Method and system for checking power fault position of controller

Abstract

The invention relates to the technical field of fault diagnosis, and particularly discloses a method and a system for checking a power fault position of a controller, and the method comprises the steps: collecting the state data of the controller at the current moment; constructing a fault fusion feature vector; judging a main cause branch of a power fault; and a standby branch is accessed by adopting a first-on-second-off mechanism, and a fault branch is cut off. In the prior art, a single voltage or current threshold value is mainly depended on determination, and especially under a dynamic operation condition that a controller has multi-path redundant power supply, rapid identification and switching of a specific fault path are difficult to realize. Due to the fact that the fault vector fusing the multi-source power features is constructed and the multi-factor weighted aggregation judgment mechanism is introduced, the accuracy of fault recognition and the stability of switching operation are improved, the problem of global power failure caused by fault diffusion is avoided, and the power supply continuity and the fault self-healing capacity of a motor controller system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fault diagnosis, and in particular to a method and system for troubleshooting the location of a controller power fault. Background Art

[0002] Currently, motor controllers are widely used in critical scenarios such as industrial automation, servo drives, and electric vehicle control. To improve system reliability, more and more controller designs are adopting dual input structures with primary and backup power supplies to achieve power redundancy. However, in a multi-power supply structure, if a power anomaly in a power supply branch occurs, such as a voltage drop, short circuit, or backflow, it can easily cause bus voltage instability and even paralyze the entire system. Therefore, rapid identification and precise isolation of the power fault path are critical to ensuring stable controller operation. Existing technologies typically use fixed threshold protection mechanisms based on undervoltage / overcurrent. Once the bus voltage or branch current exceeds the set range, global protection is triggered or the system output is shut down. This approach has significant shortcomings. For example, when the main power branch loses power or shorts, traditional protection methods cannot determine the specific source of the fault, often resulting in the backup power supply not being connected in time, or even falsely triggering a reset or shutdown of the entire system. Furthermore, existing methods are unable to dynamically integrate the multi-dimensional anomaly characteristics of multiple power channels, and are unable to identify complex anomaly patterns such as "reverse current" and "slow-varying dropouts." This makes it difficult to meet the current application requirements of motor controllers for online diagnosis, real-time isolation, and safe switching. Therefore, a controller power fault troubleshooting method suitable for multi-channel power supply structures and equipped with rapid isolation and backup switching capabilities is urgently needed. This method can ensure continuous and stable system operation under adverse conditions such as main power failures and load surges, significantly improving the safety, continuity, and self-healing capabilities of the controller system. Summary of the Invention

[0003] In response to the above-mentioned technical deficiencies, the purpose of the present invention is to propose a method for troubleshooting the location of controller power faults, aiming to solve the technical problem that the existing technology mainly relies on a single voltage or current threshold for judgment, especially under dynamic operating conditions where the controller has multiple redundant power supplies, making it difficult to quickly identify and switch specific fault paths.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a method for troubleshooting the location of a controller power fault.

[0005] The controller power fault location troubleshooting method includes:

[0006] Step S10: configuring a voltage sampling circuit and a current sampling circuit on the main power branch and the backup power branch of the motor controller to collect controller state data at the current sampling time t;

[0007] Step S20: Acquire controller calibration data and controller bus voltage; construct a voltage deviation vector and a current deviation vector based on the controller calibration data and controller status data, and construct a bus voltage change feature vector based on the controller bus voltage; introduce a reverse current identification vector, and fuse the voltage deviation vector, current deviation vector, bus voltage change feature vector, and reverse current identification vector to obtain a fault fusion feature vector;

[0008] Step S30: using a weighted aggregation method based on the fault fusion feature vector to determine whether the i-th branch is the main cause branch of the power fault;

[0009] Step S40: Based on the determination result of step S30, an isolation control signal is sent to the input power channel where the i-th branch is located, and the controller bus voltage is obtained again to determine whether the isolation is effective;

[0010] Step S50: When it is determined in step S40 that the isolation is effective, a make-before-break mechanism is used to disconnect the i-th branch where the power fault occurs.

[0011] Preferably, in step S10, the controller status data includes the main power branch output voltage U main (t), main power branch output current I main (t), output voltage of standby power supply branch U aux (t) and the output current of the backup power supply branch I aux (t).

[0012] Preferably, in step S30, the step of determining whether the i-th branch is the main cause branch of the power fault by using a weighted aggregation method according to the fault fusion feature vector specifically includes:

[0013] The fault score F of the i-th branch is calculated using the weighted aggregation method based on the fault fusion feature vector i (t):

[0014]

[0015] Among them, w u is the voltage anomaly risk coefficient; w i is the current abnormal risk coefficient; w s is the bus voltage abnormality risk coefficient; w r is the reverse current backflow risk coefficient; ΔU i (t) is the voltage deviation vector of the i-th branch; U i,ref is the voltage calibration data of the i-th branch, obtained from the controller calibration data; ΔI i (t) Current deviation vector of the i-th branch; S drop (t) is the bus voltage variation characteristic vector; R iis the reverse current identification vector;

[0016] Preset fault score threshold F th , voltage change threshold U min and current change threshold I min , when F i (t)>F th And ΔU i (t)>U min and |ΔI i (t)|>I min When , it is determined that the i-th branch is the main cause of the power failure.

[0017] Preferably, in step S30, the reverse current identification vector R i Specifically: when ΔI i (t)<0, let R i =1, indicating that the branch has reverse current; otherwise, set R i =0, indicating that there is no reverse current in this branch.

[0018] Preferably, in step S40, the step of sending an isolation control signal to the input power channel where the i-th branch is located, obtaining the controller bus voltage again, and determining whether the isolation is effective specifically includes:

[0019] If the branch is connected to a MOSFET switch, an isolation signal to turn off the gate is issued;

[0020] If the branch is connected to a relay switch, an isolation signal is sent to disconnect the relay coil;

[0021] After the isolation signal is issued, the bus voltage is again collected in real time, and compared with the bus voltage obtained in step S20 to determine whether the isolation is effective.

[0022] Preferably, in step S30, the voltage abnormality risk coefficient, the current abnormality risk coefficient, the bus voltage abnormality risk coefficient and the reverse current backflow risk coefficient are preset based on historical operating data of the controller and expert experience.

[0023] Preferably, in step S50, when it is determined in step S40 that the isolation is effective, the steps of disconnecting the i-th branch where the power fault occurs by adopting the make-before-break mechanism specifically include:

[0024] Control the backup power branch to be connected in parallel with the DC bus, specifically: send a closing command to the backup power control switch, if the backup power control switch is a MOSFET, send a high-level gate control signal, if the backup power control switch is a relay, send a coil closing control signal;

[0025] Continuously collect the output voltage U of the backup power supply branch aux(t) and DC bus voltage U bus (t), in the preset switching window T stabilize Internally calculated output voltage U aux (t) and DC bus voltage U bus (t) and a preset volatility score threshold; when the comprehensive volatility score is less than the volatility score threshold, the i-th branch where the power failure occurs is controlled to be disconnected.

[0026] The present invention also provides a controller power fault location troubleshooting system comprising:

[0027] A data acquisition module is configured to configure a voltage sampling circuit and a current sampling circuit on the main power branch and the backup power branch of the motor controller to collect the controller status data at the current sampling time t;

[0028] A feature construction module is used to obtain controller calibration data and controller bus voltage; construct a voltage deviation vector and a current deviation vector based on the controller calibration data and controller status data, and construct a bus voltage change feature vector based on the controller bus voltage; introduce a reverse current identification vector, and fuse the voltage deviation vector, current deviation vector, bus voltage change feature vector, and reverse current identification vector to obtain a fault fusion feature vector;

[0029] A fault determination module is used to determine whether the i-th branch is the main cause of the power fault by using a weighted aggregation method based on the fault fusion feature vector;

[0030] A fault isolation module is configured to send an isolation control signal to the input power channel where the i-th branch is located based on the determination result of step S30, and obtain the controller bus voltage again to determine whether the isolation is effective;

[0031] The fault disconnection module is configured to disconnect the i-th branch where the power fault occurs by adopting a make-before-break mechanism when it is determined in step S40 that the isolation is effective.

[0032] The present invention also provides a computer program product, including a controller power fault location troubleshooting program, which implements the controller power fault location troubleshooting method when executed by a processor.

[0033] The beneficial effects of the present invention are as follows: by constructing a fault fusion feature vector that integrates voltage deviation, current anomaly, bus voltage drop rate and reverse current identification, and adopting a weighted aggregation risk assessment mechanism, the accuracy of power fault path identification is effectively improved, and the problem of high misjudgment rate and unclear fault location caused by relying on a single threshold judgment in the existing technology is solved.

[0034] The present invention supports continuous monitoring of the power status of the input branch and tracking of abnormal trends, can evaluate and predict the power supply quality and branch health status, and has online fault prediction and health management capabilities to meet the technical requirements of "self-diagnosis, self-protection, and self-recovery" in future intelligent operation and maintenance scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 The figure is a flow chart of a first embodiment of a method for troubleshooting a controller power fault according to the present invention.

[0037] Figure 2 A schematic diagram of a device for troubleshooting a controller power fault location according to the present invention. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Example 1: Figure 1 FIG. 1 is a flow chart of a first embodiment of a method for troubleshooting a controller power fault location according to the present invention, and provides a first embodiment of a method for troubleshooting a controller power fault location according to the present invention.

[0040] In a first embodiment, the controller power fault location troubleshooting method includes:

[0041] Step S10: configuring a voltage sampling circuit and a current sampling circuit on the main power branch and the backup power branch of the motor controller to collect controller state data at the current sampling time t;

[0042] It should be noted that, in step S10, the controller status data includes the main power branch output voltage U main (t), main power branch output current I main (t), output voltage of standby power supply branch U aux (t) and the output current of the backup power supply branch I aux (t).

[0043] It can be understood that the voltage sampling circuit can be implemented using an isolated voltage divider sampling module or a differential amplifier circuit to ensure safe sampling at different potentials; the current sampling circuit can be constructed using a Hall current sensor, a precision shunt resistor or a current detection chip to ensure high bandwidth and low drift measurement effects.

[0044] It should be understood that in order to capture power anomalies that may occur at the millisecond level, the sampling frequency of the above-mentioned status data should be no less than 10kHz, and should have a certain filtering mechanism (such as sliding average, low-pass filtering, etc.) to suppress spike interference and ensure the stability and accuracy of the subsequent feature extraction stage.

[0045] Step S20: Acquire controller calibration data and controller bus voltage; construct a voltage deviation vector and a current deviation vector based on the controller calibration data and controller status data, and construct a bus voltage change feature vector based on the controller bus voltage; introduce a reverse current identification vector, and fuse the voltage deviation vector, current deviation vector, bus voltage change feature vector, and reverse current identification vector to obtain a fault fusion feature vector;

[0046] It should be noted that the controller calibration data includes the rated output voltage value U of each power branch. ref,i The rated output current value is used as a benchmark to compare with the current sampling value and extract the abnormal deviation characteristics. In order to timely reflect the sudden drop behavior of the main bus, the bus voltage change feature vector S is constructed by the difference of the bus voltage. bus , which is defined as Where Δt is the preset interval between two consecutive samplings, U bus (t) is the bus voltage at time t, U bus (t-Δt) is the bus voltage at t-Δt. This vector can be used to determine whether the power supply has a rapid voltage drop (such as caused by a short circuit or power failure). Furthermore, the reverse current identification vector R is introduced. i , used to indicate whether there is an abnormal situation of branch current direction reversal, its logic is defined as Among them, ΔI i (t) is the current deviation vector of the i-th branch. Finally, the above four feature vectors are fused to construct the fault fusion feature vector.

[0047] Understandably, traditional controllers typically rely solely on undervoltage or overcurrent thresholds on a single path to detect power anomalies. This makes it difficult to handle boundary or trend-type faults such as minor voltage drops, current backflow, and bus voltage dips, and can easily lead to missed detections or misjudgments. However, this step introduces four key parameters: voltage deviation, current deviation, voltage drop rate, and reverse current flag. This fully models the power state at the amplitude, rate of change, and direction levels, enabling early identification of progressive and hidden fault signs.

[0048] For example, in actual operation, if the main power branch does not completely lose power, but the voltage begins to slowly decline, the current continues to fluctuate, and occasional backflow occurs, the traditional threshold mechanism may "ignore" it because it does not exceed the limit; however, through this fault fusion feature vector, early capture can be achieved in the scoring model, and "pre-fault isolation" or "switching preparation" can be triggered before the bus voltage drops, thereby achieving a pre-emptive shift from fault response to fault prediction.

[0049] Step S30: using a weighted aggregation method based on the fault fusion feature vector to determine whether the i-th branch is the main cause branch of the power fault;

[0050] It should be noted that, in step S30, the step of using the weighted aggregation method to determine whether the i-th branch is the main cause branch of the power fault according to the fault fusion feature vector specifically includes:

[0051] The fault score F of the i-th branch is calculated using the weighted aggregation method based on the fault fusion feature vector i (t):

[0052]

[0053] Among them, w u is the voltage anomaly risk coefficient; w i is the current abnormal risk coefficient; w s is the bus voltage abnormality risk coefficient; w r is the reverse current backflow risk coefficient; ΔU i (t) is the voltage deviation vector of the i-th branch; U i,ref is the voltage calibration data of the i-th branch, obtained from the controller calibration data; ΔI i (t) Current deviation vector of the i-th branch; S drop (t) is the bus voltage variation characteristic vector; R i is the reverse current identification vector;

[0054] Preset fault score threshold F th , voltage change threshold U min and current change threshold I min , when F i (t)>F th And ΔU i (t)>U min and |ΔI i (t)|>I min When , it is determined that the i-th branch is the main cause of the power failure.

[0055] It should be understood that this step not only takes into account the static voltage and current deviations of the branch itself, but also incorporates system-level dynamic behavior (busbar voltage drop) and directional risks (reverse current), quantitatively modeling the branch fault characteristics from multiple dimensions, effectively avoiding the misjudgment problem that may be caused by single-factor judgment. In order to form a clear and reliable judgment logic, the controller presets the following three judgment threshold parameters: fault score threshold, voltage change threshold, and current change threshold. If and only if the i-th branch meets all three conditions at the same time, the branch is judged to be the main cause of the power fault. This judgment mechanism is "multi-condition cross-confirmation" to avoid false triggering due to occasional interference or instantaneous fluctuations.

[0056] For example, the rated voltage of the main power branch in the controller is 24V, the current measured voltage is 20.4V, the current drops from the rated 5A to 2.3A, the bus voltage drop rate is -1.5V / ms, and the main branch current direction is detected to be reversed (i.e. R i =1), then we can calculate: ΔU i =3.6V, proportion S drop (t)=-1.5, take max(0,-S drop (t))=1.5;if w1=0.3,w2=0.3,w3=0.3,w4=0.1,then F i (t) = 0.3 × 0.15 + 0.3 × (-0.54) + 0.3 × 1.5 + 0.1 × 1 = -0.045 + 0.45 + 0.1 = 0.505 If the threshold value of the score is set to F th =0.4, and ΔU i >2.0,|ΔI i |>0.3, the above calculation results meet all conditions, so the main branch is determined to be the main cause of the power failure and enters the next isolation control stage.

[0057] Step S40: Based on the determination result of step S30, an isolation control signal is sent to the input power channel where the i-th branch is located, and the controller bus voltage is obtained again to determine whether the isolation is effective;

[0058] It should be noted that in step S40, an isolation control signal is sent to the input power channel where the i-th branch is located, and the controller bus voltage is obtained again to determine whether the isolation is effective. The steps specifically include: if the branch is connected to a MOSFET switch, an isolation signal is sent to turn off the gate; if the branch is connected to a relay switch, an isolation signal is sent to disconnect the relay coil; after the isolation signal is sent, the bus voltage is collected again in real time, and whether the isolation is effective is determined by comparing it with the bus voltage obtained in step S20.

[0059] It should be understood that the isolation control is not only the output of electrical action, but also the feedback link in the intelligent decision-making closed loop. It verifies through real-time bus voltage response whether the isolation has truly separated the fault path from the power supply system, ensuring the safety and effectiveness of subsequent switching operations.

[0060] For example, at a certain moment, the bus voltage recorded in step S20 is 23.7V. When step S30 determines that the main power branch is the fault source, the control disconnects the MOSFET corresponding to the branch; if after disconnection, the collected bus voltage is 23.5V, if the set voltage drop tolerance threshold is 0.5V, it means that the voltage drop is within the acceptable range, the backup power supply successfully takes over the power supply, and the isolation action takes effect; otherwise, the backup access compensation mechanism or alarm record needs to be started.

[0061] Step S50: When it is determined in step S40 that the isolation is effective, a make-before-break mechanism is used to disconnect the i-th branch where the power fault occurs.

[0062] It should be noted that in step S50, when step S40 determines that the isolation is effective, the step of using the make-before-break mechanism to disconnect the i-th branch where the power failure occurs specifically includes: controlling the backup power branch to be connected in parallel with the DC bus, specifically: sending a closing command to the backup power control switch, if the backup power control switch is a MOSFET, then sending a high-level gate control signal, if the backup power control switch is a relay, then sending a coil closing control signal to continuously collect the output voltage U of the backup power branch. aux (t) and DC bus voltage U bus (t), in the preset switching window T stabilize Internally calculated output voltage U aux (t) and DC bus voltage U bus (t) and a preset volatility score threshold; when the comprehensive volatility score is less than the volatility score threshold, the i-th branch where the power failure occurs is controlled to be disconnected.

[0063] It can be understood that this step is to dynamically decide the timing of standby access through stability analysis before physical parallel connection, ensure the disturbance-free switching of power supply logic, and avoid problems such as controller restart and load drop caused by current shock or voltage drop.

[0064] It should be understood that traditional controller systems often use a fixed delay strategy or directly break before make when switching power, which can easily lead to system-level risks due to temporary instability of the bus during switching; the present invention uses the statistical characteristics of voltage differences to construct a volatility scoring mechanism, achieving a leap from static control to dynamic closed-loop regulation, and has higher practicality and engineering controllability.

[0065] For example, if you switch window T stabilize= 20ms, the sampling frequency is 10kHz, and N = 200 voltage comparison values are obtained. If the sampling finds that the average voltage difference is 0.18V, which is less than the preset threshold value of 0.3V, it means that the voltage difference between the backup branch and the bus is small and the connection is stable, which meets the conditions for subsequent disconnection of the main fault branch; at this time, a MOSFET gate shutdown command or a relay power-off command is issued to disconnect the main branch, completing the fault removal.

[0066] Embodiment 2: Furthermore, the present invention provides a controller power fault location troubleshooting system, which utilizes the controller power fault location troubleshooting method described in the aforementioned embodiment to resolve the technical problem of controller power fault location troubleshooting. Compared to the prior art, the controller power fault location troubleshooting system provided by the present invention has the same beneficial effects as the controller power fault location troubleshooting method described in the aforementioned embodiment. Other technical features of the controller power fault location troubleshooting system are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0067] Example 3: The present invention provides a controller power fault location troubleshooting device, please refer to Figure 2A controller power fault location troubleshooting device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a controller power fault location troubleshooting method in the above-mentioned embodiment 1. A controller power fault location troubleshooting device in an embodiment of the present invention may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. A controller power fault location troubleshooting device is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present invention. A controller power fault location troubleshooting device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the controller power fault location troubleshooting device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow a controller power fault location troubleshooting device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a controller power fault location troubleshooting device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0068] Example 4: The present invention also provides a computer program product, comprising a computer program. When executed by a processor, the computer program implements the steps of the aforementioned method for troubleshooting the location of a controller power fault. The computer program product provided by the present invention can solve the technical problem of troubleshooting the location of a controller power fault. Compared to the prior art, the beneficial effects of the computer program product provided by the present invention are the same as those of the method for troubleshooting the location of a controller power fault provided by the aforementioned embodiment, and are not further elaborated here.

[0069] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present invention are performed.

[0070] It should be understood that the various parts disclosed in the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any appropriate manner in any one or more embodiments or examples.

[0071] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for locating a controller power fault, characterized in that: Methods include: Step S10: configuring a voltage sampling circuit and a current sampling circuit on the main power branch and the backup power branch of the motor controller to collect controller state data at the current sampling time t; Step S20: Acquire controller calibration data and controller bus voltage; construct a voltage deviation vector and a current deviation vector based on the controller calibration data and controller status data, and construct a bus voltage change feature vector based on the controller bus voltage; introduce a reverse current identification vector, and fuse the voltage deviation vector, current deviation vector, bus voltage change feature vector, and reverse current identification vector to obtain a fault fusion feature vector; Step S30: using a weighted aggregation method based on the fault fusion feature vector to determine whether the i-th branch is the main cause branch of the power fault; Step S40: Based on the determination result of step S30, an isolation control signal is sent to the input power channel where the i-th branch is located, and the controller bus voltage is obtained again to determine whether the isolation is effective; Step S50: When it is determined in step S40 that the isolation is effective, a make-before-break mechanism is used to disconnect the i-th branch where the power fault occurs.

2. A controller power fault location troubleshooting method according to claim 1, characterized in that: In step S10, the controller status data includes the main power branch output voltage U main (t), main power branch output current I main (t), output voltage of standby power supply branch U aux (t) and the output current of the backup power supply branch I aux (t).

3. A controller power fault location troubleshooting method according to claim 1, characterized in that: In step S30, the step of using a weighted aggregation method to determine whether the i-th branch is the main cause branch of the power fault according to the fault fusion feature vector specifically includes: The fault score F of the i-th branch is calculated using the weighted aggregation method based on the fault fusion feature vector i (t): Among them, w u is the voltage anomaly risk coefficient; w i is the current abnormal risk coefficient; w s is the bus voltage abnormality risk coefficient; w r is the reverse current backflow risk coefficient; ΔU i (t) is the voltage deviation vector of the i-th branch; U i,ref is the voltage calibration data of the i-th branch, obtained from the controller calibration data; ΔI i (t) Current deviation vector of the i-th branch; S drop (t) is the bus voltage variation characteristic vector; R i is the reverse current identification vector; Preset fault score threshold F th , voltage change threshold U min and current change threshold I min , when F i (t)>F th And ΔU i (t)>U min and |ΔI i (t)|>I min When , it is determined that the i-th branch is the main cause of the power failure.

4. A controller power fault location troubleshooting method according to claim 3, characterized in that: In step S30, the reverse current identification vector R i Specifically: When ΔI i (t)<0, let R i =1, indicating that the branch has reverse current; otherwise, set R i =0, indicating that there is no reverse current in this branch.

5. A controller power fault location troubleshooting method according to claim 1, characterized in that: In step S40, an isolation control signal is sent to the input power channel where the i-th branch is located, and the controller bus voltage is obtained again to determine whether the isolation is effective. Specifically, the steps include: If the branch is connected to a MOSFET switch, an isolation signal to turn off the gate is issued; If the branch is connected to a relay switch, an isolation signal is sent to disconnect the relay coil; After the isolation signal is issued, the bus voltage is again collected in real time, and compared with the bus voltage obtained in step S20 to determine whether the isolation is effective.

6. A controller power fault location troubleshooting method according to claim 3, characterized in that: In step S30, the voltage abnormality risk coefficient, the current abnormality risk coefficient, the bus voltage abnormality risk coefficient and the reverse current backflow risk coefficient are preset based on the historical operation data of the controller and expert experience.

7. A controller power fault location troubleshooting method according to claim 1, characterized in that: In step S50, when it is determined in step S40 that the isolation is effective, the steps of disconnecting the i-th branch where the power fault occurs by adopting the make-before-break mechanism specifically include: Control the backup power branch to be connected in parallel with the DC bus, specifically: send a closing command to the backup power control switch, if the backup power control switch is a MOSFET, send a high-level gate control signal, if the backup power control switch is a relay, send a coil closing control signal; Continuously collect the output voltage U of the backup power supply branch aux (t) and DC bus voltage U bus (t), in the preset switching window T stabilize Internally calculated output voltage U aux (t) and DC bus voltage U bus (t) and a preset volatility score threshold; when the comprehensive volatility score is less than the volatility score threshold, the i-th branch where the power failure occurs is controlled to be disconnected.

8. A controller power fault location troubleshooting system, applied to a controller power fault location troubleshooting method according to any one of claims 1 to 7, characterized in that: The controller power fault location troubleshooting system includes: A data acquisition module is configured to configure a voltage sampling circuit and a current sampling circuit on the main power branch and the backup power branch of the motor controller to collect the controller status data at the current sampling time t; A feature construction module is used to obtain controller calibration data and controller bus voltage; construct a voltage deviation vector and a current deviation vector based on the controller calibration data and controller status data, and construct a bus voltage change feature vector based on the controller bus voltage; introduce a reverse current identification vector, and fuse the voltage deviation vector, current deviation vector, bus voltage change feature vector, and reverse current identification vector to obtain a fault fusion feature vector; A fault determination module is used to determine whether the i-th branch is the main cause of the power fault by using a weighted aggregation method based on the fault fusion feature vector; A fault isolation module is configured to send an isolation control signal to the input power channel where the i-th branch is located based on the determination result of step S30, and obtain the controller bus voltage again to determine whether the isolation is effective; The fault disconnection module is configured to disconnect the i-th branch where the power fault occurs by adopting a make-before-break mechanism when it is determined in step S40 that the isolation is effective.

9. A controller power fault location troubleshooting device, characterized in that: The controller power fault location troubleshooting device includes: a memory, a processor, and a controller power fault location troubleshooting program stored in the memory and executable on the processor. When the controller power fault location troubleshooting program is executed by the processor, a controller power fault location troubleshooting method according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that The computer program product includes a controller power fault location troubleshooting program, which, when executed by a processor, implements a controller power fault location troubleshooting method according to any one of claims 1 to 7.

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