Motor stalling judgment equipment, method and device

Abstract

The invention relates to a motor stalling judgment device, method and device. Relates to the technical field of vehicles, and solves the problem of lack of a motor stalling discovery and effective management mechanism. The equipment comprises at least one thermistor, a temperature detection module and a processing module, the thermistor is arranged at a switch tube of the three-phase full-bridge power inversion module in a contact manner so as to ensure that the temperature of the thermistor changes along with the temperature change of the switch tube; one end of the thermistor is connected to a detection power supply, and the other end of the thermistor is connected to the temperature detection module; the temperature detection module obtains a voltage signal output by the thermistor, generates a temperature signal according to the voltage signal and sends the temperature signal to the processing module. The technical scheme provided by the invention is suitable for the vehicle motor, and realizes accurate and real-time locked-rotor discovery.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and particularly to a motor locked-rotor determination device, method and apparatus. Background Art

[0002] When the motor stops rotating due to mechanical failures, electrical failures, control system errors, etc., the motor enters a locked-rotor state. When the motor is in a locked-rotor state, the wheel no longer rotates, and the position signal of the motor controller also remains at a fixed phase angle. At this time, the output current of the motor controller changes from three-phase alternating current to three-phase direct current.

[0003] When a permanent magnet motor is in a locked-rotor state, the current on each phase bridge arm increases sharply. The long-term continuous large-current working state will cause damage to the power stage devices inside the motor controller. Currently, there is still a lack of a mechanism for timely detecting and effectively managing the locked-rotor to protect the circuit. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a motor locked-rotor determination device, method and apparatus. Through a thermistor and a temperature detection module, the temperature of each switching tube of the three-phase full-bridge power inverter module is detected, and whether a locked-rotor occurs is determined based on the temperature detection result, solving the problem of the lack of a mechanism for detecting and effectively managing the motor locked-rotor, realizing accurate and real-time locked-rotor detection, improving the reliability of the motor and the control system, and effectively avoiding the losses caused by failures.

[0005] According to the first aspect of the embodiments of the present disclosure, a motor locked-rotor detection device is provided, including at least one thermistor, a temperature detection module and a processing module;

[0006] The thermistor is in contact with the switching tube of the three-phase full-bridge power inverter module to ensure that its own temperature changes with the temperature of the switching tube;

[0007] One end of the thermistor is connected to a detection power supply, and the other end is connected to the temperature detection module;

[0008] The temperature detection module acquires the resistance change of the thermistor and converts the resistance change into a voltage signal, and generates and sends a temperature signal to the processing module according to the voltage signal.

[0009] Further, at least one thermistor is provided at each switching tube of the three-phase full-bridge power inverter module.

[0010] Further, the device includes a plurality of temperature detection modules, and each temperature detection module is connected to one or more thermistors.

[0011] Further, the device further includes a driving module;

[0012] The processing module generates a control signal according to the obtained temperature signal and sends the control signal to the driving module;

[0013] The driving module is connected to the control terminals of the switching tubes of the three-phase full-bridge power module, receives the driving signal sent by the processing module, generates and sends a switching control signal to at least one switching tube according to the driving signal to control the conduction and cutoff of the switching tube.

[0014] According to a second aspect of the embodiments of the present disclosure, a method for detecting motor blockage is provided, which is applicable to the above-mentioned motor blockage detection device. The method includes:

[0015] According to the temperature signal output by the temperature detection module, obtain the temperature detection result of the switching tube in the three-phase full-bridge power inverter module;

[0016] When the temperature detection result meets the preset blockage determination condition, it is determined that the motor is blocked.

[0017] Further, before the step of obtaining the temperature detection result of the switching tube in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module, it includes:

[0018] When all the switching tubes of the three-phase full-bridge power inverter module are conducting, the temperature detection module obtains the resistance change of at least one thermistor and converts the resistance change into a voltage signal;

[0019] According to the voltage signal, calculate the temperature detection result of the switching tube corresponding to the thermistor;

[0020] The temperature detection module sends a temperature signal to the processing module, and carries the temperature detection result of at least one switching tube in the temperature signal.

[0021] Further, the blockage determination condition at least includes any one or any combination of the following conditions:

[0022] The temperature of any one or any number of switching tubes reaches the first temperature threshold,

[0023] The absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold.

[0024] Further, the step of determining that the motor is blocked when the temperature detection result meets the preset blockage determination condition includes:

[0025] When any switching tube in the three-phase full-bridge power inverter module reaches the first temperature threshold and the absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold, it is determined that the motor is blocked.

[0026] Further, the method further includes:

[0027] When it is determined that the motor is blocked, stop sending a drive signal to the drive module or send a drive signal indicating to turn off all the switching tubes, so as to turn off all the switching tubes through the drive module.

[0028] According to a third aspect of the embodiments of the present disclosure, there is provided a motor blocking determination device, which is applicable to the above-mentioned motor blocking detection device. The device includes:

[0029] A detection result acquisition module, configured to acquire the temperature detection result of the switching tubes in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module;

[0030] A motor blocking determination module, configured to determine that the motor is blocked when the temperature detection result meets a preset blocking determination condition.

[0031] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: constructing a motor blocking detection device including at least one thermistor, a temperature detection module and a processing module, performing contact temperature measurement on the switching tubes of the three-full-bridge power inverter module through the thermistor, and determining whether the motor is blocked based on the temperature detection result. It solves the problem of lack of a mechanism for detecting and effectively managing motor blocking, realizes accurate and real-time blocking detection, improves the reliability of the motor and the control system, and effectively avoids losses caused by faults.

[0032] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0034] Figure 1 is a schematic circuit structure diagram of a motor blocking determination device shown according to an exemplary embodiment.

[0035] Figure 2 is a flowchart of a motor blocking determination method shown according to an exemplary embodiment.

[0036] Figure 3 is a flowchart of another motor blocking determination method shown according to an exemplary embodiment.

[0037] Figure 4 is a schematic circuit structure diagram of another motor blocking determination device shown according to an exemplary embodiment.

[0038] Figure 5 It is a schematic structural diagram of a motor locked-rotor determination device shown according to an exemplary embodiment.

[0039] Figure 6 It is a schematic structural diagram of another motor locked-rotor determination device shown according to an exemplary embodiment.

[0040] Figure 7 It is a schematic structural diagram of another motor locked-rotor determination device shown according to an exemplary embodiment. Detailed implementation manners

[0041] When a permanent magnet motor is in a locked-rotor state, the current on each phase bridge arm increases sharply. The long-term continuous large-current working state will cause damage to the power-level devices inside the motor controller. At present, there is still a lack of a mechanism to detect and effectively manage the locked-rotor in time to protect the circuit.

[0042] To solve the above problems, embodiments of the present disclosure provide a motor locked-rotor determination device, method and equipment. Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0043] An exemplary embodiment of the present disclosure provides a motor locked-rotor determination device, and the structure of the device is as Figure 1 shown, including:

[0044] At least one thermistor, a temperature detection module and a processing module;

[0045] The thermistor is in contact with the switching tube of the three-phase full-bridge power inverter module to ensure that its own temperature changes with the temperature of the switching tube;

[0046] One end of the thermistor is connected to a detection power supply, and the other end is connected to the temperature detection module;

[0047] The temperature detection module obtains the resistance change of the thermistor and converts the resistance change into a voltage signal, and generates and sends a temperature signal to the processing module according to the voltage signal.

[0048] Among them, the switching tube can be a metal-oxide semiconductor field effect transistor (MOSFET) device. The processing module can be a micro control unit (MCU).

[0049] According to an exemplary embodiment, the setting methods of the thermistor include but are not limited to the following:

[0050] Press the thermistor tightly on the switching tube with thermal conductive glue or metal fixture, etc.;

[0051] Weld the thermistor beside the switching tube.

[0052] When deploying the thermistor, an insulating layer can also be covered on the thermistor and the switching tube to reduce heat dissipation and obtain more accurate detection results.

[0053] At least one thermistor is provided at each switching tube of the three-phase full-bridge power inverter module.

[0054] As Figure 1 shown, a separate corresponding thermistor is in contact setting at each switching tube, and each thermistor has a corresponding temperature detection module. The temperature detection module obtains the resistance change of the thermistor, converts the resistance change into a voltage signal, calculates the real-time resistance value of the thermistor according to the voltage signal, determines the temperature of the thermistor at this time according to the real-time resistance value of the thermistor, and then derives the temperature of the corresponding switching tube. According to an exemplary embodiment, it is considered that the temperature of the switching tube is the same as the temperature of the thermistor or in a temperature range slightly higher than the temperature of the thermistor. For example, if the real-time temperature of the thermistor is 170 degrees Celsius, the temperature range of the switching tube at this time is deduced to be [180℃ - 170℃].

[0055] According to an exemplary embodiment, the thermistor is a negative temperature coefficient type (NTC), and the resistance value decreases as the temperature increases.

[0056] Obtain the temperature of the switching tube through the contact of the thermistor, monitor in real time, and determine whether a stall occurs based on the temperature. It can timely detect the occurrence of a stall, solve the problem of lack of a detection and effective management mechanism for motor stall, realize accurate and real-time stall detection, improve the reliability of the motor and the control system, and effectively avoid the losses caused by faults.

[0057] According to an exemplary embodiment, two or more thermistors can be provided at each switching tube, and all the thermistors are NTCs. Each switching tube is correspondingly configured with a temperature detection module, and all the thermistors of the switching tube are connected to the temperature detection module. The temperature detection module obtains the correction value of the temperature of the thermistor by using methods such as averaging or statistics according to the temperatures of different thermistors for the same switching tube to ensure the accuracy of the detection results. It avoids the problem that the detection results deviate greatly due to the influence of factors such as the environment and its own faults in the single thermistor detection scheme.

[0058] According to an exemplary embodiment, the device further includes a drive module;

[0059] The processing module generates and sends a control signal to the driving module according to the obtained temperature signal;

[0060] The driving module is connected to the control ends of the switching tubes of the three-phase full-bridge power module, receives the driving signal sent by the processing module, and generates and sends a switching control signal to at least one switching tube according to the driving signal to control the conduction and cutoff of the switching tube.

[0061] When the temperature detection result is obtained and it is determined whether there is a risk of motor blockage, the automatic control of each switching tube is realized through the driving module. The processing module generates a decision on the conduction or cutoff of the switching tube based on the temperature detection result carried in the temperature signal. An instruction is sent to the driving module through the driving signal, and then each switching tube is controlled. When it is determined that there is a risk of motor blockage, the driving signal is stopped from being sent or a driving signal indicating cutoff is sent. The driving module realizes the cutoff of each switching tube by sending a switching control signal indicating cutoff or stopping sending the switching control signal. On the basis of accurately and timely detecting the blockage risk, the switching tube is timely cutoff through automatic control, blocking the damage risk of large current to devices such as the switching tube, effectively reducing the maintenance cost such as device replacement, and providing an efficient and reliable motor blockage state management mechanism.

[0062] The above-mentioned motor blockage determination device is applicable to new energy vehicles. According to an exemplary embodiment, the above-mentioned motor blockage determination device can be integrated into industrial vehicles or engineering vehicles.

[0063] According to an exemplary embodiment, the device includes a plurality of temperature detection modules, and each temperature detection module accesses one or more thermistors. One temperature detection module accesses a plurality of thermistors, that is, the same temperature detection module detects the resistance changes of a plurality of thermistors, converts the resistance changes into voltage signals, and generates a temperature signal containing the temperature values of the plurality of thermistors and sends it to the processing module. Considering the limitation of the circuit board space, by using one temperature detection module to process the resistance changes of a plurality of thermistors, the number of electronic devices is reduced, and the implementation cost is effectively reduced while flexibly improving the applicability of the solution.

[0064] An exemplary embodiment of the present disclosure further provides a method for detecting motor blockage, which is applicable to the above-mentioned motor blockage detection device, and the method is as Figure 2 shown and includes:

[0065] Step 201, obtain the temperature detection result of the switching tube in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module.

[0066] The three-phase full-bridge power inverter module includes three half-bridges, namely the U-phase half-bridge, the V-phase half-bridge, and the W-phase half-bridge. Each half-bridge has two switching transistors, an upper switching transistor and a lower switching transistor, which are respectively arranged on the upper and lower bridge arms.

[0067] In this step, the temperature detection results of each switching transistor obtained according to the temperature values of the respective thermistors are carried in the temperature signal.

[0068] Step 202: When the temperature detection result meets the preset locked-rotor determination condition, it is determined that the motor has a locked rotor.

[0069] The locked-rotor determination condition includes at least any one or any combination of the following conditions:

[0070] The temperature of any one or any number of switching transistors reaches the first temperature threshold,

[0071] The absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold.

[0072] According to an exemplary embodiment, the locked-rotor determination condition includes:

[0073] The temperature of any one switching transistor reaches the first temperature threshold, and the absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold.

[0074] Based on this locked-rotor determination condition, when the temperature of any one switching transistor in the three-phase full-bridge power inverter module reaches the first temperature threshold and the absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold, it is determined that the motor has a locked rotor.

[0075] For example, construct three temperature functions:

[0076] 1. T u = MAX(temperature of the upper switching transistor of the U-phase, temperature of the upper switching transistor of the U-phase), that is, take the higher temperature value of the switching transistors on the upper and lower bridge arms of the U-phase as the temperature value T u .

[0077] 2. T v = MAX(temperature of the upper switching transistor of the V-phase, temperature of the upper switching transistor of the V-phase), that is, take the higher temperature value of the switching transistors on the upper and lower bridge arms of the V-phase as the temperature value T v .

[0078] 3. T w = MAX(temperature of the upper switching transistor of the W-phase, temperature of the upper switching transistor of the W-phase), that is, take the higher temperature value of the switching transistors on the upper and lower bridge arms of the W-phase as the temperature value T w .

[0079] In Max(T u 、Tv , T w ) > the first temperature threshold, and, Max(|T u - T v |, |T u - T w |, |T v - T w |) > the second temperature threshold, it is determined that the motor is blocked.

[0080] Among them, the first temperature threshold and the second temperature threshold can be configured according to actual application requirements. When the phase angle during blocking is different, the output three-phase direct current is also different; when the blocking occurs at different positions, the working state of the motor controller is also different. Especially when the blocking position is at the positive peak or negative peak current position of any one of the three phases, the heat generation of the motor controller is the most serious. By setting the first temperature threshold, it is possible to detect that the temperature of each switching tube is too high; by setting the second temperature threshold, it is possible to detect abnormal temperature differences between phases based on the temperature differences between phases. In the case where the temperature of one phase is significantly higher than that of another phase, the phase where the blocking occurs is determined. Through the blocking determination condition, blocking can be detected in a timely and accurate manner.

[0081] Construct a motor blocking detection device including at least one thermistor, a temperature detection module, and a processing module. Through the thermistor, contact temperature measurement is performed on the switching tubes of the three-full-bridge power inverter module, and based on the temperature detection result, it is determined whether the motor is blocked. It solves the problem of the lack of a mechanism for detecting and effectively managing motor blocking, realizes accurate and real-time blocking detection, improves the reliability of the motor and the control system, and effectively avoids losses caused by faults.

[0082] An exemplary embodiment of the present disclosure further provides a method for determining motor blocking. The process of generating and sending a temperature signal to the processing module using this method includes:

[0083] Step 1: When all the switching tubes of the three-phase full-bridge power inverter module are turned on, the temperature detection module obtains the resistance change of at least one thermistor.

[0084] In this step, the temperature detection module obtains the resistance change of one or more thermistors connected thereto, and converts the resistance change into a voltage signal. The operation of obtaining the resistance change can be performed in real-time response to customer instructions, or can be triggered according to preset conditions (such as starting at a specific time).

[0085] Step 2: According to the voltage signal, calculate the temperature detection result of the switching tube corresponding to the thermistor.

[0086] In this step, according to the characteristic data of the thermistor, the temperature value corresponding to the resistance value is calculated as the temperature detection result of the switching tube corresponding to the thermistor.

[0087] Step 3: The temperature detection module sends a temperature signal to the processing module, and the temperature detection results of at least one switching tube are carried in the temperature signal.

[0088] In this step, the temperature detection module sends a temperature signal to the processing module, and the temperature detection results of at least one switching tube detected by this temperature detection module are carried therein.

[0089] In this embodiment, the resistance value is calculated through the resistance change of the thermistor, and then the temperature detection result of the switching tube is further deduced, and the temperature detection result is reported to the processing module through the temperature signal, providing a data basis for analyzing and detecting motor stall and automatic processing.

[0090] An exemplary embodiment of the present disclosure also provides a method for determining motor stall, which detects motor stall and performs automatic switching tube turn-off processing after detecting stall to protect the circuit. The specific process is as Figure 3 shown, including:

[0091] Step 301: Obtain the temperature detection results of the switching tubes in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module.

[0092] Step 302: Determine that the motor is stalled when the temperature detection result meets the preset stall determination condition.

[0093] The implementation principles of Step 301 and Step 302 are the same as those of Figure 2 Steps 201 and 202 therein, and will not be repeated here.

[0094] Step 303: When it is determined that the motor is stalled, stop sending a drive signal to the drive module or send a drive signal indicating to turn off all switching tubes, so as to turn off all switching tubes through the drive module.

[0095] In this step, when it is determined that a stall occurs, in order to protect the circuit and avoid damage to circuit devices such as switching tubes caused by long-term continuous large current, the processing module instructs the drive module to perform a switching tube judgment operation through the drive signal. The drive module then controls the control ends of the respective switching tubes to turn off the switching tubes through the switch control signal indicating turn-off or by stopping sending the switch control signal. The automatic stall response processing based on the detection result is realized, the influence of the large current with high harmfulness caused by the stall is eliminated in time, the maintenance operations such as device replacement are avoided, and the maintenance cost is reduced.

[0096] An exemplary embodiment of the present disclosure also provides a motor stall detection device, the structure of which is as Figure 4 shown, including:

[0097] Three-phase full-bridge power inverter module, comprising: a first capacitor (C1), switching transistors Q1, Q2, Q3, Q4, Q5, Q6. Q1 and Q4 form a bridge arm inverter module for the U-phase output of the permanent magnet synchronous motor, Q2 and Q5 form a bridge arm inverter module for the V-phase output of the permanent magnet synchronous motor, and Q3 and Q6 form a bridge arm inverter module for the W-phase output of the permanent magnet synchronous motor. The switching transistors are MOSFET devices.

[0098] A thermistor NTC1 is arranged at Q1 to detect the temperature of Q1 and is connected to a temperature detection module D1; a thermistor NTC2 is arranged at Q2 to detect the temperature of Q2 and is connected to a temperature detection module D2; a thermistor NTC3 is arranged at Q3 to detect the temperature of Q3 and is connected to a temperature detection module D3; a thermistor NTC4 is arranged at Q4 to detect the temperature of Q4 and is connected to a temperature detection module D4; a thermistor NTC5 is arranged at Q5 to detect the temperature of Q5 and is connected to a temperature detection module D5; a thermistor NTC6 is arranged at Q6 to detect the temperature of Q6 and is connected to a temperature detection module D6.

[0099] The drive module is connected to the control terminal UH of Q1, the control terminal VH of Q2, the control terminal WH of Q3, the control terminal UL of Q4, the control terminal VL of Q5, and the control terminal WL of Q6.

[0100] The MCU serves as a processing module, providing a drive signal (Drive_Signal signal) to the drive module. The drive module provides switching control signals Drive_UH, Drive_VH, Drive_WH, Drive_UL, Drive_VL, Drive_WL according to the drive signal to drive the conduction or cutoff of Q1, Q2, Q3, Q4, Q5, Q6 respectively.

[0101] NTC_UH and NTC_UL are the switching transistor / bridge arm temperatures output by D1 and D4, NTC_VH and NTC_VL are the switching transistor / bridge arm temperatures output by D2 and D5, and NTC_WH and NTC_WL are the switching transistor / bridge arm temperatures output by D3 and D6.

[0102] Construct three temperature functions inside the MCU:

[0103] 1. T u = Max(NTC_UH, NTC_UL).

[0104] 2. T v = Max(NTC_VH, NTC_VL).

[0105] 3. T w = Max(NTC_WH, NTC_WL).

[0106] The above three temperature functions obtain the maximum temperatures of the upper and lower arm switching transistors of the corresponding half-bridge, which can avoid the inability to determine the operating states of the upper and lower arms under different current loop states.

[0107] The conditions for stall determination are as follows:

[0108] Condition 1: Max(T u , T v , T w ) > T1 (T1 is a preset first temperature threshold);

[0109] Condition 2: Max(|T u - T v |, |T u - T w |, |T v - T w |) > T2 (T2 is a preset second temperature threshold).

[0110] When both Condition 1 and Condition 2 are satisfied, it is determined that the motor is in a stalled condition. Further, the MCU turns off the Drive_Signal, and the three-phase full-bridge power inverter module stops operating.

[0111] An exemplary embodiment of the present disclosure further provides a motor stall determination device, which is applicable to the motor stall detection device provided by the embodiments of the present disclosure. The device is as Figure 5 shown and includes:

[0112] A detection result acquisition module 501, configured to obtain the temperature detection result of the switching transistor in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module;

[0113] A motor stall determination module 502, configured to determine that the motor is stalled when the temperature detection result meets the preset stall determination condition.

[0114] Further, as Figure 6 shown, the device further includes:

[0115] A temperature detection module 503, configured to, when all the switching transistors of the three-phase full-bridge power inverter module are turned on, the temperature detection module obtains the resistance change of at least one thermistor and converts the resistance change into a voltage signal, calculates the temperature detection result of the switching transistor corresponding to the thermistor according to the voltage signal, sends a temperature signal to the processing module, and carries the temperature detection result of at least one switching transistor in the temperature signal.

[0116] Further, the stall determination condition at least includes any one or any combination of the following conditions:

[0117] The temperature of any one or any plurality of switching tubes reaches a first temperature threshold,

[0118] The absolute value of the maximum temperature difference between two half - bridges reaches a second temperature threshold.

[0119] The motor stall determination module 502 is configured to determine that the motor is stalled when any switching tube in the three - phase full - bridge power inverter module reaches the first temperature threshold and the absolute value of the maximum temperature difference between two half - bridges reaches the second temperature threshold.

[0120] Further, as shown in Figure 7 the device further includes:

[0121] The open - circuit module 504 is configured to, when it is determined that the motor is stalled, stop sending a drive signal to the drive module or send a drive signal instructing to turn off all switching tubes, so as to turn off all switching tubes through the drive module.

[0122] Regarding the device in the above - mentioned embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0123] Embodiments of the present disclosure provide a motor stall detection device, method and apparatus. The motor stall detection device configured to include at least one thermistor, a temperature detection module and a processing module contacts and measures the temperature of the switching tubes of the three - full - bridge power inverter module through the thermistor, and determines whether the motor is stalled based on the temperature detection result. It solves the problem of the lack of a mechanism for detecting and effectively managing motor stall, realizes accurate and real - time stall detection, improves the reliability of the motor and the control system, and effectively avoids losses caused by faults.

[0124] Adapting to different application environments, multiple stall determination conditions are set. By combining the temperatures of the upper and lower bridge arm switching tubes of each phase obtained by using the thermistor, the phase where the stall occurs can be accurately and timely detected, avoiding false alarms of faults and damage to circuit devices.

[0125] Those skilled in the art can also understand that the various illustrative logical blocks (illustrative logical block) and steps (step) listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described function for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present application.

[0126] In addition, as used herein, the word "exemplary" is used to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the word exemplary is intended to present concepts in a concrete fashion. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from the context, "X applies A or B" is intended to mean any of the natural inclusive permutations. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied under any one of the foregoing instances. Additionally, unless specified otherwise or clear from the context that it is referring to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0127] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although certain features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, with respect to the use of "comprising", "having", "including", "contains", or variants thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including".

[0128] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known or customary techniques in the art that are not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0129] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A motor locked-rotor detection device, characterized in that It includes at least one thermistor, a temperature detection module and a processing module; The thermistor is in contact with the switching tubes of the three-phase full-bridge power inverter module to ensure that its own temperature changes with the temperature of the switching tubes; One end of the thermistor is connected to a detection power supply, and the other end is connected to the temperature detection module; The temperature detection module acquires the resistance change of the thermistor and converts the resistance change into a voltage signal, and generates and sends a temperature signal to the processing module according to the voltage signal.

2. The motor locked-rotor detection device according to claim 1, wherein At least one thermistor is provided at each switching tube of the three-phase full-bridge power inverter module.

3. The motor locked-rotor detection device according to claim 1, characterized in that The device includes a plurality of temperature detection modules, and each temperature detection module is connected to one or more thermistors.

4. The motor locked-rotor detection device according to claim 1, wherein, The device further includes a driving module; The processing module generates and sends a control signal to the driving module according to the received temperature signal; The driving module is connected to the control ends of the switching tubes of the three-phase full-bridge power module, receives the driving signal sent by the processing module, and generates and sends a switching control signal to at least one switching tube according to the driving signal to control the conduction and cutoff of the switching tube.

5. A method for detecting motor stall, applicable to the motor stall detection device described in any one of claims 1 to 4, characterized in that, The method includes: According to the temperature signal output by the temperature detection module, obtaining the temperature detection result of the switching tubes in the three-phase full-bridge power inverter module; When the temperature detection result meets the preset stall determination condition, it is determined that the motor is stalled.

6. The motor stall detection method according to claim 5, characterized in that, Before the step of obtaining the temperature detection result of the switching tubes in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module, it includes: When all the switching tubes of the three-phase full-bridge power inverter module are conducting, the temperature detection module acquires the resistance change of at least one thermistor and converts the resistance change into a voltage signal; According to the voltage signal, calculating the temperature detection result of the switching tube corresponding to the thermistor; 7. The motor stall determination method according to claim 5, wherein The temperature detection module sends a temperature signal to the processing module, and the temperature detection result of at least one switching tube is carried in the temperature signal. The stall determination condition at least includes any one or any combination of the following conditions: The temperature of any one or any number of switching tubes reaches the first temperature threshold, 8. The motor locked-rotor determination method according to claim 7, characterized in that The absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold. The step of determining that the motor is stalled when the temperature detection result meets the preset stall determination condition includes:

9. The motor locked-rotor determination method according to claim 5, wherein When any switching tube in the three-phase full-bridge power inverter module reaches the first temperature threshold and the absolute value of the maximum temperature difference between two half-bridges reaches the second temperature threshold, it is determined that the motor is stalled. The method further includes:

10. A motor stall determination device, applicable to the motor stall detection device described in any one of claims 1 to 4, characterized in that, When it is determined that the motor is stalled, stop sending a driving signal to the driving module or send a driving signal instructing to turn off all the switching tubes, so as to turn off all the switching tubes through the driving module. The device includes: A detection result acquisition module, configured to obtain the temperature detection result of the switching tubes in the three-phase full-bridge power inverter module according to the temperature signal output by the temperature detection module; A motor stall determination module, configured to determine that the motor is stalled when the temperature detection result meets the preset stall determination condition.

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