Flywheel motor rotation state detection system and method

Abstract

The present invention provides a system and method for detecting the rotation state of a flywheel motor, the system comprising: a controller, a flywheel motor, a rotary transformer, a current sensor and a voltage sensor; the controller, the flywheel motor, the rotary transformer, the current sensor and the voltage sensor are connected in sequence; the rotary transformer is used to obtain the first rotation state of the flywheel motor; the current sensor is used to obtain the second rotation state of the flywheel motor; the voltage sensor is used to obtain the third rotation state of the flywheel motor; the controller is used to determine the rotation state of the flywheel motor according to the first rotation state, the second rotation state and the third rotation state. The system improves the detection accuracy of the real-time angle and speed information of the flywheel motor by integrating multiple sensors, and alleviates the limitation of the use conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of flywheel energy storage, and in particular to a rotation state detection system and method of a flywheel motor. Background Art

[0002] The flywheel motor is a very critical component of the flywheel energy storage system, which plays a role in the mutual conversion between electrical energy and kinetic energy. Usually, the motors used in the flywheel energy storage system are mostly AC motors, including asynchronous induction motors, permanent magnet synchronous motors, induction motors, synchronous reluctance motors, etc. These motors usually use vector control, direct torque control and other control methods under the action of the inverter of the flywheel energy storage device. In the above control method, obtaining the rotation state of the flywheel motor is a necessary process, wherein the rotation state includes: the real-time angle and speed of the flywheel motor.

[0003] The existing methods for detecting the rotation state of flywheel motors include sensor measurement methods, sensorless estimation methods, back-EMF measurement methods, etc. The above methods require certain application conditions when used alone and have limitations. Among them, the sensor measurement method is relatively reliable, but it is easily affected by system noise and reduces the measurement accuracy; the sensorless estimation method does not rely on external sensors and has strong independence, but the angle estimation performance is greatly affected by model changes, strong current interference, etc., and cannot be widely used. The back-EMF measurement method is only suitable for the state where the motor is not current. Once the motor is working normally, the back-EMF measurement is inaccurate.

[0004] In general, the existing methods for detecting the rotation state of flywheel motors have the disadvantages of low accuracy and large limitations on usage conditions. Summary of the invention

[0005] The object of the present invention is to provide a system and method for detecting the rotation state of a flywheel motor, so as to improve the detection accuracy of the real-time angle and speed information of the flywheel motor and alleviate the limitation of the use conditions.

[0006] In the first aspect, an embodiment of the present invention provides a rotation state detection system for a flywheel motor, wherein the system includes: a controller, a flywheel motor, a rotary transformer, a current sensor and a voltage sensor; the controller, the flywheel motor, the rotary transformer, the current sensor and the voltage sensor are connected in sequence; the rotary transformer is used to obtain a first rotation state of the flywheel motor; the first rotation state includes: a first rotation speed and a first real-time angle of the flywheel motor; the current sensor is used to obtain a second rotation state of the flywheel motor; the second rotation state includes: a second rotation speed and a second real-time angle of the flywheel motor; the voltage sensor is used to obtain a third rotation state of the flywheel motor; the third rotation state includes: a third rotation speed and a third real-time angle of the flywheel motor; the controller is used to determine the rotation state of the flywheel motor according to the first rotation speed, the first real-time angle, the second rotation speed, the second real-time angle, the third rotation speed and the third real-time angle; the rotation state includes: the real-time angle and the rotation speed of the flywheel motor.

[0007] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation scheme of the first aspect, wherein the first speed includes: a speed at a first preset moment, and a speed at a second preset moment; the first real-time angle includes: an angle at a first preset moment, and an angle at a second preset moment; according to the first speed, the first real-time angle, the second speed, the second real-time angle, the third speed, and the third real-time angle, the step of determining the rotation state of the flywheel motor includes: determining the angle error and the speed error of the rotating transformer according to the speed at the first preset moment and the angle at the second preset moment; determining the rotation state of the flywheel motor according to the angle error, the speed error, the second speed, the second real-time angle, the third speed, and the third real-time angle.

[0008] In combination with the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the step of determining the rotation state of the flywheel motor according to the angle error, the speed error, the second speed, the second real-time angle, the third speed and the third real-time angle includes: if the angle error is less than the preset angle error and the speed error is less than the preset speed error, the rotation state of the flywheel motor is determined according to the first preset moment angle, the second preset moment angle, the first preset moment speed and the second preset moment speed; if the angle error is less than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is less than the preset current, the rotation state of the flywheel motor is determined according to the first preset moment angle, the second preset moment angle and the third speed; if the angle error is less than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is greater than the preset current, the rotation state of the flywheel motor is determined according to the first preset moment angle, the second preset moment angle and the third speed. the second speed, determine the rotation state of the flywheel motor; if the angle error is greater than the preset angle error, the speed error is less than the preset speed error, and the current of the flywheel motor is less than the preset current, determine the rotation state of the flywheel motor according to the first preset speed, the second preset speed and the third real-time angle; if the angle error is greater than the preset angle error, the speed error is less than the preset speed error, and the current of the flywheel motor is greater than the preset current, determine the rotation state of the flywheel motor according to the first preset speed, the second preset speed and the second real-time angle; if the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is greater than the preset current, determine the rotation state of the flywheel motor according to the second speed and the second real-time angle. If the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is greater than the preset current, determine the rotation state of the flywheel motor according to the third speed and the third real-time angle.

[0009] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the step of determining the rotation state of the flywheel motor based on the first preset moment angle, the second preset moment angle, the first preset moment speed and the second preset moment speed includes: calculating the weighted average of the real-time angle of the flywheel motor based on the first preset moment angle and the second preset moment angle; calculating the weighted average of the rotation speed of the flywheel motor based on the first preset moment speed and the second preset moment speed; determining the rotation state of the flywheel motor based on the weighted average of the real-time angle and the weighted average of the rotation speed.

[0010] In combination with the third possible implementation of the first aspect, the embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the weighted average of the real-time angle of the flywheel motor is calculated according to the following formula: θ r =0.5*θ1(k)+0.5*θ1(k-1); wherein θ1(k-1) represents the first preset angle, θ1(k) represents the second preset angle, θ r Represents the weighted average of the real-time angles.

[0011] In combination with the third possible implementation of the first aspect, the embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the weighted average of the rotation speed of the flywheel motor is calculated according to the following formula: r =0.5*ω1(k)+0.5*ω1(k-1); wherein ω1(k-1) represents the first preset angle, ω1(k) represents the second preset angle, ω r Represents the weighted average of the rotation speed.

[0012] In a second aspect, an embodiment of the present invention provides a method for detecting the rotation state of a flywheel motor, wherein the method is applied to the rotation state detection system of the flywheel motor of any one of the first aspect to the fifth possible implementation manner of the first aspect, and the method includes: obtaining a first speed, a first real-time angle, a second speed, a second real-time angle, a third speed and a third real-time angle; wherein the first speed and the first real-time angle are obtained by the rotary transformer; the second speed and the second real-time angle are obtained by the current sensor; the third speed and the third real-time angle are obtained by the voltage sensor; and the rotation state of the flywheel motor is determined according to the first speed, the first real-time angle, the second speed, the second real-time angle, the third speed and the third real-time angle.

[0013] In combination with the second aspect, an embodiment of the present invention provides a first possible implementation of the second aspect, wherein the step of obtaining a third speed and a third real-time angle includes: obtaining voltage data of the flywheel motor; calculating the third speed based on the effective value of the voltage data; and calculating the third real-time angle based on the third speed.

[0014] In combination with the first possible implementation of the second aspect, an embodiment of the present invention provides a second possible implementation of the second aspect, wherein the step of calculating the third speed based on the effective value of the voltage data includes: calculating the average value of the effective value of the voltage data based on the effective value of the voltage data; calculating the third speed based on a preset formula for the linear relationship between the average value and the speed.

[0015] In combination with the second possible implementation of the second aspect, an embodiment of the present invention provides a third possible implementation of the second aspect, wherein the step of calculating the third real-time angle based on the third rotational speed includes: performing an integration operation on the third rotational speed within a preset sampling period of the voltage data to calculate the third real-time angle.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] The present invention provides a system and method for detecting the rotation state of a flywheel motor, the system comprising: a controller, a flywheel motor, a rotary transformer, a current sensor and a voltage sensor; the controller, the flywheel motor, the rotary transformer, the current sensor and the voltage sensor are connected in sequence; the rotary transformer is used to obtain the first rotation state of the flywheel motor; the first rotation state includes: the first speed and the first real-time angle of the flywheel motor; the current sensor is used to obtain the second rotation state of the flywheel motor; the second rotation state includes: the second speed and the second real-time angle of the flywheel motor; the voltage sensor is used to obtain the third rotation state of the flywheel motor; the third rotation state includes: the third speed and the third real-time angle of the flywheel motor; the controller is used to determine the rotation state of the flywheel motor according to the first speed, the first real-time angle, the second speed, the second real-time angle, the third speed and the third real-time angle; the rotation state includes: the real-time angle and the speed of the flywheel motor. The system improves the detection accuracy of the real-time angle and speed information of the flywheel motor by integrating multiple sensors, and alleviates the limitation of the use conditions.

[0018] Other features and advantages disclosed in this embodiment will be described in the subsequent description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology of the present disclosure.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A structural schematic diagram of a rotation state detection system for a flywheel motor provided by an embodiment of the present invention;

[0022] Figure 2 A schematic structural diagram of another system for detecting the rotation state of a flywheel motor provided by an embodiment of the present invention;

[0023] Figure 3 A schematic flow chart of a method for detecting the rotation state of a flywheel motor provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0025] Icons: 11-controller; 12-flywheel motor; 13-rotating transformer; 14-current sensor; 15-voltage sensor; 21-decoder; 22-sliding mode estimator; 23-computing module; 41-memory; 42-processor; 43-bus; 44-communication interface. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0027] The existing methods for detecting the rotation state of flywheel motors include sensor measurement methods, sensorless estimation methods, back-EMF measurement methods, etc. All of the above methods have certain application conditions and limitations when used alone. Among them, the sensor measurement method is relatively reliable, but it is easily affected by system noise and reduces the measurement accuracy; the sensorless estimation method does not rely on external sensors and has strong independence, but the angle estimation performance is greatly affected by model changes, strong current interference, etc., and cannot be widely used. The back-EMF measurement method is only suitable for the state where no current is applied to the motor. Once the motor is working normally, the back-EMF measurement is inaccurate. Overall, the existing methods for detecting the rotation state of flywheel motors have the disadvantages of low accuracy and large limitations on usage conditions.

[0028] Based on this, an embodiment of the present invention provides a system and method for detecting the rotation state of a flywheel motor. This technology can alleviate the above technical problems. This technology improves the detection accuracy of the real-time angle and speed information of the flywheel motor by integrating multiple sensors, and alleviates the limitation of the use conditions. To facilitate the understanding of the embodiment of the present invention, a system for detecting the rotation state of a flywheel motor disclosed in an embodiment of the present invention is first introduced in detail.

[0029] Example 1

[0030] like Figure 1, which is a schematic diagram of a system for detecting the rotation state of a flywheel motor provided by an embodiment of the present invention. The system comprises: a controller 11 , a flywheel motor 12 , a rotary transformer 13 , a current sensor 14 and a voltage sensor 15 .

[0031] The controller 11, the flywheel motor 12, the rotary transformer 13, the current sensor 14 and the voltage sensor 15 are connected in sequence.

[0032] The rotary transformer 13 is used to obtain the first rotation state of the flywheel motor 12; the first rotation state includes: the first rotation speed and the first real-time angle of the flywheel motor; the current sensor 14 is used to obtain the second rotation state of the flywheel motor 12; the second rotation state includes: the second rotation speed and the second real-time angle of the flywheel motor 12; the voltage sensor 15 is used to obtain the third rotation state of the flywheel motor 12; the third rotation state includes: the third rotation speed and the third real-time angle of the flywheel motor 12; the controller is used to determine the rotation state of the flywheel motor 12 according to the first rotation speed, the first real-time angle, the second rotation speed, the second real-time angle, the third rotation speed and the third real-time angle; the rotation state includes: the real-time angle and the rotation speed of the flywheel motor 12.

[0033] In one embodiment, Figure 2 The structure diagram of a rotation state detection system of a flywheel motor provided by an embodiment of the present invention. The rotation state detection system of the flywheel motor also includes: a decoder 21, a sliding mode estimator 22 and a preset calculation module 23. Figure 2 As can be seen, the controller 11 is connected to the flywheel motor 12, and the flywheel motor 12 is respectively connected to the rotary transformer 13, the current sensor 14 and the voltage sensor 15. Among them, the rotary transformer 13 is connected to the decoder 21; the current sensor 14 is connected to the sliding mode estimator 22; and the voltage sensor 15 is connected to the preset calculation module 23.

[0034] In actual operation, the first speed includes: a speed at a first preset moment and a speed at a second preset moment; the first real-time angle includes: a first preset moment angle and a second preset moment angle; according to the first speed, the first real-time angle, the second speed, the second real-time angle, the third speed and the third real-time angle, the step of determining the rotation state of the flywheel motor includes: determining the angle error and the speed error of the rotary transformer according to the speed at the first preset moment and the angle at the second preset moment; determining the rotation state of the flywheel motor according to the angle error, the speed error, the second speed, the second real-time angle, the third speed and the third real-time angle.

[0035] In one embodiment, the step of determining the rotation state of the flywheel motor according to the angle error, the speed error, the second speed, the second real-time angle, the third speed and the third real-time angle comprises:

[0036] If the angle error is smaller than the preset angle error and the speed error is smaller than the preset speed error, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle, the first preset speed and the second preset speed.

[0037] Here, determining the rotation state of the flywheel motor according to the first preset angle, the second preset angle, the first preset speed, and the second preset speed includes the following steps A1-A3:

[0038] Step A1: Calculate the weighted average of the real-time angle of the flywheel motor according to the first preset angle and the second preset angle:

[0039] Specifically, the weighted average value of the real-time angle of the flywheel motor is calculated according to the following formula:

[0040] θ r =0.5*θ1(k)+0.5*θ1(k-1)

[0041] Wherein, θ1(k-1) represents the first preset angle, θ1(k) represents the second preset angle, and θ r Represents the weighted average of the real-time angles.

[0042] Step A2: Calculate the weighted average of the rotation speed of the flywheel motor according to the rotation speed at the first preset moment and the rotation speed at the second preset moment.

[0043] Specifically, the weighted average value of the rotation speed of the flywheel motor is calculated according to the following formula:

[0044] ω r =0.5*ω1(k)+0.5*ω1(k-1)

[0045] Wherein, ω1(k-1) represents the first preset angle at the first time, ω1(k) represents the second preset angle at the second time, ω r represents the weighted average of the rotation speeds.

[0046] Step A3: Determine the rotation state of the flywheel motor according to the weighted average value of the real-time angle and the weighted average value of the rotation speed.

[0047] In this embodiment, the real-time angle of the flywheel motor is determined as the above θ r , the speed of the flywheel motor is determined as the above ωr .

[0048] If the angle error is smaller than the preset angle error, the speed error is larger than the preset speed error, and the current of the flywheel motor is smaller than the preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle and the third speed.

[0049] In this embodiment, the real-time angle of the flywheel motor is determined as the above θ r , the rotational speed of the flywheel motor is determined as the third rotational speed.

[0050] If the angle error is less than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is greater than the preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle and the second speed.

[0051] In this embodiment, the real-time angle of the flywheel motor is determined as the above θ r , the rotational speed of the flywheel motor is determined as the second rotational speed.

[0052] If the angle error is greater than the preset angle error, the speed error is less than the preset speed error, and the current of the flywheel motor is less than the preset current, the rotation state of the flywheel motor is determined based on the speed at the first preset moment, the speed at the second preset moment, and the third real-time angle.

[0053] In this embodiment, the real-time angle of the flywheel motor is determined as the third real-time angle, and the speed of the flywheel motor is determined as the ω r .

[0054] If the angle error is greater than the preset angle error, the speed error is less than the preset speed error, and the current of the flywheel motor is greater than the preset current, the rotation state of the flywheel motor is determined according to the speed at the first preset moment, the speed at the second preset moment, and the second real-time angle.

[0055] In this embodiment, the real-time angle of the flywheel motor is determined as the second real-time angle, and the speed of the flywheel motor is determined as the ω r .

[0056] If the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is greater than the preset current, the rotation state of the flywheel motor is determined according to the second speed and the second real-time angle.

[0057] In this embodiment, the real-time angle of the flywheel motor is determined as the second real-time angle, and the rotational speed of the flywheel motor is determined as the second rotational speed.

[0058] If the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is less than the preset current, the rotation state of the flywheel motor is determined according to the third speed and the third real-time angle.

[0059] In this embodiment, the real-time angle of the flywheel motor is determined as the third real-time angle, and the rotational speed of the flywheel motor is determined as the third rotational speed.

[0060] The embodiment of the present invention provides a rotation state detection system for a flywheel motor, the system comprising: a controller, a flywheel motor, a rotary transformer, a current sensor and a voltage sensor; the controller, the flywheel motor, the rotary transformer, the current sensor and the voltage sensor are connected in sequence; the rotary transformer is used to obtain the first rotation state of the flywheel motor; the first rotation state includes: the first speed and the first real-time angle of the flywheel motor; the current sensor is used to obtain the second rotation state of the flywheel motor; the second rotation state includes: the second speed and the second real-time angle of the flywheel motor; the voltage sensor is used to obtain the third rotation state of the flywheel motor; the third rotation state includes: the third speed and the third real-time angle of the flywheel motor; the controller is used to determine the rotation state of the flywheel motor according to the first speed, the first real-time angle, the second speed, the second real-time angle, the third speed and the third real-time angle; the rotation state includes: the real-time angle and the speed of the flywheel motor. The system improves the detection accuracy of the real-time angle and speed information of the flywheel motor by integrating multiple sensors, and alleviates the limitation of the use conditions.

[0061] Example 2

[0062] exist Figure 2 Based on the system shown, the present invention also provides a method for detecting the rotation state of a flywheel motor. Figure 3 A schematic flow chart of a method for detecting the rotation state of a flywheel motor provided in an embodiment of the present invention. The method is applied to the rotation state detection system of the flywheel motor in Embodiment 1, and the method includes the following steps S301 to S302:

[0063] Step S301: Obtain a first speed, a first real-time angle, a second speed, a second real-time angle, a third speed and a third real-time angle; wherein the first speed and the first real-time angle are obtained by the rotary transformer; the second speed and the second real-time angle are obtained by the current sensor; and the third speed and the third real-time angle are obtained by the voltage sensor.

[0064] Here, the first speed and the first real-time angle are acquired by the rotary transformer and then output by the decoder; the second speed and the second real-time angle are acquired by the current sensor and then output by the sliding mode; the third speed and the third real-time angle are acquired by the voltage sensor and then output by the preset calculation module.

[0065] Step S302: determining the rotation state of the flywheel motor according to the first rotation speed, the first real-time angle, the second rotation speed, the second real-time angle, the third rotation speed and the third real-time angle.

[0066] The method for detecting the rotation state of a flywheel motor provided in the embodiment of the present invention has the same technical features as the system for detecting the rotation state of a flywheel motor provided in the above embodiment, and will not be described in detail herein.

[0067] This embodiment mainly describes in detail the steps of obtaining the third rotation speed and the third real-time angle.

[0068] The method of obtaining the third rotation speed and the third real-time angle includes the following steps B1 to B3:

[0069] Step B1: Obtain voltage data of the flywheel motor.

[0070] In this embodiment, the preset sampling frequency of the voltage data is 100 kHz, the signal frequency of the current of the flywheel motor is 50 Hz, and half a cycle is 10 ms. Within half a cycle, 1000 voltage data can be sampled as sampling points n1 to n1000.

[0071] Step B2: Calculate the third rotation speed according to the effective value of the voltage data.

[0072] Here, firstly, the average value of the effective value of the voltage data is calculated according to the effective value of the voltage data, and then the third speed is calculated according to a preset linear relationship formula between the average value and the speed.

[0073] In this embodiment, firstly, the absolute values ​​of the 1000 sampling points are taken, namely |n1|~|n 1000 |, and then find the average value n of these 1000 sampling points mean , and then calculate the RMS value of these 1000 sampling points after taking the absolute value, which is the effective value V of the voltage signal m , as shown below:

[0074]

[0075] Among them, V m Indicates the effective value of the voltage signal, n meanIt represents the average value of the effective value of the voltage data, and i represents the value range of the sampling point n.

[0076] If, according to the effective value of the voltage data, there are three groups, namely V m1 、V m2 and V m3 , then the average value of the effective value of the voltage data is

[0077] Furthermore, it is known that the third speed ω 3 It is linearly related to the effective value of the average value, and the preset linear proportional coefficient is K. ω , the speed of the flywheel motor can be obtained as:

[0078] ω3=K ω V a

[0079] Among them, V a represents the above average value, K ω represents a preset linear proportional coefficient, and ω3 represents the third rotational speed.

[0080] Step B3: Calculate the third real-time angle according to the third rotation speed.

[0081] In this embodiment, the step of calculating the third real-time angle according to the third rotation speed includes:

[0082] An integration operation is performed on the third rotation speed within a preset sampling period of the voltage data to calculate the third real-time angle.

[0083] Specifically, the third real-time angle is calculated according to the following formula:

[0084] θ3=θ3+ω3×dT

[0085] Wherein, θ3 represents the third real-time angle, ω3 represents the third rotation speed, and T represents the preset sampling period.

[0086] The method for detecting the rotation state of a flywheel motor provided in the embodiment of the present invention has the same technical features as the system for detecting the rotation state of a flywheel motor provided in the above embodiment, and therefore can solve the same technical problems and achieve the same technical effects.

[0087] Example 3

[0088] This embodiment provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of a method for detecting a rotation state of a flywheel motor.

[0089] See also Figure 4 The schematic diagram of the structure of an electronic device shown in the figure comprises: a memory 41 and a processor 42. The memory stores a computer program that can be run on the processor 42. When the processor executes the computer program, the steps provided by the above-mentioned method for detecting the rotation state of the flywheel motor are implemented.

[0090] like Figure 4 As shown, the device further includes: a bus 43 and a communication interface 44, a processor 42, a communication interface 44 and a memory 41 are connected via the bus 43; the processor 42 is used to execute executable modules stored in the memory 41, such as computer programs.

[0091] The memory 41 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 44 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0092] The bus 43 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0093] Among them, the memory 41 is used to store the program, and the processor 42 executes the program after receiving the execution instruction. The method executed by the rotation state detection system of the flywheel motor disclosed in any embodiment of the present invention can be applied to the processor 42, or implemented by the processor 42. The processor 42 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 42. The above processor 42 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 41, and the processor 42 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0094] Furthermore, an embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor 42, the machine-executable instructions prompt the processor 42 to implement the above-mentioned flywheel motor rotation state detection method.

[0095] The rotation state detection method of a flywheel motor and the rotation state detection system of a flywheel motor provided by the embodiment of the present invention have the same technical features, and therefore can solve the same technical problems and achieve the same technical effects.

[0096] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

Claims

1. A rotation state detection system for a flywheel motor, characterized in that: The system includes: a controller, a flywheel motor, a rotary transformer, a current sensor and a voltage sensor; The controller, the flywheel motor, the rotary transformer, the current sensor and the voltage sensor are connected in sequence; The rotary transformer is used to obtain the first rotation state of the flywheel motor; the first rotation state includes: the first speed and the first real-time angle of the flywheel motor; the first speed includes: the speed at the first preset moment and the speed at the second preset moment; the first real-time angle includes: the angle at the first preset moment and the angle at the second preset moment; The current sensor is used to obtain the second rotation state of the flywheel motor; the second rotation state includes: the second rotation speed and the second real-time angle of the flywheel motor; The voltage sensor is used to obtain the third rotation state of the flywheel motor; the third rotation state includes: a third rotation speed and a third real-time angle of the flywheel motor; The controller is used to determine the angle error and the speed error of the rotary transformer according to the speed at the first preset moment and the angle at the second preset moment; If the angle error is less than a preset angle error and the speed error is less than a preset speed error, determining the rotation state of the flywheel motor according to the first preset angle, the second preset angle, the first preset speed and the second preset speed; If the angle error is less than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is less than a preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle, and the third speed; If the angle error is less than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is greater than a preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle, and the second speed; If the angle error is greater than a preset angle error, the speed error is less than a preset speed error, and the current of the flywheel motor is less than a preset current, the rotation state of the flywheel motor is determined according to the speed at the first preset moment, the speed at the second preset moment, and the third real-time angle; If the angle error is greater than a preset angle error, the speed error is less than a preset speed error, and the current of the flywheel motor is greater than a preset current, the rotation state of the flywheel motor is determined according to the speed at the first preset moment, the speed at the second preset moment, and the second real-time angle; If the angle error is greater than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is greater than a preset current, determining the rotation state of the flywheel motor according to the second speed and the second real-time angle; If the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is less than the preset current, the rotation state of the flywheel motor is determined according to the third speed and the third real-time angle; the rotation state includes: the real-time angle and speed of the flywheel motor.

2. The rotation state detection system of the flywheel motor according to claim 1, characterized in that: The step of determining the rotation state of the flywheel motor according to the first preset angle, the second preset angle, the first preset speed and the second preset speed comprises: Calculating a weighted average of the real-time angle of the flywheel motor according to the first preset angle and the second preset angle; Calculating a weighted average of the rotation speed of the flywheel motor according to the rotation speed at the first preset time and the rotation speed at the second preset time; The rotation state of the flywheel motor is determined according to the weighted average value of the real-time angle and the weighted average value of the rotation speed.

3. The rotation state detection system of the flywheel motor according to claim 2, characterized in that: The weighted average of the real-time angle of the flywheel motor is calculated according to the following formula: i r =0.5*θ1(k)+0.5*θ1(k-1) Wherein, θ1(k-1) represents the first preset angle, θ1(k) represents the second preset angle, θ r Represents the weighted average of the real-time angles.

4. The rotation state detection system of the flywheel motor according to claim 2, characterized in that: The weighted average value of the rotation speed of the flywheel motor is calculated according to the following formula: oh r =0.5*ω1(k)+0.5*ω1(k-1) Wherein, ω1(k-1) represents the first preset angle at the first time, ω1(k) represents the second preset angle at the second time, ω r represents the weighted average of the rotation speeds.

5. A method for detecting the rotation state of a flywheel motor, characterized in that: The method is applied to a rotation state detection system of a flywheel motor according to any one of claims 1 to 4, and the method comprises: Acquire a first speed, a first real-time angle, a second speed, a second real-time angle, a third speed and a third real-time angle; wherein the first speed and the first real-time angle are acquired by the rotary transformer; the second speed and the second real-time angle are acquired by the current sensor; and the third speed and the third real-time angle are acquired by the voltage sensor; Determining an angle error and a speed error of the resolver according to the speed at the first preset moment and the angle at the second preset moment; If the angle error is less than a preset angle error and the speed error is less than a preset speed error, determining the rotation state of the flywheel motor according to the first preset angle, the second preset angle, the first preset speed and the second preset speed; If the angle error is less than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is less than a preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle, and the third speed; If the angle error is less than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is greater than a preset current, the rotation state of the flywheel motor is determined according to the first preset angle, the second preset angle, and the second speed; If the angle error is greater than a preset angle error, the speed error is less than a preset speed error, and the current of the flywheel motor is less than a preset current, the rotation state of the flywheel motor is determined according to the speed at the first preset moment, the speed at the second preset moment, and the third real-time angle; If the angle error is greater than a preset angle error, the speed error is less than a preset speed error, and the current of the flywheel motor is greater than a preset current, the rotation state of the flywheel motor is determined according to the speed at the first preset moment, the speed at the second preset moment, and the second real-time angle; If the angle error is greater than a preset angle error, the speed error is greater than a preset speed error, and the current of the flywheel motor is greater than a preset current, determining the rotation state of the flywheel motor according to the second speed and the second real-time angle; If the angle error is greater than the preset angle error, the speed error is greater than the preset speed error, and the current of the flywheel motor is less than the preset current, the rotation state of the flywheel motor is determined according to the third speed and the third real-time angle; the rotation state includes: the real-time angle and speed of the flywheel motor.

6. The method for detecting the rotation state of a flywheel motor according to claim 5, characterized in that: The step of obtaining a third rotation speed and a third real-time angle includes: Acquiring voltage data of the flywheel motor; Calculating the third speed according to the effective value of the voltage data; The third real-time angle is calculated according to the third rotation speed.

7. The method for detecting the rotation state of a flywheel motor according to claim 6, characterized in that: The step of calculating the third speed according to the effective value of the voltage data comprises: Calculating an average value of the effective value of the voltage data according to the effective value of the voltage data; The third rotational speed is calculated according to a preset linear relationship formula between the average value and the rotational speed.

8. The method for detecting the rotation state of a flywheel motor according to claim 6, characterized in that: The step of calculating the third real-time angle according to the third rotation speed comprises: An integration operation is performed on the third rotation speed within a preset sampling period of the voltage data to calculate the third real-time angle.

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