CN117491756A - Phase failure detection method, training method of phase failure detection network model and related device - Google Patents

Phase failure detection method, training method of phase failure detection network model and related device Download PDF

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CN117491756A
CN117491756A CN202311856163.5A CN202311856163A CN117491756A CN 117491756 A CN117491756 A CN 117491756A CN 202311856163 A CN202311856163 A CN 202311856163A CN 117491756 A CN117491756 A CN 117491756A
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phase
pulse width
width modulation
modulation signal
motor
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CN117491756B (en
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黄嘉宏
张威
黄舜
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Shenzhen Megmeet Electrical Co Ltd
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Shenzhen Megmeet Electrical Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/16—Measuring asymmetry of polyphase networks
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption

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  • Control Of Ac Motors In General (AREA)

Abstract

The application discloses a phase failure detection method, a training method of a phase failure detection network model and a related device, wherein the phase failure detection method is applied to a three-phase motor, the three-phase motor comprises three-phase windings, and the phase failure detection method comprises the following steps: sampling and obtaining a pulse width modulation signal which is output to at least one winding in the three-phase windings by a motor driving circuit every interval set time length; responding to the accumulated sampling acquisition times to reach the set times, and calculating each pulse width modulation signal obtained in an accumulated manner by adopting a preset function to obtain characteristic parameters; and determining the open-phase state of the three-phase motor according to the characteristic parameters. By the method, the phase failure detection method can still rapidly and accurately detect the output phase failure on the basis of not increasing hardware cost, and even if one-phase or two-phase current is not subjected to hardware sampling, the phase failure can be accurately detected, and the application range is wider.

Description

Phase failure detection method, training method of phase failure detection network model and related device
Technical Field
The application relates to the technical field of motor control, in particular to a phase failure detection method, a training method of a phase failure detection network model and a related device.
Background
In the sensor vector control of an asynchronous motor, when three-phase voltage output lacks a phase, the situation that one phase current is zero and the other two phases are larger can occur, meanwhile, only two phases of output currents cause unstable rotating magnetic fields in the motor, so that the motor vibrates, and therefore, the rapid and accurate detection of the motor output lacks a phase is one of important research directions in motor control.
However, in the existing motor output phase-failure detection method, the average value of each phase of current is detected and calculated, and then the average value is compared with the average value to carry out logic judgment, and when the phase-failure detection condition is met, a phase-failure fault is reported, the phase-failure detection result is slower, the dependence on the hardware condition of a motor driver is higher, and the hardware cost is higher; and when the current of the phase-missing or the speed control command is zero, the phase-missing detection cannot be effectively realized.
Disclosure of Invention
The technical problem that the method and the device mainly solve is to provide a phase-failure detection method, a training method of a phase-failure detection network model and a related device, and can solve the problems that the phase-failure detection method in the prior art is low in detection efficiency, high in dependence on hardware conditions of a motor driver, high in hardware cost and incapable of effectively realizing phase-failure detection when a phase-failure current or a speed control instruction is zero.
In order to solve the technical problems, one technical scheme adopted by the application is as follows: the open-phase detection method is applied to a three-phase motor, and the three-phase motor comprises three-phase windings, wherein the open-phase detection method comprises the following steps: sampling and obtaining a pulse width modulation signal which is output to at least one winding in the three-phase windings by a motor driving circuit every interval set time length; responding to the accumulated sampling acquisition times to reach the set times, and calculating each pulse width modulation signal obtained in an accumulated manner by adopting a preset function to obtain characteristic parameters; and determining the open-phase state of the three-phase motor according to the characteristic parameters.
Before the step of sampling and obtaining the pulse width modulation signal output by the motor driving circuit to at least one winding in the three-phase windings at each set time interval, the method further comprises the following steps: detecting whether a speed control instruction output by a motor driving circuit to a three-phase motor is zero or not; the step of sampling and obtaining a pulse width modulation signal output by a motor driving circuit to at least one winding in the three-phase windings at each set interval time length comprises the following steps: and responding to the speed control instruction output by the motor driving circuit to the three-phase motor, wherein the speed control instruction is not zero, and sampling and acquiring a pulse width modulation signal output by the motor driving circuit to at least one winding in the three-phase windings every set time interval.
The calculating the feature parameters of each pulse width modulation signal obtained by accumulation by adopting a preset function comprises the following steps: multiplying the duty ratio of each pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain terminal voltage; dividing the sum of the accumulation of the voltages at each end by the set times to obtain a voltage average value; dividing the sum of the accumulations of the square values of the voltages at each end by the set times, and then opening the square to obtain the voltage root mean square value.
The step of determining the open-phase state of the three-phase motor according to the characteristic parameters comprises the following steps: detecting whether the difference between the average voltage value and the root mean square voltage value exceeds a first threshold; if the difference value exceeds a first threshold value, determining that the phase-missing state is the current working voltage phase-missing of the three-phase motor; if the difference value does not exceed the first threshold value, determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
The phase failure detection method further comprises the following steps: and responding to the speed control instruction output by the motor driving circuit to the three-phase motor to be zero, sampling and acquiring a first pulse width modulation signal and a second pulse width modulation signal which are respectively output to at least two windings in the three-phase windings by the motor driving circuit every set time interval.
The calculating the feature parameters of each pulse width modulation signal obtained by accumulation by adopting a preset function comprises the following steps: multiplying the duty ratio of each first pulse width modulation signal by the bus voltage output by the motor driving circuit to the three-phase winding to obtain a first end voltage; dividing the sum of the accumulations of the square values of the voltages of each first end by a set number of times, and squaring to obtain a first root mean square value; multiplying the duty ratio of each second pulse width modulation signal by the bus voltage output by the motor driving circuit to the three-phase winding to obtain a second terminal voltage; dividing the sum of the accumulations of the square values of the voltages of the second terminals by the set times, and then squaring to obtain a second root-mean-square value.
The step of determining the open-phase state of the three-phase motor according to the characteristic parameters comprises the following steps: detecting whether a difference between the first root mean square value and the second root mean square value exceeds a second threshold; if the difference value exceeds a second threshold value, determining that the phase-missing state is the current working voltage phase-missing of the three-phase motor; and if the difference value does not exceed the second threshold value, determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
The step of sampling and obtaining a pulse width modulation signal output by a motor driving circuit to at least one winding in the three-phase windings at each set time interval comprises the following steps: sampling and acquiring a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal of each winding in the three-phase windings by a motor driving circuit at each set interval time length; in response to the accumulated sampling frequency reaching the set frequency, calculating the feature parameter of each pulse width modulation signal obtained by accumulation by adopting a preset function, wherein the step of calculating the feature parameter comprises the following steps: responding to the accumulated sampling acquisition times to reach the set times, and calculating each accumulated first pulse width modulation signal by adopting a preset function to obtain a first characteristic parameter; calculating each second pulse width modulation signal obtained in an accumulated way by adopting a preset function to obtain a second characteristic parameter; calculating each third pulse width modulation signal obtained in an accumulated way by adopting a preset function to obtain a third characteristic parameter; the step of determining the open-phase state of the three-phase motor according to the characteristic parameters comprises the following steps: and determining the open-phase state of the three-phase motor according to at least one of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter.
Wherein the set time length is 1-4 milliseconds, and the set times are 100-1000 times.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: the open-phase detection method is applied to a three-phase motor, and the three-phase motor comprises three-phase windings, wherein the open-phase detection method comprises the following steps: the sampling acquisition motor driving circuit outputs a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal to each winding in the three-phase windings respectively; multiplying the duty ratios of the first pulse width modulation signal, the second pulse width modulation signal and the third pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a first end voltage, a second end voltage and a third end voltage; obtaining a three-phase terminal voltage waveform schematic diagram by using the first terminal voltage, the second terminal voltage and the third terminal voltage; inputting the three-phase terminal voltage waveform schematic diagram into a trained open-phase detection network model, classifying the voltage waveform schematic diagram by using the open-phase detection network model, and determining the confidence level of classifying the voltage waveform schematic diagram as the open-phase waveform schematic diagram; and determining the open-phase state of the three-phase motor according to the confidence level.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: the training method for the open-phase detection network model is used for training to obtain the open-phase detection network model, wherein the training method for the open-phase detection network model comprises the following steps: acquiring a phase-loss waveform schematic diagram and/or a target three-phase terminal voltage waveform schematic diagram; labeling the open-phase waveform schematic diagram and/or the target three-phase terminal voltage waveform schematic diagram to obtain labeled image information; training a preset network model through labeling image information to establish a first model; and training a second model through labeling image information to obtain a phase failure detection network model, wherein the second model is obtained by adding a detection output model structure to the first model.
In order to solve the technical problem, another technical scheme adopted by the application is as follows: there is provided a phase-loss detection circuit for detecting a phase-loss state of a three-phase motor using the phase-loss detection method as described in any one of the above.
In order to solve the technical problem, another technical scheme adopted by the application is as follows: an electronic device is provided, wherein the electronic device comprises a shell and a phase failure detection circuit connected to the shell; wherein the open-phase detection circuit is any one of the open-phase detection circuits described above.
The beneficial effects of this application are: compared with the prior art, the open-phase detection method is applied to a three-phase motor, the three-phase motor comprises three-phase windings, the open-phase detection method specifically samples and acquires pulse width modulation signals output by a motor driving circuit to at least one winding in the three-phase windings at set time intervals, when the sampling and acquisition times reach the set times, a preset function is adopted to calculate each pulse width modulation signal obtained in an accumulated mode to obtain characteristic parameters, and the open-phase state of the three-phase motor is determined according to the characteristic parameters, so that the open-phase output can be detected rapidly and accurately on the basis of not increasing hardware cost, the open-phase can be detected accurately even if one-phase or two-phase current does not sample hardware, and the application range is wider.
Drawings
For a clearer description of the technical solutions in the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic diagram of a frame of one embodiment of a motor speed loop control;
FIG. 2 is a schematic diagram of a framework of an embodiment of motor vector control;
FIG. 3 is a detailed frame schematic of an embodiment of motor vector control;
FIG. 4 is a schematic flow chart of a first embodiment of the open-phase detection method of the present application;
FIG. 5 is a phase schematic of the motor three-phase terminal voltage;
FIG. 6 is a schematic flow chart of a second embodiment of the open-phase detection method of the present application;
FIG. 7 is a schematic flow chart of a third embodiment of a phase loss detection method according to the present application;
FIG. 8 is a schematic flow chart of a fourth embodiment of a phase loss detection method of the present application;
FIG. 9 is a schematic diagram of three phase terminal voltage waveforms of the motor in normal operation when the speed control command is not zero;
FIG. 10 is a schematic diagram of three phase terminal voltage waveforms for a motor with a non-zero speed control command and a phase current present;
FIG. 11 is a schematic diagram of three-phase terminal voltage waveforms for a motor with a non-zero speed control command and a two-phase current draw;
FIG. 12 is a schematic diagram of three phase terminal voltage waveforms for a motor with a speed control command other than zero and a three phase operating current being absent;
FIG. 13 is a schematic diagram of three phase terminal voltage waveforms during normal operation with motor speed control command zero;
FIG. 14 is a schematic diagram of three phase terminal voltage waveforms for a motor speed control command of zero and a phase current absence;
FIG. 15 is a schematic diagram of three-phase terminal voltage waveforms for a motor speed control command of zero and a two-phase current draw;
FIG. 16 is a flow chart of an embodiment of a training method for the open-phase detection network model of the present application;
FIG. 17 is a schematic diagram illustrating the structure of an embodiment of a phase loss detection circuit according to the present application;
fig. 18 is a schematic structural diagram of an embodiment of the electronic device of the present application.
Detailed Description
The inventor has long studied that the sensor vector control of an asynchronous motor is usually realized by double closed loop control of a speed loop and a current loop. Wherein, as shown in fig. 1, fig. 1 is a schematic diagram of a motor speed loop control embodiment, the current loop is an inner loop control, and the speed loop is an outer loop control.
As shown in fig. 2, fig. 2 is a schematic diagram of a motor vector control embodiment, where the speed loop decodes or performs sensorless estimation on a motor encoder to obtain a mechanical angle of a motor shaft, then calculates an electrical angle according to a pole pair number of the motor, the mechanical angle is used for calculating a motor shaft speed, the electrical angle is used for current coordinate transformation calculation of a current loop, the speed of the motor shaft is used as feedback of a speed loop PI (proportion integration, proportional integral) regulator, the target rotation speed is used as a setting of the speed loop PI regulator, and the calculated output of the speed loop PI regulator is used as a setting of a current loop Iq current PI regulator.
As shown in fig. 3, fig. 3 is a detailed schematic diagram of an embodiment of motor vector control, in which the current loop samples two-phase or three-phase output current Iu/Iv/Iw through hardware, and the phases of Iu/Iv/Iw are 120-degree phase symmetry; then, carrying out CLARK (Clark, name of a person, referring to a coordinate transformation mode for transforming a three-phase coordinate system into a rectangular coordinate system, which is proposed by Clark), coordinate transformation on Iu/Iv/Iw, and transforming Iu/Iv/Iw into Iα and Iβ currents with 90-degree phase difference; iα and iβ are then PARK (PARK, name, herein specifically referring to the way in which three-phase currents are projected by PARK onto a direct axis (d-axis) that rotates with the rotor, and the quadrature axis (q-axis) is transformed into coordinates with a zero axis (0-axis) perpendicular to the dq plane, to convert the iα and iβ currents in the stationary coordinate system into Id and Iq currents in the rotating coordinate system.
The Id current and the Iq current are always located on a rotating dq coordinate axis, so the Id current and the Iq current belong to direct current variables and are easy to control, meanwhile, the Id current and the Iq current are used as feedback of two current PI regulators, the Iq current PI regulator is given as output of a speed ring, and the Id current PI regulator is given as magnetic flux; id and Iq current PI regulators calculate the given and feedback and then output regulated target currents Id1 and Iq1; then, carrying out anti-PARK transformation on Id1 and Iq1 to obtain V alpha and V beta, wherein V alpha and V beta are used as the input of a SVPWM (Space Vector Pulse Width Modulation ) modulation algorithm; the SVPWM algorithm calculates three different PWM (Pulse width modulation ) duty cycle values that are used to generate three-phase modulated PWM signals to the U/V/W three-phase windings of the motor to control the asynchronous motor to operate at a target speed.
However, in the sensor vector control of an asynchronous motor, when the three-phase voltage output lacks a phase, a situation that one phase current is zero and the other two phases current is larger occurs, and meanwhile, only two phases of output current cause unstable rotating magnetic field in the motor, so that the motor vibrates, and therefore, the rapid and accurate detection of the motor output lacks a phase is one of important research directions in motor control.
In order to rapidly and accurately detect the output open-phase on the basis of not increasing the hardware cost, the application provides an open-phase detection method. The present application is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustration of the present application, but do not limit the scope of the present application. Likewise, the following embodiments are only some, but not all, of the embodiments of the present application, and all other embodiments obtained by one of ordinary skill in the art without making any inventive effort are within the scope of the present application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 4, fig. 4 is a schematic flow chart of a first embodiment of the open-phase detection method of the present application. Specifically, the method may include the steps of:
s11: sampling and obtaining a pulse width modulation signal output by the motor driving circuit to at least one winding in the three-phase windings at each set time interval.
It can be understood that the phase-loss detection method in this embodiment is specifically applied to a three-phase motor, where the three-phase motor specifically includes three-phase windings, so that when the motor driving circuit provides the three-phase output current Iu/Iv/Iw to each winding in the three-phase motor to drive the three-phase motor to operate, and the pulse width modulation signal, for example, the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2, and the third pulse width modulation signal PWM3, is sent to the switching circuit corresponding to each winding by using the SVPWM modulation algorithm, so that when the three-phase motor is controlled to operate, the phase-loss detection method can be used to detect the state of a phase loss, a two-phase loss, or a three-phase loss current that may exist in the three-phase output current Iu/Iv/Iw.
It should be noted that, as shown in fig. 5, fig. 5 is a phase diagram of three-phase terminal voltages of the motor, and specifically corresponds to the terminal voltages at two ends of each phase winding when the three-phase motor is operating normally, where the three-phase terminal voltages are respectively U 0 /V 0 /W 0 For example, it can be seen that the U 0 /V 0 /W 0 In particular three symmetrical voltages of equal amplitude and 120 degrees phase difference, and the U 0 /V 0 /W 0 And corresponds to three symmetrical three-phase output currents Iu/Iv/Iw, respectively, which are 120 degrees out of phase.
The phase-failure detection method can be specifically realized by a phase-failure detection circuit coupled with a motor driving circuit.
Specifically, the open-phase detection circuit is configured to sample the pulse width modulation signal output by the motor driving circuit to at least one of the three-phase windings once per a set period of time, that is, to acquire at least one of the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2, and the third pulse width modulation signal PWM3 per a set period of time, and perform cumulative counting.
S12: and in response to the accumulated sampling acquisition times reaching the set times, calculating each pulse width modulation signal obtained in an accumulated manner by adopting a preset function to obtain the characteristic parameters.
Further, when the current sampling acquisition times are determined to reach the set times, the open-phase detection circuit calculates the characteristic parameters of each pulse width modulation signal obtained in an accumulated mode by adopting a preset function.
The characteristic parameter may specifically be an average value and/or a root mean square value of each terminal voltage obtained by calculating a duty ratio of each pulse width modulation signal, and/or any other reasonable parameter.
It is worth to say that the three-phase terminal voltage of the three-phase motor in the normal working and phase-failure state is obtained through sampling, and the oscillograph is used for respectively obtaining the three-phase terminal voltage waveform diagrams in the normal working and phase-failure state, so that the difference of the two can be intuitively distinguished; and the differences may be detected by suitable data analysis, such as corresponding to average and/or root mean square values of terminal voltages, and/or any other reasonable parameter that would have characteristics that would be detectable by suitable inequality judgment conditions.
In addition, the terminal voltage refers to the voltage of each phase winding in the three-phase motor to ground.
Optionally, the preset function may specifically include any reasonable function such as a linear function, a mean function, and/or a root mean square function, which is not limited in this application.
S13: and determining the open-phase state of the three-phase motor according to the characteristic parameters.
It can be understood that by performing analog oscillography and data analysis on the three-phase terminal voltage of the three-phase motor in normal working and phase-failure states, different phase-failure states, namely, non-phase failure, non-two-phase failure and non-three-phase failure states, have different characteristics, so as to be able to determine the phase-failure state in the current working operation of the three-phase motor according to the appropriate inequality judgment condition detection, so as to facilitate one or more of any reasonable processing modes such as fault early warning, emergency stop control, feedback regulation, data acquisition and the like.
According to the scheme, the phase-loss state of the three-phase motor is determined by utilizing the characteristic parameters obtained by calculating each pulse width modulation signal of at least one winding obtained by sampling, so that the phase-loss detection can be effectively carried out on the premise that each three-phase output current Iu/Iv/Iw is not required to be detected, the output phase-loss can still be rapidly and accurately detected on the basis that the hardware cost is not increased, and the detection efficiency is high; and even if one-phase or two-phase current is not subjected to hardware sampling, the missing phase can be accurately detected, and the application range is wider.
In an embodiment, the phase failure detection circuit specifically performs sampling and acquiring of the pulse width modulation signal in real time, and performs calculation of the characteristic parameter and determination of the phase failure state once when it is determined that the current sampling and acquiring times have reached the set times, and clears the current accumulated times to execute the above steps S11-S13 in a recycling manner to perform corresponding sampling and acquiring, calculation of the characteristic parameter and determination of the phase failure state.
In other embodiments, each time the detection and determination of the open-phase state are performed, that is, S11 to S13 may be performed, the step of performing S11 to S13 may be performed after another preset time period is specifically performed; or after receiving the phase failure detection instruction sent by the upper computer, executing S11-S13 to avoid that frequent execution of the phase failure detection occupies excessive operation resources and brings larger power loss.
Optionally, the set duration is 1-4 ms, that is, the phase-failure detection circuit may specifically acquire the pulse width modulation signal output by the motor driving circuit to at least one of the three-phase windings once every 1 ms, 2 ms or 4 ms, and preferably every 2 ms, which is not limited in this application.
Optionally, the number of times of setting is 100-1000, that is, the phase-failure detection circuit may specifically calculate the feature parameter for each pulse width modulation signal obtained by accumulation by using a preset function when the number of times of current sampling reaches any reasonable number of times such as 100 times, 200 times, 500 times or 1000 times, and preferably when the number of times of accumulation reaches 500 times.
Referring to fig. 6, fig. 6 is a schematic flow chart of a second embodiment of the open-phase detection method of the present application. The open-phase detection method of the present embodiment is a flowchart of a refinement of the open-phase detection method in fig. 4, and specifically includes the following steps:
s21: and detecting whether a speed control instruction output by the motor driving circuit to the three-phase motor is zero.
It will be appreciated that in actual rotational speed control of a three-phase motor, forward rotational speed control, reverse rotational speed control, and shut-down are typically involved; and different from the forward rotation speed control and the reverse rotation speed control of the motor, when the three-phase motor is shut down, namely the drive circuit sends a shut down instruction to the three-phase motor, the three-phase output current Iu/Iv/Iw in the three-phase motor gradually drops to 0, and the characteristic parameters in the phase-failure state obtained at the moment have the characteristic that is obviously different from the characteristic parameters in the forward rotation speed control/reverse rotation speed control phase-failure state.
Therefore, different detection modes are needed for the forward rotation speed control/reverse rotation speed control and the shutdown control of the motor, so that when the phase failure detection is carried out, whether the speed control instruction currently output to the three-phase motor by the motor driving circuit is zero or not needs to be detected; the speed control command is zero, namely the closing control, and the speed control command is not zero, namely the forward rotating speed control or the reverse rotating speed control.
Wherein S22 is executed if the speed control command output by the motor drive circuit to the three-phase motor is not zero, and S29 is executed if the speed control command output by the motor drive circuit to the three-phase motor is zero.
S22: sampling and obtaining a pulse width modulation signal output by the motor driving circuit to at least one winding in the three-phase windings at each set time interval.
It can be understood that when the current speed control instruction is determined not to be zero, the open-phase detection circuit specifically samples the pulse width modulation signal output by the motor driving circuit to at least one winding of the three-phase windings once every interval set time period, that is, at least one of the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2 and the third pulse width modulation signal PWM3 is acquired every interval set time period, and accumulated counts are performed.
S23: the duty ratio of each pulse width modulation signal is multiplied by the bus voltage output to the three-phase winding by the motor driving circuit to obtain terminal voltage.
Further, the duty ratio of the pulse width modulation signal obtained by each sampling is multiplied by the bus voltage output to the three-phase winding by the motor driving circuit to obtain the terminal voltage.
It should be noted that, in the motor control system, the bus voltage refers to the voltage on the bus, and may also be understood as the voltage between each two phases in the three-phase winding, where there is typically a bus voltage=terminal voltage =v3.
For ease of understanding, the sampled pulse width modulated signal includes a first pulse width modulationSignal PWM1, bus voltage U M For example, when the terminal voltage is U1, it can be known that the terminal voltage u1=pwm 1 duty ratio U M 。
In other embodiments, the PWM signal obtained by current sampling may be the second PWM signal PWM2, or the third PWM signal PWM3, or may specifically further include the second PWM signal PWM2 and/or the third PWM signal PWM3, where the terminal voltage corresponding to the second PWM signal PWM2 is V1, the terminal voltage corresponding to the third PWM signal PWM3 is V1, and accordingly, the duty ratio of terminal voltage v1=pwm 2 is equal to U M The method comprises the steps of carrying out a first treatment on the surface of the Terminal voltage w1=pwm 3 duty cycle U M 。
S24: dividing the sum of the accumulation of the voltages at each end by the set times to obtain the average voltage value.
Similarly, taking the example that the sampled PWM signal includes the first PWM signal PWM1, where the set number of times is N (N is a positive integer in 100-1000), and the terminal voltage obtained by the nth sampling is U1N, it can be known that:
the average value of the voltage。
S25: dividing the sum of the accumulations of the square values of the voltages at each end by the set times, and then opening the square to obtain the voltage root mean square value.
Further, the voltage root mean square value。
S26: it is detected whether a difference between the voltage average and the voltage root mean square value exceeds a first threshold.
It can be understood that, by analyzing the data of the three-phase terminal voltage waveform at the time of phase failure, when the speed control command is non-zero, the phase failure can cause the root mean square value of the terminal voltage to be larger than the average root value, and each phase has the characteristic, so that the phase failure detection with the speed control command being non-zero can be performed by setting the first threshold by utilizing the characteristic.
Specifically, in the firstA threshold value of U y For example, it can be seen that the open-phase detection circuit specifically detects |U p -U j |>U y Whether or not it is.
Optionally, the first threshold value U y 8-14V (volts), and preferably 10V.
Wherein if |U p -U j |>U y If true, then execution S27, if |U p -U j |>U y If not, S28 is executed.
S27: and determining the phase-missing state as the current working voltage phase-missing state of the three-phase motor.
It will be appreciated that the open-phase detection circuit is determining |U p -U j |>U y When the three-phase motor is established, the current received speed control instruction of the three-phase motor can be determined to be not zero, and the phase-missing state is that the working voltage is phase-missing or the three-phase output current is phase-missing.
S28: and determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
While the open-phase detection circuit is determining |U p -U j |>U y When the three-phase motor is not established, the current received speed control instruction of the three-phase motor can be determined to be not zero, and the phase-missing state is that the working voltage is not phase-missing, or the three-phase output current is not phase-missing, and the three-phase motor operates normally.
S29: and sampling and acquiring a first pulse width modulation signal and a second pulse width modulation signal which are respectively output to at least two windings in the three-phase windings by the motor driving circuit every interval set time length.
It can be understood that when the current speed control instruction is determined to be zero, the open-phase detection circuit specifically samples the first pulse width modulation signal and the second pulse width modulation signal respectively output to at least two windings in the three-phase windings by the motor driving circuit every interval set time length, that is, at least two of the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2 and the third pulse width modulation signal PWM3 are acquired every interval set time length, and accumulated counts are performed.
It should be noted that, for convenience of understanding, the first pulse width modulation signal and the second pulse width modulation signal may specifically be a first pulse width modulation signal PWM1 and a second pulse width modulation signal PWM2, and may be distinguished from each other by name, or may also be a first pulse width modulation signal PWM1 and a third pulse width modulation signal PWM3, or may also be a second pulse width modulation signal PWM2 and a third pulse width modulation signal PWM3, or one of the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2, and the third pulse width modulation signal PWM3, that is, one of the first pulse width modulation signal and the second pulse width modulation signal actually includes two signals, and each signal is a control signal of a different winding, which is not limited in this application.
S210: the duty ratio of each first pulse width modulation signal is multiplied by the bus voltage output by the motor driving circuit to the three-phase winding to obtain a first end voltage.
For convenience of understanding, taking the first PWM signal PWM1 and the second PWM signal PWM2 as the example of the sampled first PWM signal and the sampled second PWM signal, it can be known that the first terminal voltage u1=pwm 1 duty ratio×u M 。
S211: dividing the sum of the accumulations of the square values of the voltages of the first ends by the set times, and then opening the square to obtain a first root-mean-square value.
The first terminal voltage obtained by sampling for the nth time (n is a positive integer) is U1n, which can be shown as follows:
root mean square value of first voltage。
S212: and multiplying the duty ratio of each second pulse width modulation signal by the bus voltage output by the motor driving circuit to the three-phase winding to obtain a second terminal voltage.
Wherein the second terminal voltage v1=pwm 2 duty cycle is U M 。
S213: dividing the sum of the accumulations of the square values of the voltages of the second terminals by the set times, and then squaring to obtain a second root-mean-square value.
The second terminal voltage obtained by sampling for the nth time (n is a positive integer) is V1n, which is as follows:
second voltage root mean square value。
S214: a difference between the first root mean square value and the second root mean square value is detected whether the difference exceeds a second threshold.
It can be understood that, by analyzing the data of the three-phase terminal voltage waveform at the time of phase failure, when the speed control command is zero, the phase failure can cause the root mean square value of the terminal voltages to be greatly different, so that the characteristic can be utilized to detect the phase failure when the speed control command is zero by setting the second threshold.
Specifically, the second threshold value is V y For example, it can be seen that the open-phase detection circuit specifically detects |U j -V j |>V y Whether or not it is.
Optionally, the second threshold V y 8-14V (volts), and preferably 10V.
Wherein if |U j -V j |>V y If true, then execution S215, if |U j -V j |>V y If not, S216 is executed.
S215: and determining the phase-missing state as the current working voltage phase-missing state of the three-phase motor.
It will be appreciated that the open-phase detection circuit is determining |U j -V j |>V y When the three-phase motor is established, the current received speed control instruction of the three-phase motor can be determined to be zero, and the phase-missing state is that the working voltage is phase-missing or the three-phase output current is phase-missing.
S216: and determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
While the open-phase detection circuit is determining |U j -V j |>V y When the three-phase motor is not established, the current received speed control instruction of the three-phase motor can be determined to be zero, and the phase-missing state is that the working voltage is not phase-missing, or the three-phase output current is not phase-missing, and the three-phase motor operates normally.
Referring to fig. 7, fig. 7 is a schematic flow chart of a third embodiment of the open-phase detection method of the present application. The open-phase detection method of the present embodiment is a flowchart of a refinement of the open-phase detection method in fig. 4, and specifically includes the following steps:
S31: and sampling and acquiring a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal which are respectively output to each winding in the three-phase windings by the motor driving circuit every interval set time length.
It can be understood that the open-phase detection circuit may specifically further sample the first pulse width modulation signal, the second pulse width modulation signal, and the third pulse width modulation signal output by the motor driving circuit to each winding of the three-phase windings once per interval set period, that is, acquire the first pulse width modulation signal PWM1, the second pulse width modulation signal PWM2, and the third pulse width modulation signal PWM3 per interval set period, and perform cumulative count.
S32: and in response to the accumulated sampling acquisition times reaching the set times, calculating each accumulated first pulse width modulation signal by adopting a preset function to obtain a first characteristic parameter.
Further, when the current sampling acquisition times are determined to reach the set times, the open-phase detection circuit calculates the characteristic parameters of each pulse width modulation signal obtained in an accumulated mode by adopting a preset function.
For example, the first end voltage u1=pwm 1 duty cycle×u is calculated sequentially by using the first PWM signal PWM1 M The method comprises the steps of carrying out a first treatment on the surface of the Average value of first voltageThe method comprises the steps of carrying out a first treatment on the surface of the First voltage root mean square value->。
S33: and calculating each second pulse width modulation signal obtained through accumulation by adopting a preset function to obtain a second characteristic parameter.
Further, the duty cycle of the second terminal voltage v1=pwm 2 is calculated sequentially by using the second PWM signal PWM2Ratio of U M The method comprises the steps of carrying out a first treatment on the surface of the Second voltage average valueThe method comprises the steps of carrying out a first treatment on the surface of the Second voltage root mean square value->。
S34: and calculating each third pulse width modulation signal obtained through accumulation by adopting a preset function to obtain a third characteristic parameter.
Still further, the duty ratio of the third terminal voltage w1=pwm 3 is calculated by using the third PWM signal PWM3 in sequence M The method comprises the steps of carrying out a first treatment on the surface of the Third voltage average valueThe method comprises the steps of carrying out a first treatment on the surface of the Third voltage root mean square value->。
S35: and determining the open-phase state of the three-phase motor according to at least one of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter.
It can be understood that the open-phase detection circuit can effectively utilize the inequality to judge the condition |U after acquiring the first, second and third characteristic parameters p -U j |>U y ，|V p -V j |>U y ，|W p -W j |>U y ，|U j -V j |>V y ，|U j -W j |>V y |V j -W j |>V y On the basis of not increasing hardware cost, rapidly and accurately detecting the open-phase state of the three-phase motor when the speed control instruction is zero or is not zero; the device is suitable for three working conditions of lacking any one phase, lacking any two phases and lacking three phases; in addition, when the number of the judging conditions is multiple, the mutual verification of the judging conditions can be effectively utilized, so that the accuracy of the detection result can be ensured.
It is worth to say that, when the three-phase motor operates normally, the average value of the three-phase terminal voltage of the motor is basically equal to the root mean square value, the average value of the three-phase terminal voltage of the motor is theoretically not more than 3V, and the terminal voltage waveforms in the phase failure are larger in phase failure, so that the phase failure detection method is higher in accuracy and higher in detection speed.
Referring to fig. 8, fig. 8 is a flow chart of a fourth embodiment of the open-phase detection method of the present application. Specifically, the method may include the steps of:
s41: the sampling acquisition motor driving circuit outputs a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal to each winding in the three-phase windings respectively.
Specifically, the open-phase detection circuit samples and acquires a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal which are respectively output to each winding in the three-phase windings by the motor driving circuit.
S42: and multiplying the duty ratios of the first pulse width modulation signal, the second pulse width modulation signal and the third pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a first end voltage, a second end voltage and a third end voltage.
Further, the open-phase detection circuit specifically multiplies the duty ratio of the first pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a first end voltage; multiplying the duty ratio of the second pulse width modulation signal by the bus voltage to obtain a second terminal voltage; and multiplying the duty ratio of the third pulse width modulation signal by the bus voltage to obtain a third terminal voltage.
S43: and obtaining a three-phase terminal voltage waveform schematic diagram by using the first terminal voltage, the second terminal voltage and the third terminal voltage.
It should be noted that, as shown in fig. 9, fig. 9 is a schematic diagram of a three-phase terminal voltage waveform of the motor in a normal operation when the speed control command of the motor is not zero, and when the rotational speed control command sent to the three-phase motor by the motor driving circuit is greater than zero and the motor is in normal operation, the average value and the root mean square value of the terminal voltage of the motor in a certain time can be observed to be basically equal through analysis of the three-phase terminal voltage waveform.
As shown in fig. 10, fig. 10 is a schematic diagram of three-phase terminal voltage waveforms of the motor when the speed control command is not zero and one phase of working current is absent, when the speed control command is not zero and the motor is absent, the average value of the motor terminal voltage in a certain time can be observed to be smaller than the root mean square value by analyzing the three-phase terminal voltage waveforms, the difference between the average value and the root mean square value is more than 10V, and the three-phase terminal voltage has the phenomenon.
And as shown in fig. 11 and 12, fig. 11 is a schematic diagram of three-phase terminal voltage waveforms of the motor when the speed control command is not zero and the two-phase working current is absent, and fig. 12 is a schematic diagram of three-phase terminal voltage waveforms of the motor when the speed control command is not zero and the three-phase working current is absent, when the speed control command is greater than zero and the motor is absent or absent, the average value of the terminal voltage of the motor is smaller than the root mean square value and is different by more than 10V, so that the output open-phase can be detected rapidly and accurately through the phenomenon.
As shown in fig. 13, fig. 13 is a schematic diagram of a three-phase terminal voltage waveform when the motor speed control command is zero and is in normal operation, when the speed control command is not zero and the motor is in normal operation, the average value and the root mean square value of the motor terminal voltage in a certain time can be observed to be basically equal through analysis of the three-phase terminal voltage waveform.
As shown in fig. 14, fig. 14 is a schematic diagram of three-phase end voltage waveforms when the motor speed control command is zero and there is no working current for one phase, and when the speed control command is zero and the motor lacks one phase, analysis of the three-phase end voltage waveforms can observe that in a certain time, the root mean square value of the U-phase end voltage is compared with the root mean square value of the V-phase end voltage, or the root mean square value of the U-phase end voltage is compared with the root mean square value of the W-phase end voltage, and the root mean square value of the V-phase end voltage is compared with the root mean square value of the W-phase end voltage, and there is a larger difference value, especially a larger difference value from the end voltage waveforms in normal operation, so that output phase failure detection can be performed by utilizing the phenomenon.
As shown in fig. 15, fig. 15 is a schematic diagram of a three-phase terminal voltage waveform when a motor speed control command is zero and there is no two-phase working current, and when the speed control command is zero and the motor is no two-phase or three-phase, the three-phase terminal voltage waveform is analyzed to have the phenomenon that the root mean square value of the U-phase terminal voltage is compared with the root mean square value of the V-phase terminal voltage or the root mean square value of the U-phase terminal voltage is compared with the root mean square value of the W-phase terminal voltage, and the root mean square value of the V-phase terminal voltage is compared with the root mean square value of the W-phase terminal voltage, so that the phenomenon can be utilized to detect the output open phase.
Specifically, the oscillograph in the open-phase detection circuit is utilized to perform oscillographic processing on the first end voltage, the second end voltage and the third end voltage to obtain a three-phase end voltage waveform schematic diagram, or the open-phase detection circuit is utilized to send the sampled first end voltage, the sampled second end voltage and the sampled third end voltage to the upper computer, so that the upper computer can obtain the three-phase end voltage waveform schematic diagram by utilizing the first end voltage, the second end voltage and the sampled third end voltage.
S44: and inputting the three-phase terminal voltage waveform schematic diagram into a trained open-phase detection network model, classifying the voltage waveform schematic diagram by using the open-phase detection network model, and determining the confidence of classifying the voltage waveform schematic diagram into the open-phase waveform schematic diagram.
It can be understood that, by using the present mature deep learning network model technology, pictures with obvious characteristics can be effectively screened, compared and classified, that is, the open-phase detection network model can effectively classify the currently acquired three-phase terminal voltage waveform schematic diagram after training, for example, classifying the three-phase terminal voltage waveform schematic diagram as any one of the three-phase terminal voltage waveform schematic diagrams in fig. 9-15, and determining the confidence of classifying the voltage waveform schematic diagram as the open-phase waveform schematic diagram corresponding to the open-phase state of the motor in fig. 9-15.
S45: and determining the open-phase state of the three-phase motor according to the confidence level.
When the confidence level is not smaller than the set threshold value, the current phase-missing state of the three-phase motor can be determined, namely whether the three-phase motor is in a state of no phase missing, one phase missing, two phases missing or three phases missing is determined.
Further, in another embodiment, the above S41 to S43 may be replaced by: and the motor driving circuit is respectively output to the first end voltage, the second end voltage and the third end voltage of each winding in the three-phase windings to directly sample and acquire.
Referring to fig. 16, fig. 16 is a flowchart illustrating an embodiment of a training method of the open-phase detection network model according to the present application. Specifically, the method may include the steps of:
s51: and acquiring a phase-loss waveform schematic diagram and/or a target three-phase terminal voltage waveform schematic diagram.
Specifically, the open-phase waveform schematic diagram and/or the target three-phase terminal voltage waveform schematic diagram, that is, part or all of the above-mentioned fig. 9-15, are obtained from any reasonable scene such as the network, the actual working record, or the simulation experiment; the target three-phase terminal voltage waveform schematic diagram is a corresponding three-phase terminal voltage waveform schematic diagram when the three-phase motor operates normally and is not in phase-failure operation.
S52: labeling the open-phase waveform schematic diagram and/or the target three-phase terminal voltage waveform schematic diagram to obtain labeled image information.
Further, the obtained open-phase waveform schematic diagram and/or the target three-phase terminal voltage waveform schematic diagram are marked, so that the obtained picture is marked as open-phase or not open-phase.
S53: training a preset network model through labeling image information to establish a first model.
The method comprises the steps of inputting label image information into a preset network model, training the preset network model to enable the preset network model to train phase failure judgment on a phase failure waveform schematic diagram corresponding to the suspected label image information, and/or train phase failure judgment-free judgment on a target three-phase terminal voltage waveform schematic diagram corresponding to the suspected label image information, so that a first model is built.
S54: and training a second model through labeling image information to obtain a phase failure detection network model, wherein the second model is obtained by adding a detection output model structure to the first model.
Further, a detection output model structure is added in the first model to establish a second model, the labeled image information is input into the second model to retrain the second model, and built-in parameters in the first model and/or the second model are continuously adjusted to increase the accuracy of a judgment result so as to obtain a phase failure detection network model, and the phase failure detection network model has the capability of classifying a voltage waveform schematic diagram and giving confidence degree of classifying the voltage waveform schematic diagram into the phase failure waveform schematic diagram.
The application also provides a phase-failure detection circuit, please refer to fig. 17, fig. 17 is a schematic structural diagram of an embodiment of the phase-failure detection circuit.
It should be noted that, the open-phase detection circuit 60 described in this embodiment is specifically configured to detect the open-phase state of the three-phase motor by the open-phase detection method described in any of the above embodiments, and detailed descriptions thereof will be omitted herein with reference to fig. 1-16 and related text.
In an embodiment, the open-phase detection circuit 60 may specifically include a sampling circuit 61 and a detection circuit 62 that are coupled, where the sampling circuit 61 is configured to sample and obtain, every interval set period, a pulse width modulation signal output by the motor driving circuit to at least one winding of the three-phase windings, and send the pulse width modulation signal to the detection circuit 62, so that the detection circuit 62 detects an open-phase state of the three-phase motor by using the open-phase detection method as described in any one of the foregoing embodiments, and detailed descriptions will be omitted herein with reference to fig. 1-16.
The application further provides an electronic device, referring to fig. 18, fig. 18 is a schematic structural diagram of an embodiment of the electronic device. In the present embodiment, the electronic device 70 includes a housing 71 and a phase failure detection circuit 72 connected to the housing 71.
Note that, the open-phase detection circuit 72 described in this embodiment is the open-phase detection circuit 60 described in any of the above embodiments, and detailed description thereof will be omitted herein with reference to fig. 17 and related text.
The beneficial effects of this application are: compared with the prior art, the open-phase detection method is applied to a three-phase motor, the three-phase motor comprises three-phase windings, the open-phase detection method specifically samples and acquires pulse width modulation signals output by a motor driving circuit to at least one winding in the three-phase windings at set time intervals, when the sampling and acquisition times reach the set times, a preset function is adopted to calculate each pulse width modulation signal obtained in an accumulated mode to obtain characteristic parameters, and the open-phase state of the three-phase motor is determined according to the characteristic parameters, so that the open-phase output can be detected rapidly and accurately on the basis of not increasing hardware cost, the open-phase can be detected accurately even if one-phase or two-phase current does not sample hardware, and the application range is wider.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.

Claims (13)

1. The open-phase detection method is applied to a three-phase motor, wherein the three-phase motor comprises three-phase windings, and is characterized by comprising the following steps of:
sampling and obtaining a pulse width modulation signal output by a motor driving circuit to at least one winding in the three-phase windings at each set interval time length;
responding to the accumulated sampling acquisition times to reach the set times, and calculating each pulse width modulation signal obtained in an accumulated way by adopting a preset function to obtain a characteristic parameter;
and determining the open-phase state of the three-phase motor according to the characteristic parameters.
2. The open-phase detection method according to claim 1, wherein before the step of sampling the pulse width modulation signal output from the motor drive circuit to at least one of the three-phase windings for each set period of time, further comprising:
detecting whether a speed control instruction output by the motor driving circuit to the three-phase motor is zero or not;
the step of sampling and obtaining the pulse width modulation signal output by the motor driving circuit to at least one winding in the three-phase windings at each set time interval comprises the following steps:
and responding to the speed control instruction output by the motor driving circuit to the three-phase motor not to be zero, sampling and obtaining the pulse width modulation signal output by the motor driving circuit to at least one winding of the three-phase windings every interval of the set time length.
3. The phase-failure detection method according to claim 2, wherein the calculating the characteristic parameter for each pulse width modulation signal obtained by accumulation using a predetermined function includes:
multiplying the duty ratio of each pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain terminal voltage;
dividing the sum of the accumulation of each terminal voltage by the set times to obtain a voltage average value;
dividing the sum of the accumulations of the square values of the terminal voltages by the set times, and opening square to obtain a voltage root mean square value.
4. A phase-failure detection method according to claim 3, wherein the step of determining the phase-failure state of the three-phase motor from the characteristic parameter includes:
detecting whether a difference between the voltage average value and the voltage root mean square value exceeds a first threshold;
if the difference exceeds a first threshold, determining that the phase-missing state is the current working voltage phase-missing of the three-phase motor;
and if the difference value does not exceed the first threshold value, determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
5. The open-phase detection method according to claim 2, characterized in that the open-phase detection method further comprises:
And responding to the speed control instruction output by the motor driving circuit to the three-phase motor to be zero, sampling and obtaining a first pulse width modulation signal and a second pulse width modulation signal which are respectively output by the motor driving circuit to at least two windings in the three-phase windings at intervals of the set time length.
6. The phase-failure detection method according to claim 5, wherein the calculating the characteristic parameter for each pulse width modulation signal obtained by accumulation using a predetermined function includes:
multiplying the duty ratio of each first pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a first end voltage;
dividing the sum of the accumulations of the square values of the voltages of each first end by the set times, and opening square to obtain a first root-mean-square value;
multiplying the duty ratio of each second pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a second terminal voltage;
dividing the sum of the accumulations of the square values of the second terminal voltages by the set times, and then opening square to obtain a second root-mean-square value.
7. The open-phase detection method according to claim 6, wherein the step of determining the open-phase state of the three-phase motor from the characteristic parameter comprises:
Detecting whether a difference between the first root mean square value and the second root mean square value exceeds a second threshold;
if the difference exceeds a second threshold, determining that the phase-missing state is the current working voltage phase-missing of the three-phase motor;
and if the difference value does not exceed the second threshold value, determining that the phase-missing state is that the current working voltage of the three-phase motor is not phase-missing.
8. The open-phase detection method according to claim 1, wherein the step of sampling the pulse width modulation signal output from the motor drive circuit to at least one of the three-phase windings per set interval of time period comprises:
sampling and acquiring a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal which are respectively output to each winding in the three-phase windings by a motor driving circuit every interval set time length;
the step of calculating the feature parameter for each pulse width modulation signal obtained by accumulation by adopting a preset function in response to the accumulated sampling frequency reaching the set frequency comprises the following steps:
responding to the accumulated sampling acquisition times to reach the set times, and calculating each accumulated first pulse width modulation signal by adopting a preset function to obtain a first characteristic parameter;
Calculating each second pulse width modulation signal obtained in an accumulated way by adopting the preset function to obtain a second characteristic parameter;
calculating each third pulse width modulation signal obtained in an accumulated way by adopting the preset function to obtain a third characteristic parameter;
the step of determining the open-phase state of the three-phase motor according to the characteristic parameters comprises the following steps:
and determining the open-phase state of the three-phase motor according to at least one of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter.
9. The phase failure detection method according to any one of claims 1 to 8, wherein,
the set time length is 1-4 milliseconds, and the set times are 100-1000 times.
10. The open-phase detection method is applied to a three-phase motor, wherein the three-phase motor comprises three-phase windings, and is characterized by comprising the following steps of:
the sampling acquisition motor driving circuit outputs a first pulse width modulation signal, a second pulse width modulation signal and a third pulse width modulation signal to each winding in the three-phase windings respectively;
multiplying the duty ratios of the first pulse width modulation signal, the second pulse width modulation signal and the third pulse width modulation signal by the bus voltage output to the three-phase winding by the motor driving circuit to obtain a first end voltage, a second end voltage and a third end voltage;
Obtaining a three-phase terminal voltage waveform schematic diagram by using the first terminal voltage, the second terminal voltage and the third terminal voltage;
inputting the three-phase terminal voltage waveform schematic diagram into a trained open-phase detection network model, classifying the voltage waveform schematic diagram by using the open-phase detection network model, and determining the confidence level of classifying the voltage waveform schematic diagram as an open-phase waveform schematic diagram;
and determining the open-phase state of the three-phase motor according to the confidence level.
11. A training method of a phase failure detection network model for training to obtain the phase failure detection network model as claimed in claim 10, wherein the training method of the phase failure detection network model comprises:
acquiring a phase-loss waveform schematic diagram and/or a target three-phase terminal voltage waveform schematic diagram;
labeling the open-phase waveform schematic diagram or the target three-phase terminal voltage waveform schematic diagram to obtain labeled image information;
training a preset network model through the marked image information to establish a first model;
training a second model through the marked image information to obtain the open-phase detection network model, wherein the second model is obtained by adding a detection output model structure to the first model.
12. A phase-failure detection circuit for detecting a phase-failure state of a three-phase motor by using the phase-failure detection method according to any one of claims 1 to 9 or the phase-failure detection method according to claim 10.
13. An electronic device is characterized by comprising a shell and a phase failure detection circuit connected to the shell;
wherein the open-phase detection circuit is an open-phase detection circuit as claimed in claim 12.
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