a storage medium, which are used for acquiring voltage characteristics corresponding to real-time rotating speed of a motor, wherein the voltage characteristics comprise phase voltage frequency; determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic; and determining whether the motor runs abnormally or not according to the voltage value. Under the condition of the fault of the rotary transformer, the output signal, namely the voltage value, of the electric control system is acquired through the hardware circuit, the abnormal state of the motor operation is accurately identified through the voltage value, and the safety of the motor operation is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a motor detection device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the motor detection method of the present invention;
FIG. 3 is a schematic diagram of a detection circuit of the motor detection method of the present invention;
fig. 4 is a detailed flowchart of step S30 of the second embodiment of the motor detection method according to the present invention;
fig. 5 is a schematic diagram of a voltage waveform diagram of the motor detection method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: acquiring voltage characteristics corresponding to the real-time rotating speed of the motor, wherein the voltage characteristics comprise phase voltage frequency; determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic; and determining whether the motor runs abnormally or not according to the voltage value.
Under the condition of the fault of the rotary transformer, the output signal, namely the voltage value, of the electric control system is acquired through the hardware circuit, the abnormal state of the motor operation is accurately identified through the voltage value, and the safety of the motor operation is improved.
As an implementation, the motor detection device may be as shown in fig. 1.
The embodiment of the invention relates to motor detection equipment, which comprises: a detection circuit, a processor 101, e.g. a CPU, a memory 102, a communication bus 103. Wherein the communication bus 103 is used to enable connected communication among the components. As shown in fig. 3, the detection circuit comprises a circuit conversion and comparison processing module and a switching module, wherein the circuit conversion and comparison processing module is used for determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic and determining whether the motor operates abnormally according to the voltage value; the switching module is used for carrying out state switching between a non-free rotation safety state and a free rotation safety state. Optionally, the switching module is further configured to output a fault state driving waveform, i.e. a voltage waveform diagram.
The memory 102 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. As shown in fig. 1, a motor detection program may be included in a memory 102 as a computer-readable storage medium; and the processor 101 may be configured to call the motor detection program stored in the memory 102 and perform the following operations:
acquiring voltage characteristics corresponding to the real-time rotating speed of the motor, wherein the voltage characteristics comprise phase voltage frequency;
determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic;
and determining whether the motor runs abnormally or not according to the voltage value.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
when the voltage value is larger than a preset first voltage value, determining that the motor operates in an abnormal state;
and when the voltage value is smaller than or equal to a preset first voltage value, determining that the motor operates in a normal state.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
and controlling the motor to be in a non-free rotation safety state so as to enable the motor to reduce the rotating speed under the action of negative moment.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
and when the voltage value is smaller than or equal to a preset second voltage value, controlling the motor to be in a free rotation safety state, so that the motor gradually rotates to stop under the inertia of the current rotating speed.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
acquiring a voltage value corresponding to the motor in real time;
and generating a voltage waveform diagram of the motor operation according to the voltage value and outputting the voltage waveform diagram.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
determining the switching times of the motor in the non-free rotation safety state and the free rotation safety state within a preset time length;
and if the switching times are greater than the preset times, increasing the negative moment corresponding to the non-free rotation safety state.
Alternatively, the processor 101 may be configured to call a motor detection program stored in the memory 102 and perform the following operations:
in case of a resolver fault, determining a phase voltage frequency from the voltage characteristic;
determining the current rotating speed of the motor according to the mapping relation between the phase voltage frequency and the rotating speed, and obtaining the target rotating speed of the motor;
and controlling the output torque of the motor according to the current rotating speed of the motor and the target rotating speed.
Based on the hardware framework of the motor detection equipment, the embodiment of the motor detection method is provided.
Referring to fig. 2, fig. 2 is a first embodiment of the motor detection method according to the present invention, the motor detection method includes the steps of:
step S10, voltage characteristics corresponding to the real-time rotating speed of the motor are obtained, wherein the voltage characteristics comprise phase voltage frequency.
In order to realize control of the electric vehicle, an angle sensor or a speed sensor and the like are arranged in a motor in an electric control system of the electric vehicle, the sensor is used for acquiring the position angle and the rotating speed of a motor rotor, and closed-loop control of the electric control system is realized according to the position angle and the rotating speed of the rotor, so that the electric control system reaches a preset torque output state or rotating speed output state.
When the electric control system fails, a safety failure state which the motor needs to enter is selected according to the current failure and the running state of the electric control system, so that the safety of the electric control system and the whole vehicle is ensured.
In an electric control system of a permanent magnet synchronous motor, due to the specificity of the permanent magnet synchronous motor, back electromotive force is formed during free rotation of the motor, and if the voltage difference corresponding to the back electromotive force is larger than the voltage of a battery end of the motor, charging current is formed from the motor end to the battery end, which is very dangerous for the battery. In addition, considering on the electrical control system, when the motor rotational speed is too high, can form very high back electromotive force, this partial voltage can directly load on electrical control system's high-voltage device, very easily causes the excessive pressure damage of high-voltage device, probably can cause high-voltage device to explode to destroy, appear the unable scheduling problem of vehicle even.
In general, whether the motor operates abnormally is determined according to the acquired real-time rotating speed of the motor. Wherein, the real-time rotating speed of the motor is mainly acquired through a rotary transformer. However, when the electric control system fails, that is, the rotating speed of the motor cannot be obtained through the rotating transformer through collecting signals, whether the motor operates abnormally cannot be determined. At this time, the electric control system cannot acquire the real-time rotating speed of the motor, so that the electric control system cannot judge whether the motor runs abnormally, and the conditions of burst of high-voltage devices of the electric control system, damage to a battery and the like are caused by extremely high risk.
Optionally, the voltage characteristic comprises a correlation between voltage and system power, e.g. the voltage characteristic comprises a phase voltage value or the like.
Optionally, the voltage characteristic includes a phase voltage frequency, and different real-time rotational speeds of the motor correspond to different phase voltage frequencies, wherein the larger the real-time rotational speed is, the higher the phase voltage frequency is, and conversely, the smaller the real-time rotational speed is, the lower the phase voltage frequency is. Optionally, the real-time rotation speed and the phase voltage frequency are in one-to-one correspondence.
Optionally, under the condition of a fault of the rotary transformer, determining a phase voltage frequency according to the voltage characteristic, wherein the phase voltage frequency and the rotating speed are in a one-to-one mapping relationship, the mapping relationship can be determined by historical operation data, and the mapping relationship can also be determined through experiments; determining the current rotation speed of the motor according to the mapping relation between the phase voltage frequency and the rotation speed, and acquiring the target rotation speed of the motor, wherein the target rotation speed can be optionally a rotation speed value set by a user or a rotation speed value corresponding to a user selection mode or a gear; and controlling the output torque of the motor according to the current rotating speed and the target rotating speed of the motor, and optionally, determining the output torque of the motor according to the difference value between the current rotating speed and the target rotating speed of the motor so as to adjust the rotating speed of the motor to reach the target rotating speed.
And step S20, determining a voltage value corresponding to the motor at the real-time rotating speed according to the voltage characteristic.
Optionally, when the voltage characteristic is a phase voltage frequency, acquiring a phase voltage frequency corresponding to the operation of the motor, and determining a voltage value corresponding to the motor at the current rotating speed according to the phase voltage frequency; the higher the phase voltage frequency is, the larger the voltage value is, whereas the lower the phase voltage frequency is, the smaller the voltage value is. Optionally, waveforms of phase voltage frequencies are collected, the phase voltage frequencies are converted through a hardware circuit to obtain a low-voltage identified voltage value, and different phase voltage frequencies correspond to different low-voltage values. The voltage value here refers to the voltage value finally input to the comparison processing module, as shown in fig. 3.
And step S30, determining whether the motor is abnormal according to the voltage value.
Alternatively, a larger voltage value indicates a larger back emf value formed by the motor, whereas a smaller voltage value indicates a smaller back emf value formed by the motor. The voltage value and the counter potential value or the real-time rotating speed have a one-to-one correspondence, and the comparison processor compares the obtained voltage value to determine whether the motor is abnormal in operation.
Optionally, when the voltage value is in a preset range, the larger the back electromotive force formed by the motor is, the abnormal operation of the motor is determined; and when the voltage value is not in the preset range, the smaller the back electromotive force formed by the motor is, and the motor is determined to be normal.
In the technical scheme of the embodiment, voltage characteristics corresponding to the real-time rotating speed of the motor are obtained, wherein the voltage characteristics comprise phase voltage frequency; determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic; and determining whether the motor runs abnormally or not according to the voltage value. Under the condition of the fault of the rotary transformer, the output signal, namely the voltage value, of the electric control system is acquired through the hardware circuit, the abnormal state of the motor operation is accurately identified through the voltage value, and the safety of the motor operation is improved.
Referring to fig. 4, fig. 4 is a second embodiment of the motor detection method according to the present invention, based on the first embodiment, the step S30 includes:
step S31, when the voltage value is larger than a preset first voltage value, determining that the motor is in an abnormal state;
and step S32, when the voltage value is smaller than or equal to a preset first voltage value, determining that the motor is in a normal state.
Alternatively, the larger the voltage value, the easier it is for the charging current to be formed from the motor terminal to the battery terminal when the voltage difference is larger than the battery terminal voltage of the system, which is very dangerous for the battery. In addition, considering on the electrical control system, when the motor rotational speed is too high, very high back electromotive force can be formed, and this partial voltage can directly load on electrical control system's high-voltage device, very easily causes the excessive pressure damage of high-voltage device, probably can cause high-voltage device to explode to destroy, causes even the circumstances such as vehicle uncontrollable.
Optionally, when the voltage value is smaller than or equal to a preset first voltage value, the motor rotating speed is normal, the motor is determined to be in a normal state, and the motor is not subjected to operation state change processing.
Alternatively, when the voltage value is greater than the preset first voltage value, it is determined that the motor is operating in an abnormal state, at which time the rotational speed of the motor needs to be controlled. Optionally, after determining that the motor is in an abnormal state, controlling the motor to be in a non-free rotation safety state so as to enable the motor to reduce the rotating speed under the action of negative moment. The non-free rotation safety state is, for example, an active short circuit state, and at the moment, the controller in the electric control system controls the motor to be in three-phase short circuit to form a negative moment, and the motor rotating speed is rapidly pulled to a stop state by external force. If the motor rotation speed can be rapidly reduced to zero, the motor and the power device can be overheated due to the large current in the active short circuit period, and the thermal risk can be caused, so that the time is not easy to be excessively long. When the voltage value is smaller than or equal to a preset second voltage value, namely the motor rotating speed is lower than the preset rotating speed, the motor is controlled to be in a free rotation safety state, so that the motor gradually rotates to stop under inertia at the current rotating speed. At this time, the controller in the electric control system no longer controls the driving output, the three-phase inversion bridge arm of the motor is in an OFF tube closing state, and the motor gradually rotates to stop at the current rotating speed by inertia under the condition of no external force dragging.
The motor is switched to a non-free rotation safety state so as to prevent the voltage of the high-voltage side from rising continuously; when the motor value is smaller than or equal to the second voltage value, the motor is switched back to a free rotation state, and the thermal failure of the power device and the motor is prevented from occurring due to long-time active short circuit.
Therefore, in the running process of the motor, after the motor can enter a free rotation safety state, when the free rotation safety state enables the rotating speed to continuously rise to a preset excessive rotating speed, namely, the voltage value is larger than a preset first voltage value, the motor is controlled to be switched back to a non-free rotation safety state, for example, in an active short-circuit state; and repeating the steps, and switching the running state of the motor according to the collected voltage value.
Optionally, the method further comprises: acquiring a voltage value corresponding to the motor in real time; and generating and outputting a voltage waveform diagram of the motor operation according to the voltage value so as to intuitively display the motor operation condition. As shown in fig. 5, FW is a voltage value corresponding to the real-time rotation speed of the motor in the free rotation safety state, ASC is a voltage value corresponding to the real-time rotation speed of the motor in the non-free rotation safety state, wherein the preset value 1 is a preset first voltage value, and the preset value 2 is a preset second voltage value.
Optionally, the method further comprises: determining the switching times of the motor in the non-free rotation safety state and the free rotation safety state within a preset time length; if the switching times are larger than the preset times, which means that the current rotating speed of the motor is higher, increasing the negative moment corresponding to the non-free rotation safety state, so that the rotating speed of the motor is rapidly reduced in the non-free rotation safety state.
Optionally, the method further comprises: determining the switching time length of the motor in the non-free rotation safety state and the free rotation safety state; if the switching time is smaller than the preset time, the current rotating speed of the motor is higher, and the negative moment corresponding to the non-free rotation safety state is increased, so that the rotating speed of the motor is rapidly reduced in the non-free rotation safety state.
In the technical scheme of the embodiment, when the voltage value is larger than a preset first voltage value, the motor is determined to be in an abnormal state; and when the voltage value is smaller than or equal to a preset first voltage value, determining that the motor is in a normal operation state. Under the condition of the fault of the rotary transformer, the abnormal state identification of the motor is realized, and the system is switched to a reasonable safety state according to the actual state of the motor in real time, so that the running safety of the motor is improved.
The present invention also provides a motor detection apparatus including a detection circuit, a memory, a processor, and a motor detection program stored in the memory and executable on the processor, which when executed by the processor, implements the steps of the motor detection method described in the above embodiments.
Optionally, the detection circuit comprises a circuit conversion and comparison processing module and a switching module, wherein the circuit conversion and comparison processing module is used for determining a voltage value corresponding to the motor at the real-time rotating speed according to the voltage characteristic and determining whether the motor operates abnormally according to the voltage value; the switching module is used for carrying out state switching between a non-free rotation safety state and a free rotation safety state.
The present invention also provides a computer-readable storage medium storing a motor detection program which, when executed by a processor, implements the steps of the motor detection method described in the above embodiments.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, system, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, system, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, system, article, or apparatus that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment system may be implemented by means of software plus necessary general purpose hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a computer readable storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a parking management device, an air conditioner, or a network device, etc.) to execute the system according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A motor detection method, characterized in that the motor detection method comprises:
when the motor rotates freely and the rotary transformer fails, acquiring voltage characteristics corresponding to the real-time rotating speed of the motor, wherein the voltage characteristics comprise phase voltage frequency;
determining a voltage value corresponding to the motor at a real-time rotating speed according to the voltage characteristic, wherein the voltage value has a one-to-one correspondence with a counter potential value formed by the motor, and the larger the voltage value is, the larger the counter electromotive force is, and the smaller the voltage value is, the smaller the counter electromotive force is;
when the voltage value is larger than a preset first voltage value, determining that the motor is in an abnormal state, and controlling the motor to be in a non-free rotation safety state, so that the motor reduces the rotating speed under the action of negative moment, and overvoltage damage of a high-voltage device is avoided; when the voltage value is smaller than or equal to a preset first voltage value, determining that the motor operates in a normal state;
when the voltage value is smaller than or equal to a preset second voltage value, the motor is controlled to be in a free rotation safety state, so that the motor gradually rotates to stop under the inertia of the current rotating speed, and the thermal failure of the power device and the motor is prevented from occurring due to long-time active short circuit.
2. The motor detection method according to claim 1, characterized in that the method further comprises:
acquiring a voltage value corresponding to the motor in real time;
and generating a voltage waveform diagram of the motor operation according to the voltage value and outputting the voltage waveform diagram.
3. The motor detection method according to claim 1, characterized in that the method further comprises:
determining the switching times of the motor in the non-free rotation safety state and the free rotation safety state within a preset time length;
and if the switching times are greater than the preset times, increasing the negative moment corresponding to the non-free rotation safety state.
4. The motor detection method according to claim 1, characterized in that the method further comprises:
in case of a resolver fault, determining a phase voltage frequency from the voltage characteristic;
determining the current rotating speed of the motor according to the mapping relation between the phase voltage frequency and the rotating speed, and obtaining the target rotating speed of the motor;
and controlling the output torque of the motor according to the current rotating speed of the motor and the target rotating speed.
5. A motor detection apparatus comprising a detection circuit, a memory, a processor, and a motor detection program stored in the memory and executable on the processor, the motor detection program when executed by the processor implementing the steps of the motor detection method according to any one of claims 1-4.
6. The motor detection apparatus according to claim 5, wherein the detection circuit includes a circuit conversion and comparison processing module for determining a voltage value corresponding to the motor at the real-time rotation speed based on the voltage characteristic and determining whether the motor is abnormal or not based on the voltage value, and a switching module; the switching module is used for carrying out state switching between a non-free rotation safety state and a free rotation safety state.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a motor detection program which, when executed by a processor, implements the respective steps of the motor detection method according to any one of claims 1 to 4.
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